Control device, system and method

Abstract

The invention provides a control device, system and method capable of adjusting the motion of a moving body according to a process. A control device mounted on a moving body capable of moving by unmanned driving is provided with: an acquisition unit that acquires update information transmitted from the outside of the moving body in accordance with a process from manufacturing to selling of the moving body; a storage unit in which unmanned driving information for unmanned driving is stored; and an update unit that updates the unmanned driving information stored in the storage unit on the basis of the update information.

Description

Technical Field

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

[0002] In the manufacturing process of a vehicle, a technique of driving the vehicle by unmanned driving is known (for example, Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2017-538619. Summary of the Invention Problems to be Solved by the Invention

[0004] The allowable actions of a moving body such as a vehicle differ depending on each manufacturing process of the moving body. Therefore, a technique capable of adjusting the actions of the moving body according to the process is desired. Means for Solving the Problems

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

[0006] (1) According to a first aspect of the present disclosure, there is provided a control device mounted on a moving body capable of moving by unmanned driving. The control device includes: an acquisition unit that acquires update information transmitted from the outside of the moving body according to the process of the moving body from manufacturing to sales; a storage unit that stores unmanned driving information for the unmanned driving; and an update unit that updates the unmanned driving information stored in the storage unit according to the update information.

[0007] According to the control device of this aspect, by updating the unmanned driving information, it is possible to adjust the actions of the moving body in unmanned driving for each process.

[0008] (2) In the control device of the above aspect, it may be that the unmanned driving information includes restriction information for restricting the actions of the moving body, and the update unit updates the restriction information.

[0009] According to the control device of this aspect, it is possible to flexibly change the restrictions imposed on the actions of the moving body for each process. Therefore, it is possible to suppress the actions of the moving body from being overly restricted.

[0010] (3) In the control device of the above aspect, it may be that the unmanned driving information includes an upper limit value of the speed of the moving body as the restriction information, and the update unit updates the upper limit value of the speed of the moving body.

[0011] According to the control device of this aspect, it is possible to control the speed of the moving body within a range allowable for each process.

[0012] (4) In the control device of the above-described manner, it may also be that in the process where there are people around the moving body, the upper limit value of the speed of the moving body is decreased by the updating unit compared to the process where there are no people around the moving body.

[0013] According to the control device of this manner, the possibility of contact between the moving body and people can be decreased.

[0014] (5) In the control device of the above-described manner, it may also be that the driverless information includes the upper limit value of the steering angle of the moving body as the restriction information, and the updating unit updates the upper limit value of the steering angle of the moving body.

[0015] According to the control device of this manner, the steering angle of the moving body can be controlled within the range allowable for each process.

[0016] (6) In the control device of the above-described manner, it may also be that in the case of a process where the moving body goes straight more, the upper limit value of the steering angle of the moving body is decreased by the updating unit compared to the process where the moving body goes straight less.

[0017] According to the control device of this manner, the possibility of contact between the moving body and people can be decreased.

[0018] (7) In the control device of the above-described manner, it may also be that the moving body is a vehicle equipped with a steer-by-wire type steering device including a steering wheel and wheels, the driverless information includes information related to restrictions on the operation of the steering wheel as the restriction information, and in the process where a person rides in the driverless moving body, the updating unit updates the restriction information in such a manner that the orientation of the steering wheel does not change even if the orientation of the wheels is changed.

[0019] According to the control device of this manner, when a person rides in the moving body, the rotation of the steering wheel can be prevented from interfering with the person.

[0020] (8) In the control device of the above-described manner, it may also be that in the process after the moving body is shipped from the factory that manufactures the moving body, the updating unit updates the restriction information in such a manner that the restrictions on the operation of the moving body are released, or in such a manner that the restrictions on the operation of the moving body are relaxed compared to the process before shipment.

[0021] According to the control device of this manner, the restrictions imposed on the operation of the moving body inside and outside the factory can be flexibly changed. Therefore, the operation of the moving body can be prevented from being overly restricted.

[0022] According to a second aspect of the present disclosure, a server device is provided. The server device includes: an acquisition unit that acquires process information related to a process from manufacturing to sales of a moving body capable of moving by autonomous driving; and an update instruction unit that sends update information to the moving body, the update information being used to update autonomous driving information stored in a storage unit of the moving body according to the process information.

[0023] According to the server device of this aspect, by updating the autonomous driving information, it is possible to adjust the actions of the moving body in autonomous driving for each process.

[0024] According to a third aspect of the present disclosure, a system is provided. The system includes: a moving body capable of moving by autonomous driving and having a storage unit storing autonomous driving information for the autonomous driving; and a server device including: an acquisition unit that acquires process information related to a process from manufacturing to sales of the moving body; and an update instruction unit that sends update information for updating the autonomous driving information stored in the storage unit according to the process information to the moving body.

[0025] According to the system of this aspect, by updating the autonomous driving information, it is possible to adjust the actions of the moving body in autonomous driving for each process.

[0026] According to a fourth aspect of the present disclosure, a control device mounted on a moving body capable of moving by autonomous driving is provided. The control device includes: an acquisition unit that acquires process information related to a process from manufacturing to sales of the moving body; a storage unit storing autonomous driving information for the autonomous driving; and an update unit that updates the autonomous driving information stored in the storage unit according to the process information.

[0027] According to the control device of this aspect, by updating the autonomous driving information, it is possible to adjust the actions of the moving body in autonomous driving for each process.

[0028] According to a fifth aspect of the present disclosure, a method is provided. The method includes the following steps: acquiring process information related to a process from manufacturing to sales of a moving body capable of moving by autonomous driving; and updating autonomous driving information stored in a storage unit of the moving body according to the process information.

[0029] According to the method of this aspect, by updating the autonomous driving information, it is possible to adjust the actions of the moving body in autonomous driving for each process.

[0030] The present disclosure can also be implemented in various ways other than devices, systems, and methods. For example, it can be implemented in the form of a computer program and a recording medium recording the computer program, etc. Brief Description of the Drawings

[0031] Figure 1 It is an explanatory diagram showing the structure of the system of the first embodiment.

[0032] Figure 2 It is an explanatory diagram showing the structure of the vehicle of the first embodiment.

[0033] Figure 3 It is an explanatory diagram showing the structure of the server device of the first embodiment.

[0034] Figure 4 It is an explanatory diagram showing a situation where a vehicle travels by remote control in a factory.

[0035] Figure 5 It is a flowchart showing the processing steps of the travel control of the vehicle of the first embodiment.

[0036] Figure 6 It is a flowchart showing the processing steps of the update process of the first embodiment.

[0037] Figure 7 It is an explanatory diagram showing a situation where the driverless information of the vehicle is updated according to the process.

[0038] Figure 8 It is an explanatory diagram showing the structure of the system of the second embodiment.

