system

Abstract

The system includes an inspection device configured to perform an inspection on a vehicle, a detection unit configured to detect load information related to a load applied to a passenger seat portion of the vehicle during the inspection, and an output unit configured to output a result of the inspection by the inspection device in association with the load information detected by the detection unit.

Description

Technical Field

[0001] This disclosure pertains to the system. Background Technology

[0002] Japanese Unexamined Patent Application Publication No. 2017-538619 (JP2017-538619A) discloses a technology for enabling a vehicle to drive autonomously or remotely during the vehicle manufacturing process. Various inspections are performed during the manufacturing process. Summary of the Invention

[0003] In various inspections (such as sideslip and brake checks), the results can vary depending on whether there are occupants in the vehicle (i.e., whether there is a load). A system is needed to verify that the inspection was performed under appropriate load.

[0004] This disclosure may be implemented in the following ways.

[0005] (1) One aspect of this disclosure provides a system. The system includes: an inspection device configured to inspect a vehicle; a detection unit configured to detect load information related to the load applied to the occupant seat portion of the vehicle during the inspection; and an output unit configured to output the inspection result of the inspection device in association with the load information detected by the detection unit.

[0006] In this system, the output unit is configured to output the inspection results of the inspection device in association with the load information detected by the detection unit. Therefore, it is possible to verify whether the inspection was performed under appropriate load.

[0007] (2) In the system described above, the occupant seat portion may include a seat for vehicle occupants to sit on. The detection unit may include a seat sensor disposed in the seat and configured to detect load information related to the load applied to the seat.

[0008] In this system, the detection unit includes a seat sensor located in the seat and configured to detect load information related to the load applied to the seat. Therefore, it is possible to verify whether the check is performed under appropriate load conditions on the seat.

[0009] (3) In the system described above, the occupant seat portion may further include a floor panel on which the feet of the occupant seated are placed. The detection unit may further include a load sensor disposed on the floor panel and configured to detect load information related to the load applied to the floor panel.

[0010] In this system, the detection unit includes a load sensor mounted on the floor panel and configured to detect load information related to the load applied to the floor panel. Therefore, it is possible to verify whether the check was performed under appropriate load conditions on the floor.

[0011] (4) In the system described above, the detection unit may include an imaging device configured to capture images of the occupant seat portion. The detection unit may be configured to detect load information related to the load applied to the occupant seat portion from the image data obtained by the imaging device.

[0012] In this system, the detection unit includes an imaging device configured to capture images of the occupant seat portion, and the detection unit is configured to detect load information related to the load applied to the occupant seat portion from the image data acquired by the imaging device. Therefore, an imaging device mounted on a vehicle or installed in a factory can be used to detect the load information.

[0013] (5) Another aspect of this disclosure provides a system. The system includes: an inspection device configured to inspect a vehicle; a detection unit configured to detect load information related to the load applied to the occupant seat portion of the vehicle during the inspection; and an output unit configured to output the inspection result of the inspection device when the load information detected by the detection unit meets a predetermined standard, and configured not to output the result when the load information detected by the detection unit does not meet the predetermined standard.

[0014] In this system, the output unit is configured to output the inspection result of the inspection device when the load information detected by the detection unit meets a predetermined standard, and is configured not to output the inspection result when the load information detected by the detection unit does not meet the predetermined standard. Therefore, by setting appropriate load information as the predetermined standard, inspection results can be obtained when the inspection is performed under appropriate load conditions.

[0015] This disclosure can be implemented not only as a system as described above, but also as a vehicle inspection method, a program for implementing the vehicle inspection method, a non-transitory recording medium for recording the program, and a program product. For example, the program product can be provided as a recording medium for recording the program, or as a program product that can be distributed via a network. Attached Figure Description

[0016] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, wherein similar symbols denote similar elements, and wherein:

[0017] Figure 1 This is a conceptual diagram illustrating the configuration of the system according to the first embodiment;

[0018] Figure 2 It is a block diagram showing the system configuration;

[0019] Figure 3 This is a flowchart illustrating the process for vehicle driving control according to the first embodiment;

[0020] Figure 4 This is a flowchart illustrating the process of outputting inspection results and load information.

[0021] Figure 5 The diagram illustrates the output processing;

[0022] Figure 6 The system according to the second embodiment is illustrated;

[0023] Figure 7 This is a flowchart illustrating the output processing procedure according to the third embodiment;

[0024] Figure 8 The illustration shows a schematic configuration of the system according to the fourth embodiment; and

[0025] Figure 9 This is a flowchart illustrating the process for vehicle driving control according to the fourth embodiment. Detailed Implementation

[0026] A. First Embodiment

[0027] System 50 Overview

[0028] Figure 1 This is a conceptual diagram illustrating the configuration of system 50 according to a first embodiment. System 50 includes one or more vehicles 100 as moving objects, a control device 200, and one or more sensors 300.