[0039] Figure 9 It is an explanatory diagram showing the structure of the vehicle of the second embodiment.

[0040] Figure 10 It is a flowchart showing the processing steps of the travel control of the vehicle of the second embodiment.

[0041] Figure 11 It is a flowchart showing the processing steps of the update process of the second embodiment. Detailed Description of the Embodiments A. First Embodiment:

[0042] Figure 1 It is an explanatory diagram showing the structure of the system 10 in the first embodiment. In this embodiment, the system 10 is used to move a moving body by driverless in a factory FC for manufacturing a moving body. The system 10 includes a vehicle 100, a server device 200, at least one external sensor 300, and a process management device 400. In this embodiment, the vehicle 100 corresponds to the "moving body" of the present disclosure.

[0043] In the present disclosure, a "mobile body" refers to an object capable of moving, such as a vehicle or an electric vertical takeoff and landing aircraft (so-called flying car). The vehicle can 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 combat vehicle, a construction vehicle, etc. Vehicles include battery electric vehicles (BEVs), gasoline vehicles, hybrid vehicles, and fuel cell vehicles. When the mobile body is other than a vehicle, expressions such as "vehicle" and "car" in the present disclosure can be appropriately replaced with "mobile body", and expressions such as "travel" can be appropriately replaced with "move".

[0044] The vehicle 100 is configured to be able to travel autonomously. "Autonomous driving" refers to driving that does not depend on the driving operation of the occupant. The driving operation refers to an operation related to at least any one of "speeding up", "turning", 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 by autonomous control of the vehicle 100. In the vehicle 100 that travels autonomously, an occupant who does not perform a driving operation may also be on board. Occupants 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 operations different from the driving operation, such as assembly, inspection, and switch operations, while riding on the vehicle 100. In addition, driving based on the driving operation of the occupant is sometimes referred to as "piloted driving".

[0045] 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.

[0046] Figure 2 It is an explanatory diagram showing the structure of the vehicle 100 in the present embodiment. Figure 2Vehicle 100 in a platform form is shown. In the present embodiment, vehicle 100 is an electric vehicle configured to be able to travel by remote control. Vehicle 100 only needs to have a structure capable of traveling by remote control, and it can be either in the form of a platform or in the form of a complete vehicle. Vehicle 100 includes: a vehicle control device 110 for controlling each part of vehicle 100; an actuator group 120 including at least one actuator driven under the control of vehicle control device 110; and a communication device 130 for communicating with server device 200 through wireless communication. Actuator group 120 includes an actuator of a driving device for accelerating vehicle 100, an actuator of a steering device for changing the traveling direction of vehicle 100, and an actuator of a braking device for decelerating vehicle 100. The driving device includes a battery, a traveling motor driven by the power of the battery, and wheels rotated by the traveling motor. The actuator of the driving device includes the traveling motor. In the present embodiment, vehicle 100 is provided with a steer-by-wire type steering device. The steer-by-wire type steering device includes a steering wheel, an actuator for changing the orientation of the wheels according to the orientation of the steering wheel, and an actuator for changing the orientation of the steering wheel according to the orientation of the wheels. In the steer-by-wire type steering device, it is possible to switch the on / off of the linkage between the orientation of the steering wheel and the orientation of the wheels.

[0047] Vehicle control device 110 is constituted by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. Processor 111, memory 112, and input / output interface 113 are connected via internal bus 114 in a manner capable of two-way communication. Actuator group 120 and communication device 130 are connected to input / output interface 113. In addition, memory 112 corresponds to the "storage unit" of the present disclosure.

[0048] Information for autonomous driving of the vehicle 100 is pre-stored in the memory 112. In the following description, the information for autonomous driving is referred to as autonomous driving information. In the present embodiment, a database DB1 is pre-stored in the memory 112 as the autonomous driving information. The database DB1 includes restriction information for restricting the operation of the vehicle 100. Specifically, in the present embodiment, in the database DB1, as the restriction information, it includes the upper limit value of the speed of the vehicle 100, the upper limit value of the steering angle of the vehicle 100, and information related to the on / off of the linkage between the orientation of the steering wheel and the orientation of the wheels in a steer-by-wire type steering device. In the present disclosure, the angle of the wheels relative to the front and rear axles of the vehicle 100 is referred to as the steering angle. In addition, the restriction information is not limited to the upper limit values of the speed and steering angle of the vehicle 100. For example, it may also be the upper limit value of the acceleration of the vehicle 100. The restriction information is not limited to the upper limit value. For example, it may also be the lower limit value, etc. The restriction information is not limited to information related to numerical values such as the upper limit value and the lower limit value, and may also be information related to states such as on / off.

[0049] The processor 111 functions as a travel control unit 115 and an update unit 116 by executing a computer program PG1 pre-stored in the memory 112. When a passenger boards the vehicle 100, the travel control unit 115 can control the actuator group 120 according to the operation of the passenger, thereby driving the vehicle 100. Whether or not a passenger boards the vehicle 100, the travel control unit 115 can control the actuator group 120 according to the travel control signal DS received from the server device 200, thereby driving the vehicle 100. The travel control signal DS is a control signal for driving the vehicle 100. In the present embodiment, the travel control unit 115 controls the actuator group 120 so that the speed of the vehicle 100 does not exceed the upper limit value of the speed recorded in the database DB1 and the steering angle of the vehicle 100 does not exceed the upper limit value of the steering angle recorded in the database DB1.

[0050] The update unit 116 updates the autonomous driving information stored in the memory 112. In the present embodiment, the update unit 116 updates the database DB1 stored in the memory 112. The update unit 116 updates the database DB1 using the update information DU when receiving the update information DU from the server device 200. The update information DU contains new restriction information. The update unit 116 updates the database DB1 by rewriting the restriction information saved in the database DB1 with the new restriction information contained in the update information DU. Rewriting the restriction information includes at least any one of addition, change, and deletion of the restriction information. In addition, the update information DU may not be information for updating restriction information such as the upper limit value included in the autonomous driving information, but may be information for updating target values and the like included in the autonomous driving information.

[0051] Figure 3 FIG. 1 is an explanatory diagram showing the structure of the server device 200 in the present embodiment. The server device 200 is composed of 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 bidirectionally. A communication device 205 for communicating with the vehicle 100 by wireless communication is connected to the input / output interface 203. In the present embodiment, the communication device 205 can communicate with the vehicle 100 by wireless communication, and can also communicate with the external sensor 300 and the process management device 400 by wired communication or wireless communication.

[0052] The processor 201 functions as a position information acquisition unit 211, a remote control unit 212, a process information acquisition unit 213, and an update instruction unit 214 by executing a computer program PG2 stored in the memory 202 in advance. The position information acquisition unit 211 acquires the position information of the vehicle 100 using the detection result DR of the external sensor 300. In the following description, the position information of the vehicle 100 is referred to as vehicle position information.