[0029] In this disclosure, the term "moving object" refers to an object capable of movement and can be, for example, a vehicle or an electric vertical take-off and landing machine (so-called flying vehicle). A vehicle can be a wheeled vehicle or a tracked vehicle, and can be, for example, a passenger car, truck, bus, two-wheeled vehicle, four-wheeled vehicle, engineering vehicle, etc. Vehicles include battery electric vehicles (BEVs), gasoline-powered vehicles, hybrid vehicles, and fuel cell electric vehicles. When the moving object is not a vehicle, the terms "vehicle" and "automobile" as used herein may be appropriately replaced with "moving object," and the term "driving" may be appropriately replaced with "moving."

[0030] In this embodiment, vehicle 100 is configured to perform driverless operation. The term "driverless operation" refers to operation not based on occupant driving operations. Driving operations refer to operations related to at least one of "movement," "turning," and "stopping" of vehicle 100. Driverless operation is achieved through automatic or manual remote control using devices located outside vehicle 100, or through autonomous control of vehicle 100 itself. Vehicle 100 performing driverless operation may have occupants who do not perform driving operations. Occupants who do not perform driving operations include, for example, persons simply sitting in vehicle 100, and persons performing tasks on vehicle 100 other than driving operations (such as assembling, inspecting, and operating switches). Operation based on occupant driving operations is sometimes referred to as "manual driving."

[0031] In this specification, the term "remote control" includes "fully remote control," where all operations of vehicle 100 are entirely determined by external factors of vehicle 100, and "partially remote control," where some operations of vehicle 100 are determined by external factors of vehicle 100. The term "autonomous control" includes "fully autonomous control," where vehicle 100 autonomously controls its own operations without receiving any information from external devices of vehicle 100, and "partially autonomous control," where vehicle 100 autonomously controls its operations using information received from external devices of vehicle 100.

[0032] In this embodiment, system 50 is used in a factory FC for manufacturing vehicle 100. The reference coordinate system of the factory FC is the global coordinate system GC, and any position within the factory FC can be represented by the X, Y, and Z coordinates in the global coordinate system GC. The factory FC includes a first position PL1 and a second position PL2. The first position PL1 and the second position PL2 are connected by a travel path TR on which vehicle 100 can travel. Vehicle 100 moves from the first position PL1 to the second position PL2 along the travel path TR using unmanned operation. Assembly and various inspections for manufacturing vehicle 100 are performed at the first position PL1 and the second position PL2.

[0033] An inspection device 500 is provided at the second position PL2. After the vehicle 100 moves to the second position PL2, it proceeds towards the inspection device 500 via unmanned operation. The inspection device 500 inspects the vehicle 100. In this embodiment, the inspection device 500 performs a brake check. The inspection device 500 is equipped with a communication device (not shown) and can communicate with other devices, including the vehicle 100 and the control device 200, via wired or wireless communication. The inspection device 500 transmits the inspection results to the control device 200 via the communication device.

[0034] Multiple sensors 300 are mounted at a first position PL1 and a second position PL2 along the travel path TR. The sensors 300 are located externally to the vehicle 100. In this embodiment, the sensors 300 are configured to capture images of the vehicle 100 from its external location. Each sensor 300 is equipped with a communication device (not shown) and can communicate with other devices, including the vehicle 100 and the control device 200, via wired or wireless communication.

[0035] Specifically, each sensor 300 is configured as a camera used as an imaging unit. The camera, acting as a sensor 300, captures images of the vehicle 100 and outputs the captured image data.

[0036] System 50 configuration

[0037] Figure 2 This is a block diagram illustrating the configuration of system 50. Vehicle 100 includes a vehicle control device 110 that controls various components of vehicle 100, an actuator assembly 120 including one or more actuators driven under the control of vehicle control device 110, and a communication device 130 that communicates wirelessly with external devices (such as control device 200). Actuator assembly 120 includes actuators for a drive device that accelerates vehicle 100, actuators for a steering system that changes the direction of travel of vehicle 100, and actuators for a braking device that decelerates vehicle 100.

[0038] The vehicle control device 110 is configured as a computer including a processor 111, a memory 112, an input-output interface 113, and an internal bus 114. The processor 111, memory 112, and input-output interface 113 are connected via the internal bus 114, enabling bidirectional communication between them. Actuator assembly 120 and communication device 130 are connected to the input-output interface 113. The processor 111 performs various functions, including those of a vehicle control unit 115, by executing a program PG1 stored in the memory 112.

[0039] The vehicle control unit 115 drives the vehicle 100 by controlling the actuator assembly 120. The vehicle control unit 115 can use a driving control signal received from the control device 200 to control the actuator assembly 120, thereby driving the vehicle 100. The driving control signal is a control signal used to drive the vehicle 100. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, instead of or attached to the acceleration of the vehicle 100, the driving control signal may include the speed of the vehicle 100 as a parameter.

[0040] The detection unit 140 detects load information related to the load applied to the occupant seat portion of the vehicle 100 during inspection by the inspection device 500. The load information includes the magnitude of the load and the presence or absence of the load. The detection unit 140 transmits the detected load information to the control device 200 via the communication device 130. The detection unit 140 will be described in detail later.

[0041] The control device 200 is configured as a computer including a processor 201, a memory 202, an input-output interface 203, and an internal bus 204. The control device 200 is, for example, a server. The processor 201, memory 202, and input-output interface 203 are connected via the internal bus 204, enabling bidirectional communication between them. A communication device 205, which communicates with various devices external to the control device 200, is connected to the input-output interface 203. The communication device 205 can communicate wirelessly with the vehicle 100 and can communicate with the sensor 300 via wired or wireless communication. The processor 201 implements various functions, including those of a remote control unit 210, a data acquisition unit 211, and an output unit 212, by executing a program PG2 stored in the memory 202.

[0042] The remote control unit 210 acquires detection results from sensors, generates driving control signals for controlling the actuator assembly 120 of the vehicle 100 based on the detection results, and transmits the driving control signals to the vehicle 100 to control the autonomous driving operation of the vehicle 100. In addition to the driving control signals, the remote control unit 210 can also generate and output control signals for controlling the actuators, which operate various auxiliary devices and accessories provided in the vehicle 100, such as windshield wipers, power windows, and lights. In other words, the remote control unit 210 can remotely operate these various accessories and auxiliary devices.

[0043] The acquisition unit 211 acquires the results of the inspection performed by the inspection device 500 and the load information detected by the detection unit 140.

[0044] Output unit 212 correlates the inspection results acquired by acquisition unit 211 with the load information and outputs them. Acquisition unit 211 and output unit 212 will be described in detail later.

[0045] Vehicle 100 driving control

[0046] Figure 3 This is a flowchart illustrating the driving control process of the vehicle 100 according to the first embodiment. This process is executed to enable the vehicle 100 to drive autonomously. Figure 3During the processing, the processor 201 of the control device 200 acts as a remote control unit 210 by executing program PG2. The processor 111 of the vehicle 100 acts as a vehicle control unit 115 by executing program PG1.

[0047] In step S1, the processor 201 of the control device 200 uses the detection results output from the sensor 300 to acquire vehicle position information. The vehicle position information serves as the basis for generating driving control signals. In this 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 S1, the processor 201 uses captured images obtained from the sensor 300, which functions as a camera, to acquire the vehicle position information.

[0048] More specifically, in S1, the processor 201 detects, for example, the outline of vehicle 100 from the captured image, calculates the coordinates of a location point of vehicle 100 in the local coordinate system of the captured image, and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby obtaining the position of vehicle 100. For example, the outline of vehicle 100 included in the captured image can be detected by inputting the captured image into a detection model DM utilizing artificial intelligence. For example, the detection model DM is prepared internally or externally to system 50 and pre-stored in the memory 202 of control device 200. Examples of detection model DM include trained machine learning models for semantic segmentation or instance segmentation. For example, a convolutional neural network (hereinafter referred to as "CNN") trained by supervised learning using a training dataset can be used as a machine learning model. The training dataset includes, for example, multiple training images including vehicle 100, and labels for each region in the training images indicating whether the region represents vehicle 100 or a region other than vehicle 100. During training of the CNN, the parameters of the CNN are preferably updated by backpropagation (error backpropagation) to reduce the error between the output of the detection model DM and the labels. The processor 201 can obtain the orientation of the vehicle 100, for example, by estimating the orientation of the vehicle 100 based on the motion vector of the vehicle 100, wherein the motion vector of the vehicle 100 is calculated using optical flow based on the displacement of feature points of the vehicle 100 between frames of the captured image.

[0049] In step S2, the processor 201 of the control device 200 determines the target position where the vehicle 100 should move forward 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 defining the path that the vehicle 100 should travel is pre-stored in the memory 202 of the control device 200. The route is represented by nodes indicating the starting point, nodes indicating the waypoints, nodes indicating the destination, and links connecting these nodes. The processor 201 determines the target position of the vehicle 100 based on the vehicle position information and the reference route RR. The processor 201 determines the target position ahead of the current position of the vehicle 100 on the reference route RR.

[0050] In step S3, the processor 201 of the control device 200 generates a driving control signal to cause the vehicle 100 to move towards a determined target position. The processor 201 calculates the vehicle 100's speed based on the change in the vehicle 100's position and compares the calculated speed with the target speed. Typically, when the speed is lower than the target speed, the processor 201 determines acceleration to make the vehicle 100 accelerate. When the speed is higher than the target speed, the processor 201 determines acceleration to make the vehicle 100 decelerate. When the vehicle 100 is on the reference route RR, the processor 201 determines the steering angle and acceleration to ensure the vehicle 100 does not deviate from the reference route RR. When the vehicle 100 is not on the reference route RR, i.e., when the vehicle 100 deviates from the reference route RR, the processor 201 determines the steering angle and acceleration to return the vehicle 100 to the reference route RR.