[0053] The remote control unit 212 generates a travel control signal DS using the vehicle position information, and transmits the generated travel control signal DS to the vehicle 100. In the present embodiment, the travel control signal DS includes the acceleration and steering angle of the vehicle 100 as parameters. The travel control signal DS may include the speed of the vehicle 100 as a parameter instead of, or in addition to, the acceleration of the vehicle 100.

[0054] The process information acquisition unit 213 acquires process information DP related to the process of the vehicle 100 from start of manufacture to sale. In the present embodiment, the process information acquisition unit 213 acquires the process information DP from the process management device 400. The current process of the vehicle 100 is shown in the process information DP. In addition, when the correspondence between the position of the vehicle 100 and the process performed at that position is known, the process information acquisition unit 213 may also acquire the current process of the vehicle 100 from the position information indicating the current position of the vehicle 100. The current process may also be acquired based on whether a specified electronic component is installed in the vehicle 100, that is, whether it is before or after the process of installing the electronic component. For example, the current process of the vehicle 100 may be acquired based on the communication confirmation result between the vehicle control device 110 and the electronic component installed in the vehicle 100.

[0055] The update instruction unit 214 generates update information DU for updating the driverless information stored in the memory 112 of the vehicle 100 based on the process information DP of the vehicle 100, and sends the generated update information DU to the vehicle 100. In the present embodiment, the update instruction unit 214 generates update information DU for updating the database DB1 stored in the memory 112 of the vehicle 100. A database DB2 in which each process related to the vehicle 100 and restriction information related to the restrictions to be imposed on the vehicle 100 in each process are associated is pre-stored in the memory 202 of the server device 200. The update instruction unit 214 uses the process information DP acquired by the process information acquisition unit 213 and the database DB2 to generate the update information DU. Specifically, the update instruction unit 214 acquires the restriction information corresponding to the process information DP acquired by the process information acquisition unit 213 by referring to the database DB2, and generates the update information DU including the acquired restriction information. In addition, when the update information DU corresponding to the process information DP is pre-stored in the memory 202, the update instruction unit 214 may acquire the update information DU from the memory 202 instead of generating the update information DU.

[0056] As Figure 1 shown, the external sensor 300 is a sensor located outside the vehicle 100. The external sensor 300 is used to detect the position and orientation of the vehicle 100. In the present embodiment, the external sensor 300 is a camera provided in the factory FC. The external sensor 300 includes a communication device (not shown) and can communicate with the server device 200 through wired communication or wireless communication.

[0057] The process management device 400 manages the entire process of the vehicle 100 from order to sale. The period from order to sale includes processes such as manufacturing and shipping. The process management device 400 is composed of at least one computer. The process management device 400 has a database for recording various information of the vehicle 100. The various information recorded in the database includes, for example, the identification number of the vehicle 100, the content of each process, and information indicating the current process of the vehicle 100. The process management device 400 includes a communication device (not shown) and can communicate with the server device 200, various devices in the factory FC, and various devices in the dealership that sells the vehicle 100 through wired communication or wireless communication.

[0058] Figure 4It is an explanatory diagram showing a situation where the vehicle 100 travels by remote control in the factory FC. In the present embodiment, 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 road TR on which the vehicle 100 can travel. A plurality of external sensors 300 are provided around the road TR. The first place PL1 is a place where the operation of assembling the vehicle 100 is carried out, and the second place PL2 is a place where the operation of inspecting the vehicle 100 is carried out. The vehicle 100 assembled at the first place PL1 becomes a state capable of traveling by remote control. The vehicle 100 that passes the inspection at the second place PL2 is then shipped out from the factory FC. In addition, the first place PL1 is not limited to a place where the operation of assembling the vehicle 100 is carried out. For example, it may also be a place where the operation of inspecting the vehicle 100 is carried out. The second place PL2 is not limited to a place where the operation of inspecting the vehicle 100 is carried out. For example, it may also be a place where the vehicle 100 in a state waiting for shipment is stored.

[0059] The vehicle 100 is remotely controlled by the server device 200, and the vehicle 100 moves from the first place PL1 to the second place PL2 along the reference path RR. The server device 200 can use the external sensors 300 to obtain the relative position and orientation of the vehicle 100 with respect to the reference path RR in real time. Any position within the factory FC can be represented by the X, Y, and Z coordinates of the global coordinate system GC. The positions and orientations of the respective external sensors 300 are fixed, and the relative relationship between the global coordinate system GC and the device coordinate system of each external sensor 300 is known. The coordinate transformation matrix for mutually transforming the coordinates of the global coordinate system GC and the device coordinate system of each external sensor 300 is also known. According to the system 10 of the present embodiment, the vehicle 100 can be moved from the first place PL1 to the second place PL2 by remote control without using handling devices such as cranes and conveyors.

[0060] Figure 5 It is a flowchart showing the processing steps of the travel control of the vehicle 100 in the first embodiment. The processor 201 of the server device 200 repeatedly executes the first routine R10 at a predetermined cycle. The processor 111 of the vehicle control device 110 repeatedly executes the second routine R20 at a predetermined cycle.

[0061] The first routine R10 includes step S11, step S12, step S13, and step S14. In step S11, the position information acquisition unit 211 acquires vehicle position information using the detection result DR 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 DS. In the present embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the reference coordinate system of the factory FC. In the present embodiment, the reference coordinate system of the factory FC is the global coordinate system GC, and any position within the factory FC is represented by the coordinates of X, Y, and Z in the global coordinate system GC. In the present embodiment, the external sensor 300 is a camera, and a captured image is output from the external sensor 300 as the detection result DR. That is, in step S11, the position information acquisition unit 211 acquires vehicle position information using the captured image obtained from the camera serving as the external sensor 300.

[0062] Specifically, in step S11, the position information acquisition unit 211, for example, detects the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the measurement points of the vehicle 100 in the local coordinate system, which is the coordinate system of the camera, and converts the calculated coordinates into the coordinates in the global coordinate system GC, thereby acquiring 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 a detection model DM using artificial intelligence. The detection model DM is prepared, for example, inside or outside the system 10 and is pre-stored in the memory 202 of the server device 200. As the detection model DM, for example, a learned machine learning model that has been 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 through supervised learning using a learning dataset can be used. The learning dataset, for example, has a plurality of training images including the vehicle 100 and labels indicating whether each region in the training image represents a region of the vehicle 100 or a region other than the vehicle 100. When learning the CNN, it is preferable to update the parameters of the CNN by backpropagation (error backpropagation method) to reduce the error between the output result of the detection model DM and the label. In addition, the position information acquisition unit 211 can, for example, acquire the orientation of the vehicle 100 by estimating based on the orientation of the movement vector of the vehicle 100 calculated based on the change in the position of the feature points of the vehicle 100 between frames of the captured image using the optical flow method.