[0051] In step S4, the processor 201 of the control device 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeatedly performs vehicle position information acquisition, target position determination, driving control signal generation, and driving control signal transmission at a predetermined cycle.

[0052] In step S5, the processor 111 of vehicle 100 receives a driving control signal transmitted from control device 200. In step S6, the processor 111 of vehicle 100 uses the received driving control signal to control actuator assembly 120, thereby causing vehicle 100 to travel at the acceleration and steering angle represented by the driving control signal. The processor 111 repeatedly receives the driving control signal and controls actuator assembly 120 at predetermined cycles. Using the system 50 of this embodiment, vehicle 100 can be driven remotely and can be moved without using transport equipment such as cranes or conveyor belts.

[0053] Processing of output inspection results and load information

[0054] Figure 4This is a flowchart illustrating the process of processing (hereinafter also referred to as "output processing") the output check results and load information. Figure 5 The output processing is illustrated. Output processing is performed as a step in the inspection process by inspection device 500. More specifically, output processing is performed to verify that the inspection was conducted under appropriate load.

[0055] like Figure 4 As shown, in step S10, the acquisition unit 211 acquires the inspection results and load information. The load information will be described first, followed by the inspection results.

[0056] like Figure 5 As shown, vehicle 100 includes a passenger seat portion 105. In this embodiment, the passenger seat portion 105 includes a seat 106 for the occupants of vehicle 100 to sit on, and a floor panel 107 for the feet of the occupants seated in seat 106 to rest on. A weight W1 is placed on seat 106. A weight W2 is placed on floor panel 107. The weight of weight W1 is, for example, 40 kg. The weight of weight W2 is, for example, 10 kg. During brake checks, the results may vary depending on whether there are occupants in vehicle 100. Since vehicle 100 can be operated autonomously, weights W1 and W2 are placed in vehicle 100 instead of occupants. This allows loads to be applied to vehicle 100 even when there are no occupants after vehicle 100 has been moved to inspection device 500 by autonomous operation.

[0057] Vehicle 100 includes a seat sensor SS and a load sensor FS as a detection unit 140. The seat sensor SS is located below the seating surface of seat 106. The seat sensor SS detects the magnitude of the load applied to seat 106 as load information. The load sensor FS is located below floor panel 107. The load sensor FS detects the magnitude of the load applied to floor panel 107 as load information. The seat sensor SS and load sensor FS output the detected load magnitude to the acquisition unit 211 of control device 200. In this embodiment, the seat sensor SS outputs a load magnitude of 40 kg applied to seat 106, and the load sensor FS outputs a load magnitude of 10 kg applied to floor panel 107. Accordingly, the acquisition unit 211 acquires the magnitudes of the load applied to seat 106 and floor panel 107 as load information.

[0058] The inspection device 500 includes multiple rollers 510. Each wheel 101 of the vehicle 100 is supported by a corresponding roller 510. The inspection device 500 rotates the drive rollers 510, causing the wheels 101 to rotate passively. During brake checks, since the circumferential speed of the drive rollers 510 is equal to the circumferential speed of the passively rotating wheels 101, the longitudinal position of the vehicle 100 does not change. The inspection device 500 controls the rollers 510 so that their rotational speed reaches a predetermined target speed. When the rollers 510 reach the target speed, the remote control unit 210 remotely controls the vehicle 100 to activate its braking system, and the inspection device 500 stops rotating the drive rollers 510. The inspection device 500 uses a braking force sensor to detect the braking force applied to the rollers 510 from the vehicle 100's braking system. The inspection device 500 outputs the detected braking force as an inspection result to the acquisition unit 211 of the control device 200. The inspection results include information on whether the braking system of vehicle 100 is functioning properly. The acquisition unit 211 obtains the inspection results from this information.

[0059] like Figure 4 As shown, in step S20, the output unit 212 outputs the inspection results in association with the load information. In this embodiment, the output unit 212 outputs a combination of the braking force detected by the inspection device 500, the load magnitude detected by the seat sensor SS, and the load magnitude detected by the load sensor FS. For example, the output can be made via a speaker or a display device.

[0060] when Figure 4 When the output processing is complete, the inspector verifies the output information. If the output information meets the inspection criteria, vehicle 100 moves from the second position PL2 via unmanned operation and performs other inspection processes. If the output information does not meet the inspection criteria, adjustments or other operations are performed on vehicle 100.

[0061] In the system 50 of the first embodiment described above, the output unit 212 outputs the inspection result of the inspection device 500 in association with the load information detected by the detection unit 140. Therefore, it is possible to verify whether the inspection was performed under appropriate load.

[0062] In the system 50 of the first embodiment, the detection unit 140 includes a seat sensor SS disposed in the seat 106. Therefore, it is possible to verify whether the check is performed under appropriate load applied to the seat 106.

[0063] In the system 50 of the first embodiment, the detection unit 140 includes a load sensor FS disposed on the floor panel 107. Therefore, it is possible to verify whether the check is performed under the condition that an appropriate load is applied to the floor panel 107.

[0064] B. Second Embodiment

[0065] Figure 6 The figure illustrates a system 50b according to a second embodiment. The detection unit 140 in the second embodiment system 50b differs from the detection unit in the first embodiment system 50 in that it includes an imaging device C1 and a processing device C2 instead of the seat sensor SS and the load sensor FS. Since the configuration of the second embodiment system 50b is otherwise identical to that of the first embodiment system 50, its description will be omitted.

[0066] like Figure 6 As shown, the vehicle 100 includes an imaging device C1 and a processing device C2 as a detection unit 140. The imaging device C1 captures images of the passenger seat portion 105 and outputs the captured image data. More specifically, the imaging device C1 captures images of a weight W1 placed on the seat 106 and an image of a weight W2 placed on the floor panel 107. In this embodiment, the imaging device C1 is a camera configured to capture images of the interior of the vehicle compartment.

[0067] Processing device C2 detects load information related to the load applied to the occupant seat portion 105 from image data. Processing device C2 is configured as a computer including a processor and memory. In this embodiment, load information indicates the presence or absence of a load. That is, processing device C2 detects whether the image data includes weights W1 and W2. This detection is performed, for example, by pattern matching using image data of weights W1 and W2 pre-stored in memory and image data output from imaging device C1. Alternatively, any image processing technique other than pattern matching can be used to detect the presence or absence of a load. Processing device C2 outputs the detection result regarding the presence or absence of a load to acquisition unit 211 of control device 200. Acquisition unit 211 acquires the inspection result from inspection device 500 and the presence or absence of a load output by processing device C2. Output unit 212 outputs the inspection result acquired by acquisition unit 211 in association with the presence or absence of a load.

[0068] In the system 50b of the second embodiment described above, the detection unit 140 includes: an imaging device C1 that captures an image of the occupant seat portion 105; and a processing device C2 that detects load information related to the load applied to the occupant seat portion 105 based on the image data acquired from the imaging device C1. Therefore, the imaging device C1 provided in the vehicle 100 can be used to detect load information.

[0069] C. Third Embodiment

[0070] Figure 7This is a flowchart illustrating the output processing procedure according to the third embodiment. The system of the third embodiment differs from the system 50 of the first embodiment in the function of the output unit 212. Components not described below are the same as those in the system 50 of the first embodiment. The system of the third embodiment can be used in conjunction with the system 50b of the second embodiment.

[0071] In the third embodiment, when the load information detected by the detection unit 140 meets a predetermined standard, the output unit 212 outputs the inspection result of the inspection device 500. When the load information detected by the detection unit 140 does not meet the predetermined standard, the output unit 212 does not output the inspection result. The predetermined standard is, for example, a lower limit value of the appropriate load size for the inspection performed by the inspection device 500. Alternatively, the predetermined standard can be any specified load size range. The predetermined standard can be the presence of any load. The predetermined standard is pre-stored in the memory 202.

[0072] Figure 7 The flowchart shown is Figure 4 The flowchart shown differs in that step S15 and subsequent steps are the same, while step S10 is identical. The following will discuss... Figure 7 Step S15 and its subsequent steps will be explained.

[0073] In step S15, output unit 212 determines whether the load information acquired by acquisition unit 211 meets a predetermined standard. When the load information does not meet the predetermined standard (step S15: No), output unit 212 ends the processing without outputting a check result. When the load information meets the predetermined standard (step S15: Yes), output unit 212 outputs the check result (step S20b). In step S20 of the first embodiment, output unit 212 outputs the check result in association with the load information. However, in step S20b of the third embodiment, output unit 212 outputs the check result.

[0074] In the system 50 of the third embodiment described above, when the load information detected by the detection unit 140 meets a predetermined standard, the output unit 212 outputs the inspection result of the inspection device 500. When the load information detected by the detection unit 140 does not meet the predetermined standard, the output unit 212 does not output the inspection result. Therefore, by setting appropriate load information as a predetermined standard, an inspection result can be obtained when an appropriate load is applied for inspection.

[0075] D. Fourth Embodiment

[0076] Figure 8The illustration shows a schematic configuration of system 50v according to a fourth embodiment. This embodiment differs from the first embodiment in that system 50v does not include control device 200. Vehicle 100v according to this embodiment is configured to drive via autonomous control performed by vehicle 100v itself. Other configurations of the fourth embodiment are the same as those of the first embodiment unless otherwise stated. System 50v of the fourth embodiment can be used in conjunction with the systems of the second and third embodiments.