[0063] In step S12, the remote control unit 212 determines the target position to which the vehicle 100 should next travel. In the present embodiment, the target position is represented by the coordinates of X, Y, and Z in the global coordinate system GC. A reference path RR, which is the path that the vehicle 100 should travel, is pre-stored in the memory 202 of the server device 200. The path is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting the respective nodes. The remote control unit 212 uses the vehicle position information and the reference path RR to determine the target position to which the vehicle 100 should next travel. The remote control unit 212 determines the target position on the reference path RR ahead of the current location of the vehicle 100.

[0064] In step S13, the remote control unit 212 generates a travel control signal DS for causing the vehicle 100 to travel toward the determined target position. In the present embodiment, the acceleration and steering angle of the vehicle 100 are included as parameters in the travel control signal DS. The remote control unit 212 calculates the travel speed of the vehicle 100 based on the change in the position of the vehicle 100, and compares the calculated travel speed with the target speed. As a whole, when the travel speed is lower than the target speed, the remote control unit 212 determines the acceleration in such a way as to accelerate the vehicle 100, and when the travel speed is higher than the target speed, the remote control unit 212 determines the acceleration in such a way as to decelerate the vehicle 100. In addition, when the vehicle 100 is located on the reference path RR, the remote control unit 212 determines the steering angle and acceleration in such a way 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 deviates from the reference path RR, the remote control unit 212 determines the steering angle and acceleration in such a way that the vehicle 100 returns to the reference path RR.

[0065] In step S14, the remote control unit 212 transmits the generated travel control signal DS to the vehicle 100. After that, the server device 200 ends the first routine R10 and starts the first routine R10 again after a predetermined time has elapsed.

[0066] The second routine R20 includes step S21 and step S22. In step S21, the travel control unit 115 of the vehicle 100 stands by until it receives the travel control signal DS from the server device 200. When the travel control unit 115 receives the travel control signal DS, it proceeds to step S22, and the travel control unit 115 controls the actuator group 120 using the received travel control signal DS, thereby causing the vehicle 100 to travel at the acceleration and steering angle indicated by the travel control signal DS. After that, the vehicle control device 110 ends the second routine R20 and starts the second routine R20 again after a predetermined time has elapsed.

[0067] Figure 6This is a flowchart showing the processing steps for updating driverless information in the first embodiment. The processor 201 of the server device 200 repeatedly executes the third routine R30 at a prescribed cycle. The processor 111 of the vehicle control device 110 repeatedly executes the fourth routine R40 at a prescribed cycle.

[0068] The third routine R30 includes step S31, step S32, step S33, and step S34. In step S31, the process information acquisition unit 213 of the server device 200 acquires process information DP related to the process of the vehicle 100. In the present embodiment, the process information acquisition unit 213 acquires the process information DP from the process management device 400.

[0069] In step S32, the process information acquisition unit 213 determines whether the process of the vehicle 100 has progressed. The process information acquisition unit 213 can determine whether the process of the vehicle 100 has progressed by comparing the process information DP acquired this time with the process information DP acquired last time. If it is not determined in step S32 that the process of the vehicle 100 has progressed, the server device 200 ends the third routine R30 and starts the third routine R30 again after a prescribed time. In contrast, if it is determined in step S32 that the process of the vehicle 100 has progressed, the process proceeds to step S33. When the acquisition of the process information DP of the vehicle 100 is the first time, the process information acquisition unit 213 may also proceed to step S33 regardless of whether the process of the vehicle 100 has progressed.

[0070] In step S33, the update instruction unit 214 generates update information DU for updating the driverless information stored in the memory 112 of the vehicle control device 110 according to the process indicated by the process information DP. In the present embodiment, a database DB1 is stored in the memory 112 as the driverless information. The database DB1 contains restriction information for setting restrictions on the actions of the vehicle 100 during driverless operation. The update instruction unit 214 generates update information DU including new restriction information. In step S34, the update instruction unit 214 sends the generated update information DU to the vehicle 100. After that, the server device 200 ends the third routine R30 and starts the third routine R30 again after a prescribed time.

[0071] The fourth routine R40 includes step S41 and step S42. In step S41, the update unit 116 of the vehicle 100 stands by until it receives update information DU from the server device 200. When the update unit 116 receives the update information DU, it proceeds to step S42, and the update unit 116 uses the received update information DU to update the driverless information stored in the memory 112. In the present embodiment, the update unit 116 updates the driverless information by rewriting the restriction information included in the driverless information stored in the memory 112 with the new restriction information included in the update information. After that, the vehicle control device 110 ends the fourth routine R40 and starts the fourth routine R40 again after a predetermined time has elapsed.

[0072] Figure 7 is an explanatory diagram showing a case where the driverless information is updated according to the process. In Figure 7 the cases of the first process P1, the second process P2, the third process P3, the fourth process P4, and the fifth process P5 are illustrated. The first process P1, the second process P2, the third process P3, the fourth process P4, and the fifth process P5 are carried out in sequence. The vehicle 100 becomes the form of a platform before the third process P3 and becomes the same form as a completed vehicle starting from the fourth process P4. When the process is switched, the driverless information stored in the memory 112 of the vehicle 100 is updated by the above-described update process. In the present embodiment, the update of the driverless information is performed during the driving of the vehicle 100 based on driverless operation.

[0073] In the first process P1, since the vehicle 100 coexists with people, the upper limit value of the speed of the vehicle 100 is set low. The process in which the vehicle 100 coexists with people includes, for example, a process in which a worker WK rides on the vehicle 100 to perform work and a process in which the worker WK performs work around the vehicle 100. By setting the upper limit value of the speed low, it is possible to suppress contact between the vehicle 100 and people, and even if the vehicle 100 contacts people, it is possible to reduce the impact at the time of contact. In the first process P1, since the vehicle 100 travels on a straight path, the upper limit value of the steering angle of the vehicle 100 is set low. By setting the upper limit value of the steering angle low, it is possible to prevent the vehicle 100 from deviating from the path. In the first process P1, since it is a process in which the worker WK rides on the vehicle 100 to perform work, if the steering wheel rotates, it may interfere with the work of the worker WK. In the case where the vehicle 100 is equipped with a steer-by-wire type steering device, in the first process P1, the rotational position of the steering wheel of the vehicle 100 is fixed. By fixing the rotational position of the steering wheel, it is possible to suppress interference with the work of the worker WK.

[0074] When transferring to the second process P2, the driverless information stored in the memory 112 of the vehicle 100 is updated. Similar to the first process P1, the second process P2 is a process where the vehicle 100 and people coexist. Therefore, even if the driverless information is updated, the upper limit value of the speed is not changed and is maintained, and the fixation of the rotational position of the steering wheel is not released and is maintained. However, in the second process P2, since the vehicle 100 travels on a path including a curve, the upper limit value of the steering angle is higher than that in the first process P1 through the update of the driverless information. By increasing the upper limit value of the steering angle, the vehicle 100 can easily turn on the curve.