[0077] In this embodiment, the processor 111v of the vehicle control device 110v acts as the vehicle control unit 115v by executing the program PG1 stored in the memory 112v. The vehicle control unit 115v can operate the actuator group 120 by acquiring output results from sensors, using the output results to generate driving control signals, and outputting the generated driving control signals, thereby enabling the vehicle 100v to drive autonomously. In this embodiment, in addition to the program PG1, the detection model DM and the reference route RR are also pre-stored in the memory 112v.

[0078] Figure 9 This is a flowchart illustrating the driving control process of a vehicle 100V according to the fourth embodiment. Figure 9 During the processing, the processor 111v of vehicle 100v acts as vehicle control unit 115v by executing program PG1.

[0079] In step S901, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection results output from the sensor 300, which is a camera. In step S902, the processor 111v determines the target position where the vehicle 100v should move forward next. In step S903, the processor 111v generates a driving control signal to cause the vehicle 100v to move towards the determined target position. In step S904, the processor 111v uses the generated driving control signal to control the actuator group 120, thereby causing the vehicle 100v to move according to the parameters represented by the driving control signal. The processor 111v repeatedly performs vehicle position information acquisition, target position determination, driving control signal generation, and actuator control at a predetermined cycle. According to the system 50v of this embodiment, the vehicle 100v can be driven autonomously without remote control by the control device 200.

[0080] like Figure 8As shown, in this embodiment, the processor 111v also acts as the acquisition unit 125v and the output unit 135v by executing the program PG1 stored in the memory 112v. The acquisition unit 125v has the same function as the acquisition unit 211 in the first embodiment. The output unit 135v has the same function as the output unit 212 in the first or third embodiment. Therefore, in this embodiment, the processor 111v of the vehicle 100v executes the program PG1 stored in the memory 112v. Figure 4 or Figure 7 The output shown undergoes the same processing.

[0081] Similar to systems 50 and 50b in the first, second, and third embodiments, system 50v in the fourth embodiment described above can also perform driving control and output processing of vehicle 100v.

[0082] E. Other embodiments

[0083] (E1) Each of the above embodiments illustrates an example of the inspection device 500 performing a brake check. However, this disclosure is not limited thereto. The inspection device 500 can perform any type of check. For example, the check can be a sideslip check or an accelerator check.

[0084] (E2) In each of the above embodiments, at least one function of the acquisition unit 211 and the output unit 212 can be performed by the inspection device 500. In this configuration, the inspection device 500 includes a computer having a processor and memory.

[0085] (E3) In each of the above embodiments, vehicle 100 is controlled by autonomous driving operation. However, this disclosure is not limited thereto. Vehicle 100 may alternatively be controlled by manual driving.

[0086] (E4) In each of the above embodiments, the load is applied to the occupant seat portion 105 by means of weights W1 and W2. However, this disclosure is not limited thereto. Alternatively, the load may also be applied by the occupant. In this configuration, in the system 50 of the first embodiment, the seat sensor SS and the load sensor FS can detect the load applied to the seat 106 and the floor panel 107 in the same manner as when using weights W1 and W2. In the system 50b of the second embodiment, the imaging device C1 can capture an image of the occupant sitting in the occupant seat portion 105, and the processing device C2 can use the image data of the occupant sitting in the occupant seat portion 105 to detect the presence or absence of a load.

[0087] (E5) In each of the above embodiments, the detection unit 140 can detect load information of any seat. The seat is, for example, a driver's seat, a passenger seat, or a rear seat.

[0088] (E6) In the first embodiment, the detection unit 140 includes both a seat sensor SS and a load sensor FS. However, this disclosure is not limited thereto. The detection unit 140 may alternatively be either the seat sensor SS or the load sensor FS.

[0089] (E7) In the second embodiment, the imaging device C1 is located inside the vehicle 100. However, this disclosure is not limited thereto. The imaging device C1 may alternatively be located outside the vehicle 100. For example, the imaging device C1 may be located in the factory FC.

[0090] (E8) In the second embodiment, the imaging device C1 is a camera. However, this disclosure is not limited thereto. The imaging device C1 may be, for example, a ranging device. The ranging device may be, for example, a light detection and ranging (LiDAR) device. In this case, the imaging device C1 can output three-dimensional point cloud data.

[0091] (E9) In the second embodiment, each of the weights W1 and W2 may be marked with a mark indicating the magnitude of the load. Each mark may have any shape that can be imaged by the imaging device C1. For example, weight W1 may be marked with a circle to indicate its weight as 40 kg, and weight W2 may be marked with a square to indicate its weight as 10 kg. The processing device C2 may use such marks to detect the magnitude of the load applied to the occupant seat portion 105.

[0092] (E10) In the second embodiment, the detection of load information by the processing device C2 can be performed by the processor 111 of the vehicle 100 or the processor 201 of the control device 200. Alternatively, the detection of load information by the processing device C2 can also be performed by the processor included in the inspection device 500. In such a configuration, the processing device C2 can be omitted.

[0093] (E11) In the third embodiment, the output unit 212 outputs the inspection result. However, this disclosure is not limited thereto. The output unit 212 may output load information together with the inspection result.