[0075] When transferring to the third process P3, the driverless information stored in the memory 112 of the vehicle 100 is updated again. Similar to the first process P1 and the second process P2, the third process P3 is a process where the vehicle 100 and people coexist. Therefore, even if the driverless information is updated, the upper limit value of the speed is not changed and is maintained, and the fixation of the rotational position of the steering wheel is not released and is maintained. In the third process P3, since the vehicle 100 travels on a straight path, the upper limit value of the steering angle is decreased compared to the second process P2 through the update of the driverless information.

[0076] When transferring to the fourth process P4, the driverless information stored in the memory 112 of the vehicle 100 is updated again. The fourth process P4 is not a process where the vehicle 100 and people coexist. The fourth process P4 is a process of moving the vehicle 100 in a vast area through remote control. By updating the driverless information to cancel the upper limit value of the steering angle, the vehicle 100 can freely change its traveling direction in the area. By canceling the upper limit value of the steering angle, it is possible to turn to the maximum steering angle of the vehicle 100. If the vehicle 100 gets out of control due to an abnormality of the system 10, it is not preferable. Therefore, even if the driverless information is updated, the upper limit value of the speed is not canceled, but in order to shorten the moving time of the vehicle 100, the upper limit value of the speed is increased through the update of the driverless information. In the fourth process P4, since the operator WK is not on board the vehicle 100, the fixation of the rotational position of the steering wheel is released through the update of the driverless information.

[0077] When transferring to the fifth process P5, the driverless information stored in the memory 112 of the vehicle 100 is updated again. The fifth process P5 is the process of shipping the vehicle 100 from the factory FC. In the fifth process P5, since it is no longer necessary to limit the speed and steering angle of the vehicle 100, the upper limit value of the speed is cancelled by the update of the driverless information. As described above, the upper limit value of the steering angle and the fixation of the rotational position of the steering wheel have been cancelled in the fourth process P4. In addition, when certain restrictions are imposed on the operation of the vehicle 100 even after shipping, the operation of the vehicle 100 can also be restricted by the update of the driverless information. In this case, preferably, by the update of the driverless information, the restriction on the operation of the vehicle 100 is relaxed compared with the processes before shipping.

[0078] According to the system 10 in the present embodiment described above, by updating the driverless information stored in the memory 112 of the vehicle 100 according to each process, the operation of the driverless vehicle 100 can be adjusted according to each process. Therefore, the operation of the driverless vehicle 100 can be made an operation suitable for each process. In addition, since the operation content and the environment of the operation place are different for each process, the allowed operations of the vehicle 100 are different for each process. If the allowed operations of the vehicle 100 are uniformly determined corresponding to the process with strict restrictions, there will be a problem that the operation of the vehicle 100 is overly restricted in the process with loose restrictions. In contrast, in the present embodiment, by updating the restriction information included in the driverless information in each process, it is possible to suppress the operation of the vehicle 100 from being overly restricted and make the vehicle 100 operate within the allowed range in each process. Therefore, the workability in each process can be improved. Moreover, in the present embodiment, the driverless information is updated by wireless communication, so even during the driving of the vehicle 100, the driverless information can be updated. B. Second Embodiment:

[0079] Figure 8 It is an explanatory diagram showing the structure of the system 10b in the second embodiment. Figure 9 It is an explanatory diagram showing the structure of the vehicle 100 in the present embodiment. In the present embodiment, the system 10b does not include the server device 200, and the vehicle 100 travels by autonomous control, which is different from the first embodiment. Regarding other structures, unless otherwise specified, they are the same as those in the first embodiment.

[0080] As Figure 9 shown, in the present embodiment, the vehicle 100 is configured to be able to travel by autonomous control. The vehicle 100 can communicate with the external sensor 300 through wireless communication using the communication device 130. In the memory 112, in addition to the computer program PG1 and the database DB1, Figure 3The detection model DM, reference path RR, and database DB2 shown. In the following description, database DB1 is referred to as the first database DB1, and database DB2 is referred to as the second database DB2.

[0081] In the present embodiment, the processor 111 of the vehicle control device 110 functions as a position information acquisition unit 151, a travel control unit 152, a process information acquisition unit 153, and an update unit 154 by executing a computer program PG1 prestored in the memory 112. The position information acquisition unit 151 Figure 3 Similar to the position information acquisition unit 211 shown, uses the detection results obtained from the external sensor 300 to acquire the vehicle position information of the own vehicle. The travel control unit 152 generates a travel control signal DS using the vehicle position information acquired by the position information acquisition unit 151. The travel control unit 152 controls the actuator group 120 using the generated travel control signal DS to cause the own vehicle to travel. The process information acquisition unit 153 Figure 3 Similar to the process information acquisition unit 213 shown, acquires the process information DP of the own vehicle. In the present embodiment, the process information acquisition unit 153 acquires the process information DP from the process management device 400. The update unit 154 updates the driverless information stored in the memory 112 based on the process information DP acquired by the process information acquisition unit 153.

[0082] Figure 10 It is a flowchart showing the processing steps of the travel control of the vehicle 100 in the second embodiment. The processor 111 of the vehicle control device 110 repeatedly executes the fifth routine R50 at a prescribed cycle. The fifth routine R50 includes step S51, step S52, step S53, and step S54. In step S51, the travel control unit 115 acquires the vehicle position information using the detection result DR output from the camera as the external sensor 300. In step S52, the travel control unit 115 determines the target position to which the vehicle 100 should next travel. In step S53, the travel control unit 115 generates a travel control signal DS for causing the vehicle 100 to travel toward the determined target position. In step S54, the travel control unit 115 controls the actuator group 120 using the generated travel control signal DS, thereby causing the vehicle 100 to travel according to the parameters indicated by the travel control signal DS. After that, the vehicle control device 110 ends the fifth routine R50 and starts the fifth routine R50 again after a prescribed time.

[0083] Figure 11It is a flowchart showing the processing steps for updating driverless information in the second embodiment. The processor 111 of the vehicle control device 110 repeatedly executes the sixth routine R60 at a prescribed cycle. The sixth routine R60 includes step S61, step S62, and step S63. In step S61, the process information acquisition unit 153 of the vehicle control device 110 acquires process information DP related to the process of the own vehicle. In step S62, the process information acquisition unit 153 determines whether the process of the own vehicle is progressing. If it is not determined in step S62 that the process of the own vehicle is progressing, the vehicle control device 110 ends the sixth routine R60 and starts the sixth routine R60 again after a prescribed time has elapsed. In contrast, if it is determined in step S62 that the process of the own vehicle is progressing, the process information acquisition unit 153 advances the process to step S63. In step S63, the update unit 154 generates update information DU based on the process indicated by the process information DP, and uses the generated update information DU to perform an update of the driverless information stored in the memory 112. After that, the vehicle control device 110 ends the sixth routine R60 and starts the sixth routine R60 again after a prescribed time has elapsed.

[0084] In the present embodiment described above, even without remotely controlling the vehicle 100 by the server device 200, the vehicle 100 can travel by autonomous control of the vehicle 100. Further, in the present embodiment, the vehicle 100 can update the driverless information by itself according to the process, without relying on the server device 200. C. Other Embodiments:

[0085] (C1) In each of the above-described embodiments, the update units 116 and 154 update the database DB1 stored in the memory 112 as the driverless information. In contrast, the update units 116 and 154 may also update the computer program PG1 stored in the memory 112 as the driverless information. For example, when the computer program PG1 includes restriction information for restricting the operation of the vehicle 100, the update units 116 and 154 may also change the content of the restriction information by rewriting the computer program PG1.

[0086] In the above-described embodiments, by updating the driverless information, the upper limit value of the speed of the vehicle 100 (A), the upper limit value of the steering angle (B), and the setting related to the on / off fixed to the rotational position of the steering wheel (C) are changed. By appropriately setting the upper limit value of the speed, it is possible to prevent the speed of the vehicle 100 from becoming too high. By appropriately setting the upper limit value of the steering angle, in the vehicle 100 in an unfinished state, it is possible to prevent the steering angle from becoming too large. By appropriately setting the on / off fixed to the rotational position of the steering wheel, it is possible to improve the workability of the worker WK who performs work while riding in the vehicle 100. The settings changed by the update of the driverless information are not limited to the settings related to the above (A) to (C), and may be, for example, the settings related to (D) the upper limit value of the change amount of the steering angle, (E) the acceleration pedal intervention threshold, (F) the brake pedal intervention threshold, (G) the upper limit value of the acceleration, (H) the hydraulic inspection standard value, and (I) the control gain.

[0087] (D)By appropriately setting the upper limit value of the change amount of the steering angle, it is possible to prevent a sudden change in the traveling direction of the vehicle 100. Therefore, when there is a worker WK around the vehicle 100, it is possible to reduce the possibility of contact between the vehicle 100 and the worker WK. In addition, in a state where the on / off fixed to the rotational position of the steering wheel is turned off, when the worker WK rides in the vehicle 100 to perform work, it is possible to prevent the rotational position of the steering wheel from suddenly changing along with a sudden change in the steering angle, which may interfere with the work of the worker WK.

[0088] (E)Regarding the acceleration pedal intervention threshold, in the vehicle 100 in a driverless state, when the operation amount of the acceleration pedal exceeds the acceleration pedal intervention threshold, the vehicle 100 in a driverless state performs an acceleration operation according to the operation of the acceleration pedal. By appropriately setting the acceleration pedal intervention threshold, when the worker WK rides in the vehicle 100 in a driverless state to perform work, even if the worker WK loses balance and accidentally touches the acceleration pedal, it is possible to prevent the driving state of the vehicle 100 in a driverless state from becoming unstable.

[0089] (F)Regarding the brake pedal intervention threshold, in the vehicle 100 in a driverless state, when the operation amount of the brake pedal exceeds the brake pedal intervention threshold, the vehicle 100 in a driverless state performs a braking operation according to the operation of the brake pedal. By appropriately setting the brake pedal intervention threshold, when the worker WK rides in the vehicle 100 in a driverless state to perform work, even if the worker WK loses balance and accidentally touches the brake pedal, it is possible to prevent the driving state of the vehicle 100 in a driverless state from becoming unstable.

[0090] (G) Regarding the upper limit value of acceleration, in the present disclosure, acceleration includes both the acceleration generated by the acceleration of the vehicle 100 and the acceleration generated by the deceleration of the vehicle 100. By appropriately setting the upper limit value of acceleration, it is possible to suppress the driving state of the vehicle 100 from becoming unstable due to sudden acceleration and deceleration of the vehicle 100. When performing an operation while riding in the vehicle 100, it is possible to suppress the operator WK from losing balance due to sudden acceleration and deceleration of the vehicle 100. Therefore, the workability of the operator WK can be improved.

[0091] (H) The hydraulic inspection standard value refers to the pressure of the hydraulic piping during the leak inspection of the hydraulic piping of the brake. When the hydraulic inspection standard value is increased, for example, the hydraulic piping is pressurized by an electro-hydraulic pump. By increasing the hydraulic inspection standard value before the leak inspection process of the hydraulic piping, it is possible to easily detect leaks from the hydraulic piping during the inspection. Preferably, after the leak inspection process of the hydraulic piping is completed, the hydraulic standard value returns to the normal value.

[0092] (I) Regarding the control gain, it is also possible to change the control gain related to the longitudinal control and lateral control of the vehicle 100. Here, the longitudinal control refers to the control related to the movement of the vehicle 100 in the front-rear direction, and the lateral control refers to the control related to the movement of the vehicle 100 in the left-right direction. For example, by increasing the control gain related to the lateral control of the vehicle 100, the followability to the reference path RR can be improved. However, by increasing the control gain related to the lateral control, a sudden change in the orientation of the vehicle 100 is likely to occur. Therefore, in the process where there is an operator WK around the vehicle 100, it is preferable to decrease the control gain related to the lateral control. For example, it is also possible to temporarily interrupt the driverless operation of the vehicle 100 during the break time of the factory FC or the like, and then increase the control gain related to the longitudinal control of the vehicle 100 when starting the driverless operation of the vehicle 100 again. Thereby, the time until the vehicle 100 reaches the target speed can be shortened, and thus the vehicle 100 can move efficiently. The control gain changed by the update of the driverless information can be the control gain related to the feedback control or the feedforward control. The control gain changed by the update of the driverless information can be the control gain for controlling the torque of the motor or the control gain for controlling the rotation angle of the motor. It can also be the control gain for controlling the acceleration of the vehicle 100.