[0094] (E12) When predetermined conditions regarding load information are met, output unit 212 may output at least the results of the inspection performed by inspection device 500. Predetermined conditions include, for example, that a load has been detected, the load meets predetermined criteria, or the load size is within a predetermined range. These predetermined conditions are stored in memory 202. For example, when the predetermined condition of load detection is met, output unit 212 outputs the inspection results in association with the load information detected by detection unit 140. Alternatively, when the predetermined condition of load meeting predetermined criteria is met, output unit 212 outputs the results of the inspection performed by inspection device 500. When the predetermined condition of load meeting predetermined criteria is not met, output unit 212 does not output the inspection results. This configuration also allows verification that the inspection was performed under appropriate load conditions.

[0095] F. Other embodiments

[0096] (F1) In each of the above embodiments, the sensor 300 is not limited to a camera, but may be a ranging device, such as a LiDAR device. In this case, the detection result output from the sensor 300 may be three-dimensional point cloud data representing the vehicle 100. In this case, the control device 200 and the vehicle 100 can obtain vehicle position information by using template matching of the three-dimensional point cloud data as the detection result and pre-prepared reference point cloud data.

[0097] (F2) In the first embodiment, the control device 200 performs the process from acquiring vehicle location information to generating a driving control signal. Alternatively, the vehicle 100 may perform at least a portion of the process from acquiring vehicle location information to generating a driving control signal. For example, aspects (1) to (3) may be employed.

[0098] (1) Control device 200 can acquire vehicle position information, determine the target position that vehicle 100 should move to next, and generate a route from the current position of vehicle 100 represented by the acquired vehicle position information to the target position. Control device 200 can generate a route to the target position located between the current position and the destination, or it can generate a route to the destination. Control device 200 can transmit the generated route to vehicle 100. Vehicle 100 can generate a driving control signal to make vehicle 100 travel along the route received from control device 200, and use the generated driving control signal to control actuator group 120.

[0099] (2) The control device 200 can acquire vehicle location information and transmit the acquired vehicle location information to the vehicle 100. The vehicle 100 can determine the target position that the vehicle 100 should move to next, generate a route from the current position of the vehicle 100 represented by the received vehicle location information to the target position, generate a driving control signal to make the vehicle 100 travel along the generated route, and use the generated driving control signal to control the actuator group 120.

[0100] (3) In aspects (1) and (2) above, internal sensors may be installed in vehicle 100, and the detection results output by the internal sensors may be used for at least one of route generation and driving control signal generation. Internal sensors are sensors installed on vehicle 100. Examples of internal sensors may include sensors that detect the motion state of vehicle 100, sensors that detect the operational state of various components of vehicle 100, and sensors that detect the surrounding environment of vehicle 100. Specific examples of internal sensors may include cameras, LiDAR sensors, millimeter-wave radar, ultrasonic sensors, global positioning system (GPS) sensors, accelerometers, and gyroscopes. For example, in aspect (1) above, control device 200 may acquire detection results from internal sensors and generate a route reflecting the detection results from internal sensors. In aspect (1) above, vehicle 100 may acquire detection results from internal sensors and generate a driving control signal reflecting the detection results from internal sensors. In aspect (2) above, vehicle 100 may acquire detection results from internal sensors and generate a route reflecting the detection results from internal sensors. In aspect (2) above, vehicle 100 can acquire detection results from internal sensors and generate driving control signals that reflect the detection results from internal sensors.

[0101] (F3) In the fourth embodiment, internal sensors can be installed in the vehicle 100v, and the detection results output by the internal sensors can be used for at least one of route generation and driving control signal generation. For example, the vehicle 100v can acquire the detection results from the internal sensors and generate a route reflecting the detection results from the internal sensors. The vehicle 100v can acquire the detection results from the internal sensors and generate a driving control signal reflecting the detection results from the internal sensors.

[0102] (F4) In the fourth embodiment, vehicle 100v uses detection results from sensor 300 to acquire vehicle position information. Alternatively, internal sensors can be installed in vehicle 100v. Vehicle 100v can use the detection results from the internal sensors to acquire vehicle position information, determine the target position to which vehicle 100v should proceed next, generate a route from the current position of vehicle 100v represented by the acquired vehicle position information to the target position, generate a driving control signal for causing vehicle 100v to travel along the generated route, and use the generated driving control signal to control actuator assembly 120. In this case, vehicle 100v can travel without using the detection results from sensor 300. Vehicle 100v can acquire target arrival time and traffic congestion information from outside vehicle 100v and reflect either the target arrival time or traffic congestion information in at least one of the route and driving control signal.