[0093] In addition, various parameters for the driverless operation of the vehicle 100 can be changed by updating the driverless information. For example, in the vehicle 100 in the platform form and the vehicle 100 in the completed vehicle form, the number of components assembled in the vehicle 100 is different, so the weight, vehicle height, wheel alignment, appearance, etc. of the vehicle 100 are different. Therefore, it is also possible to adjust the parameters affected by the weight, etc. of the vehicle 100 according to the change in the number of components assembled in the vehicle 100, in other words, according to the change in the weight, etc. of the vehicle 100. For example, it is also possible to change the conversion coefficient between the driving force and the acceleration, the control gain, etc. of the vehicle 100 according to the weight of the vehicle 100. In addition, immediately after the vehicle 100 just becomes a state where it can travel by driverless operation, the followability to the reference path RR may be low due to the straight-ahead steering angle error of the vehicle 100. Therefore, in the process immediately after the vehicle 100 just becomes a state where it can travel by driverless operation, it is also possible to make the upper limit value of the speed of the vehicle 100, the upper limit value of the steering angle, the approach allowance to people and obstacles, and the control gain related to the lateral control different from those in the subsequent process to improve the followability to the reference path RR. For example, by narrowing the approach allowance to people and obstacles, the vehicle 100 can approach people and obstacles closer, so the drivable range of the vehicle 100 can be expanded to make it easier for the vehicle 100 to return to the reference path RR. For example, by increasing the control gain related to the lateral control, the followability to the reference path RR can be improved. In addition, from when the components are assembled in the vehicle 100 until the inspection is completed, the components may not be sufficiently fixed to the vehicle 100. Therefore, it is also possible to adjust parameters such as the upper limit value of the speed of the vehicle 100 and the upper limit value of the steering angle so that there is no sudden acceleration / deceleration or sudden change in the direction of the vehicle 100 from when the components are assembled in the vehicle 100 until the inspection is completed. Thereby, it is possible to suppress the disconnection of the components and the connectors of the wiring harness of the vehicle 100 due to the sudden acceleration / deceleration and sudden change in the direction of the vehicle 100.

[0094] In addition, through the update of the driverless information, during the water resistance inspection process, the action of opening the door can be restricted, and the window can also be kept fully closed. Thereby, during the water resistance inspection, it is possible to prevent water from entering the vehicle interior through the door and window. During the process where the operator performs operations around the wiper, the driving of the wiper can also be restricted. Thereby, the operations around the wiper become easier. During the running inspection of the vehicle 100, the rotational position of the steering wheel can also be kept at the midpoint. Thereby, the running inspection of the vehicle 100 can be smoothly carried out. During the optical axis inspection process of the headlamp, the driving of the motor for adjusting the optical axis of the headlamp can also be restricted. During the adjustment process of the in-vehicle millimeter-wave radar and camera, the on / off of the camera adjustment mode can also be switched. Additionally, the set values for each destination country stored in the memory 112 of the vehicle control device 110 can also be updated. The server device 200 can grasp the destination country based on the vehicle identification number. For example, in a gasoline vehicle, the exhaust limit values sometimes vary according to each destination country. By changing the set values for each destination country, it is possible to change to settings suitable for the regulations of the destination country.

[0095] (C3)In the above-described embodiments, the driverless information stored in the memory 112 of the vehicle 100 is updated according to the process information, thereby imposing a change on the actions permitted for the driverless vehicle 100. In contrast, when the position of the vehicle 100 is associated with the process, a change can be imposed on the actions permitted for the driverless vehicle 100 by acquiring the position information of the vehicle 100 and updating the driverless information based on the position information of the vehicle 100. In addition, when the driving distance of the vehicle 100 is associated with the process, a change can be imposed on the actions permitted for the driverless vehicle 100 by acquiring the driving distance of the vehicle 100 and updating the driverless information based on the driving distance of the vehicle 100.

[0096] (C4)In the above-described embodiments, the external sensor 300 is a camera. In contrast, the external sensor 300 may not be a camera. For example, it may be a LiDAR (Light Detection And Ranging). In this case, the detection result output from the external sensor 300 may be three-dimensional point cloud data representing the vehicle 100. In this case, the position information acquisition units 211 and 151 may also acquire the vehicle position information by using template matching of the three-dimensional point cloud data as the detection result and the reference point cloud data prepared in advance.

[0097] In the above first embodiment, the server device 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, the following modes (1) to (3) may be adopted.

[0098] (1) The server device 200 may also obtain the vehicle position information, determine the target position to which the vehicle 100 should next travel, and generate a path from the current location of the vehicle 100 indicated by the obtained vehicle position information to the target position. The server device 200 may generate a path to the target position between the current location and the destination, or may generate a path to the destination. The server device 200 may also send the generated path to the vehicle 100. The vehicle 100 may generate a driving control signal in such a manner that the vehicle 100 travels on the path received from the server device 200, and use the generated driving control signal to control the actuator group 120.

[0099] (2) The server device 200 may also obtain the vehicle position information and send the obtained vehicle position information to the vehicle 100. The vehicle 100 may determine the target position to which the vehicle 100 should next travel, generate a path from the current location of the vehicle 100 indicated by the received vehicle position information to the target position, generate a driving control signal in such a manner that the vehicle 100 travels on the generated path, and use the generated driving control signal to control the actuator group 120.

[0100] (3) In the methods of (1) and (2) above, it may also be that the vehicle 100 is equipped with internal sensors, and at least one of the generation of the path and the generation of the driving control signal uses the detection results output from the internal sensors. The internal sensors are sensors mounted on the vehicle 100. The internal sensors may include, for example, sensors for detecting the motion state of the vehicle 100, sensors for detecting the operating states of various parts of the vehicle 100, and sensors for detecting the surrounding environment of the vehicle 100. Specifically, the internal sensors may include, for example, cameras, LiDARs, millimeter-wave radars, ultrasonic sensors, GPS sensors, acceleration sensors, gyro sensors, etc. For example, in the method of (1) above, the server device 200 may also obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the generated path when generating the path. In the method of (1) above, the vehicle 100 may also obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the generated driving control signal when generating the driving control signal. In the method of (2) above, the vehicle 100 may also obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the generated path when generating the path. In the method of (2) above, the vehicle 100 may also obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the generated driving control signal when generating the driving control signal.

[0101] (C6) In the second embodiment above, the vehicle 100 may also be equipped with internal sensors, and at least one of the generation of the path and the generation of the driving control signal uses the detection results output from the internal sensors. For example, the vehicle 100 may also obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the generated path when generating the path. The vehicle 100 may also obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the generated driving control signal when generating the driving control signal.

[0102] (C7) In the second embodiment above, the vehicle 100 uses the detection results of the camera as the external sensor 300 to obtain the vehicle position information. In contrast, it may also be that the vehicle 100 is equipped with internal sensors, the vehicle 100 uses the detection results of the internal sensors to obtain the vehicle position information, determines the target position that the vehicle 100 should drive to next, generates a path from the current location of the vehicle 100 represented by the obtained vehicle position information to the target position, generates a driving control signal for driving on the generated path, and uses the generated driving control signal to control the actuator group 120. In this case, the vehicle 100 can drive without using the detection results of the external sensor 300 at all. In addition, the vehicle 100 may also obtain the target arrival time and congestion information from outside the vehicle 100 and make at least one of the path and the driving control signal reflect the target arrival time and congestion information.

[0103] (C8) In the above-described first embodiment, the server device 200 automatically generates a driving control signal to be sent to the vehicle 100. In contrast, the server device 200 may also generate a driving control signal to be sent to the vehicle 100 according to the operation of an external operator located outside the vehicle 100. For example, it may be that the external operator operates a control device having a display for displaying a captured image output from a camera as 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 device 200 through wired communication or wireless communication, and the server device 200 generates a driving control signal corresponding to the operation applied to the control device.

[0104] (C9) In the above-described embodiments, the vehicle 100 only needs to have a structure capable of moving by autonomous driving. For example, it may also be in the form of a platform having the following-described structure. Specifically, in order for the vehicle 100 to perform the three functions of "speeding", "turning", and "stopping" by autonomous driving, it only needs to have at least the vehicle control device 110 and the actuator group 120. When the vehicle 100 obtains information from the outside for autonomous driving, the vehicle 100 only needs to further have the communication device 130. That is, the vehicle 100 capable of moving by autonomous driving may not install at least a part of the interior components such as the driver's seat and the instrument panel, may not install at least a part of the exterior components such as the bumper and the fender, and may not install the body shell. In this case, during the period before the vehicle 100 is shipped from the factory FC, the remaining components such as the body shell may be installed on the vehicle 100, or in a state where the remaining components such as the body shell are not installed on the vehicle 100, the remaining components such as the body shell may be installed on the vehicle 100 after the vehicle 100 is shipped from the factory FC. Each component can be installed 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 vehicle 100, and can be installed from the same direction respectively, or can be installed from different directions respectively. In addition, for the form of the platform, the position determination can also be performed in the same manner as the vehicle 100 in the first embodiment.

[0105] (C10)The vehicle 100 can also be manufactured by combining multiple modules. A module refers to a unit composed of multiple components aggregated according to the parts and functions of the vehicle 100. For example, the platform of the vehicle 100 can be manufactured by combining a front module that forms the front part of the platform, a central 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 that make up the platform is not limited to 3, and can also be 2 or less, or 4 or more. In addition, in addition to or instead of the components that make up the platform, the components that make up the parts of the vehicle 100 different from the platform can also be modularized. In addition, various modules can also include any exterior components such as bumpers and grilles, and any interior components such as seats and consoles. In addition, not limited to the vehicle 100, 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, fasteners, etc., or by integrally molding at least a part of the components that make up the module into one component using casting. The molding method of integrally molding one component, especially a relatively large component, is also called integrated die casting or large-piece casting. For example, the above-mentioned front module, central module, and rear module can also be manufactured using integrated die casting.

[0106] (C11)Using the driving of the vehicle 100 based on unmanned operation to transport the vehicle 100 is also called "self-propelled transportation". In addition, the structure used to achieve self-propelled transportation is also called a "vehicle remote control autonomous driving transportation system". In addition, the production method of using self-propelled transportation to produce the vehicle 100 is also called "self-propelled production". In self-propelled production, for example, in the factory FC where the vehicle 100 is manufactured, at least a part of the transportation of the vehicle 100 is achieved through self-propelled transportation.

[0107] (C12)In the above-described embodiments, part or all of the functions and processes implemented in software can also be implemented in hardware. In addition, part or all of the functions and processes implemented in hardware can also be implemented in software. As the hardware used to implement various functions in the above-described embodiments, for example, various circuits such as integrated circuits and discrete circuits can also be used.

[0108] The present disclosure is not limited to the above-described embodiments, and can be implemented in various structures without departing from its gist. For example, the technical features in the embodiments corresponding to the technical features in each mode described in the summary of the invention 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, if the technical feature is not described as an essential feature in this specification, it can be appropriately deleted. Description of Reference Numerals

[0109] 10, 10b... system, 100... vehicle, 110... vehicle control device, 111... processor, 112... memory, 113... input / output interface, 114... internal bus, 115... driving control section, 116... update section, 120... actuator group, 130... communication device, 151... position information acquisition section, 152... driving control section, 153... process information acquisition section, 154... update section, 200... server device, 201... processor, 202... memory, 203... input / output interface, 204... internal bus, 205... communication device, 211... position information acquisition section, 212... remote control section, 213... process information acquisition section, 214... update instruction section, 300... external sensor, 400... process management device, DB1... database, DB2... database, DM... detection model, DP... process information, DR... detection result, DS... driving control signal, DU... update information, PG1... computer program, PG2... computer program, RR... reference path.

Claims

1. A control device mounted on a mobile body capable of moving without human control, The control device comprises: an acquisition unit that acquires update information transmitted from outside the mobile body according to a process from manufacturing to selling the mobile body; a storage unit storing unmanned driving information used for the unmanned driving; and The updating unit updates the unmanned driving information stored in the storage unit according to the update information.

2. The control device according to claim 1, wherein: The unmanned driving information includes restriction information for restricting the movement of the mobile body. The updating unit updates the restriction information.

3. The control device according to claim 2, wherein: The unmanned driving information includes an upper limit value of the speed of the moving object as the restriction information, The updating unit updates an upper limit value of the speed of the moving object.

4. The control device according to claim 3, wherein: In the step in which a person exists around the moving object, the updating unit lowers the upper limit value of the speed of the moving object compared to the step in which no person exists around the moving object.

5. The control device according to claim 2, wherein: The unmanned driving information includes an upper limit value of a steering angle of the mobile body as the restriction information, The updating unit updates an upper limit value of a steering angle of the mobile body.

6. The control device according to claim 5, wherein: In the case of a step in which the moving body moves straight more often, the updating unit lowers the upper limit value of the steering angle of the moving body compared to a step in which the moving body moves straight less often.

7. The control device according to claim 2, wherein: The mobile body is a vehicle having a steer-by-wire type steering device including a steering wheel and wheels. The unmanned driving information includes information related to restrictions on the movement of the steering wheel as the restriction information, In the step of allowing a person to board the unmanned moving object, the updating unit updates the restriction information so that the orientation of the steering wheel does not change even if the orientation of the wheels is changed.

8. The control device according to claim 2, wherein: In a process after the mobile body is shipped from a factory where the mobile body is manufactured, the updating unit updates the restriction information so as to remove the restriction on the movement of the mobile body or so as to relax the restriction on the movement of the mobile body compared to a process before shipping.

9. A system comprising: a mobile body capable of moving by unmanned driving and comprising a storage unit storing unmanned driving information used for the unmanned driving; and The server device includes: an acquisition unit that acquires process information related to the process from manufacturing to selling the mobile body; and an update instruction unit that sends update information for updating the unmanned driving information stored in the storage unit according to the process information to the mobile body.

10. A method comprising the following steps: Acquiring process information related to the process from manufacturing to sales of a mobile object capable of moving by unmanned driving, The unmanned driving information for the unmanned driving stored in the storage unit of the mobile body is updated based on the process information.

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