[0103] (F5) In the first embodiment, the control device 200 automatically generates a driving control signal to be transmitted to the vehicle 100. Alternatively, the control device 200 may also generate a driving control signal to be transmitted to the vehicle 100 based on an operation performed by an external operator located outside the vehicle 100. For example, the external operator may operate a control device including: a display for showing captured images output from the sensor 300; a steering wheel, accelerator pedal, and brake pedal for remotely operating the vehicle 100; and a communication device for communicating with the control device 200 via wired or wireless communication. The control device 200 may generate the driving control signal based on the operation performed on the control device.

[0104] (F6) In each of the above embodiments, vehicle 100 can have any configuration, as long as it is capable of moving by autonomous operation. For example, vehicle 100 can be in the form of a platform equipped with the following components. Specifically, vehicle 100 can have any configuration as long as it includes at least vehicle control equipment 110 and actuator group 120 to perform three functions (i.e., "movement", "turning", and "stopping") by autonomous operation. Vehicle 100 may also include communication equipment 130 when vehicle 100 obtains information from the outside for autonomous operation. That is, vehicle 100 that can move by autonomous operation may omit at least some internal components (such as driver's seat and dashboard), at least some external components (such as bumpers and fenders), or body shell. In this case, the remaining components such as body shell can be installed on vehicle 100 before vehicle 100 is shipped from factory FC. Alternatively, the remaining components such as body shell can be installed on vehicle 100 after vehicle 100 (without the remaining components such as body shell installed on it) is shipped from factory FC. These components can be mounted on the vehicle 100 from any direction (such as from the top, bottom, front, rear, right, or left). Components can be mounted from the same direction or different directions. Even in platform form, the positions can be determined in the same manner as the vehicle 100 according to the first embodiment.

[0105] (F7) Vehicle 100 can be manufactured by combining multiple modules. A module refers to a unit consisting of one or more components grouped according to the structure and function of vehicle 100. For example, the platform of vehicle 100 can be manufactured by combining a front-end module constituting the front of the platform, a central module constituting the middle of the platform, and a rear-end module constituting the rear of the platform. The number of modules constituting the platform is not limited to three; it can be two or fewer, or four or more. In addition to or in place of the platform, parts of vehicle 100 other than the platform can also be modularized. Various modules can include any external components (such as bumpers or grilles) or any internal components (such as seats or consoles). Not only vehicle 100, but any mobile object can be manufactured by combining multiple modules. For example, such modules can be manufactured by connecting multiple parts together by welding, fasteners, etc., or by casting at least a portion of the module integrally forming a single component. The molding technique of integrally forming at least a portion of a module into a single component is also called gigabit casting or large-scale casting. By using gigabit casting, each part of a mobile object that is traditionally composed of multiple components can be formed as a single component. For example, front-end modules, central modules, and back-end modules can be manufactured using gigabit casting.

[0106] (F8) Transporting vehicle 100 by driverless operation is called “self-propelled transport”. The configuration used to realize self-propelled transport is also called “vehicle remote control automated driving transport system”. The method of producing vehicle 100 using self-propelled transport is also called “self-propelled production”. In self-propelled production, for example in the factory FC where vehicle 100 is manufactured, at least part of the transport of vehicle 100 is achieved by self-propelled transport.

[0107] (F9) In each of the above embodiments, some or all of the functions and processes implemented by software may also be implemented by hardware. Some or all of the functions and processes implemented by hardware may also be implemented by software. Examples of hardware that implements the various functions in the above embodiments may include various circuits such as integrated circuits and discrete circuits.

[0108] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from the spirit and scope of this disclosure. For example, the technical features in the embodiments corresponding to the technical features of the aspects described in the "Summary of the Invention" can be appropriately replaced or combined to solve some or all of the above-described problems, or to achieve some or all of the above-described effects. When a technical feature is not described as necessary herein, such feature may be appropriately omitted.

Claims

1. The system, including: The inspection device is configured to inspect the vehicle; The detection unit is configured to detect load information related to the load applied to the occupant seat portion of the vehicle during the inspection; as well as The output unit is configured to output the inspection results of the inspection device in association with the load information detected by the detection unit.

2. The system according to claim 1, wherein: The passenger seating section includes seats for the occupants of the vehicle; as well as The detection unit includes a seat sensor disposed in the seat, the seat sensor being configured to detect load information related to the load applied to the seat.

3. The system according to claim 2, wherein: The occupant seat portion also includes a floor panel, on which the feet of the occupant seated are placed; The detection unit also includes a load sensor disposed on the floor panel, the load sensor being configured to detect load information related to the load applied to the floor panel.

4. The system according to claim 1, wherein: The detection unit includes an imaging device configured to capture images of the occupant seat portion; and The detection unit is configured to detect load information related to the load applied to the occupant seat portion from image data obtained by the imaging device.

5. The system, including: The inspection device is configured to inspect the vehicle; The detection unit is configured to detect load information related to the load applied to the occupant seat portion of the vehicle during the inspection; as well as The output unit is configured to output the inspection result of the inspection device when the load information detected by the detection unit meets the predetermined standard, and is configured not to output the result when the load information detected by the detection unit does not meet the predetermined standard.

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