Control systems and control methods

Abstract

A technology is provided to prevent water immersion in a mobile body during manufacturing processes where water may come into contact with the mobile body, due to the equipment being in an open state. The control system includes: a mobile body equipped with an equipment whose open / closed state can be changed, the equipment separating the inside and outside of the mobile body when closed; an acquisition unit acquiring process information showing the manufacturing process being performed on the mobile body; and a control unit controlling the open / closed state of the equipment when the manufacturing process determined based on the process information includes a specific manufacturing process where water may come into contact with the mobile body, so that the open / closed state of the equipment is closed during that specific manufacturing process.

Description

Technical Field

[0001] This disclosure relates to control systems and control methods. Background Technology

[0002] Previously, vehicles equipped with various components such as windows, doors, trunk lids, and roofs that could change their opening and closing states were known (Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2006-350565 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In work processes where liquids such as water come into contact with moving objects such as vehicles, water may be absorbed into the moving object if the equipment is in the open position.

[0008] Technical means for solving problems

[0009] This disclosure can be implemented in the following ways.

[0010] (1) According to one aspect of this disclosure, a control system is provided. The control system controls the opening and closing state of an equipment component mounted on a mobile body and capable of changing its opening and closing state. The equipment component separates the inside and outside of the mobile body in a closed state. The control system includes: an acquisition unit that acquires process information showing a work process performed on the mobile body; and a control unit that, when the work process determined based on the process information includes a specific work process in which liquid may come into contact with the mobile body, controls the opening and closing state of the equipment component such that, in the specific work process, the opening and closing state of the equipment component becomes the closed state. According to this method, the control system can close the opening and closing state of the equipment component mounted on the mobile body in a work process in which liquid may come into contact with the mobile body. This suppresses water immersion within the mobile body.

[0011] (2) In the above method, the acquiring unit may also acquire opening / closing information indicating the opening / closing state of the equipment component, and the control unit, when determining the opening / closing state of the equipment component to be an open state based on the opening / closing information, changes the opening / closing state of the equipment component from the open state to the closed state. According to this method, the control system can change the opening / closing state of the equipment component from the open state to the closed state, so that in operation processes where liquid may come into contact with the moving body, the opening / closing state of the equipment component becomes the closed state.

[0012] (3) In the above method, the acquisition unit may also acquire opening / closing information showing the opening / closing state of the equipment at a time point after the control unit sends a control signal to change the opening / closing state of the equipment to the closed state. The control system may also include a notification unit that notifies the user of an error message if the opening / closing state of the equipment is determined to be open based on the opening / closing information at the time point. According to this method, after the control unit sends a control signal to change the opening / closing state of the equipment to the closed state, the control system can confirm that the opening / closing state of the equipment is closed. Furthermore, after the control unit sends a control signal to change the opening / closing state of the equipment to the closed state, the control system can also notify the user of an error message if the opening / closing state of the equipment is open. This can prompt the user to take measures to change the opening / closing state of the equipment to the closed state, or prevent the equipment from remaining open while performing work processes where liquid may come into contact with the moving body. Therefore, it is possible to more effectively suppress water immersion in the moving body.

[0013] (4) In the above method, the acquisition unit may also acquire opening / closing information showing the opening / closing state of the equipment at a time point after the control unit sends a control signal to change the opening / closing state of the equipment to the closed state. If the opening / closing state of the equipment is determined to be open based on the opening / closing information at that time point, the control unit stops the operation of the conveying equipment that transports the moving body toward the location where the specific work procedure is performed. According to this method, the control system can confirm that the opening / closing state of the equipment is closed after the control unit sends a control signal to change the opening / closing state of the equipment to the closed state. Furthermore, the control system can also stop the operation of the conveying equipment when the opening / closing state of the equipment is open after the control unit sends a control signal to change the opening / closing state of the equipment to the closed state. Thus, it is possible to avoid performing work procedures where liquid may come into contact with the moving body while the opening / closing state of the equipment remains open. Therefore, it is possible to more effectively suppress water immersion in the moving body.

[0014] (5) In the above-described manner, the mobile body can also move autonomously, and the acquisition unit acquires opening / closing information indicating the opening / closing state of the equipment at a time point after the control unit sends a control signal to make the opening / closing state of the equipment part the closed state. If the opening / closing state of the equipment part determined based on the opening / closing information at that time point is the open state, the control unit stops the movement of the mobile body moving towards the location where the specific work procedure is performed by autonomous driving. According to this method, after the control unit sends a control signal to make the opening / closing state of the equipment part the closed state, it can confirm that the opening / closing state of the equipment part is the closed state. Furthermore, after the control unit sends a control signal to make the opening / closing state of the equipment part the closed state, it can also stop the movement of the mobile body moving towards the work procedure where the liquid may come into contact with the mobile body by autonomous driving, as follows, even if the opening / closing state of the equipment part is the open state. This prevents equipment components from remaining in the open state during operation processes where liquids might come into contact with the moving parts. Therefore, it more effectively suppresses water immersion within the moving parts.

[0015] (6) In the above-described manner, a detection unit may also be included to detect the opening and closing state of the equipment component by utilizing communication within the mobile body and to output the opening and closing information. According to this method, the control system can detect the opening and closing state of the equipment component by utilizing communication within the mobile body.

[0016] (7) In the above-described manner, it may also include: a sensor for detecting the moving body from outside the moving body; and a detection unit for using the detection result of the sensor to detect the opening and closing state of the equipment and outputting the opening and closing information. According to this method, the control system can use a sensor from outside the moving body to detect the opening and closing state of the equipment.

[0017] (8) In the above-described manner, the acquisition unit may also acquire the process information by means of communication between the mobile body and the equipment installed at the location where the work process is performed. According to this method, the control system can acquire the process information by means of communication between the mobile body and the equipment installed at the location where the work process is performed.

[0018] (9) In the above-described manner, a memory may also be provided that stores a database showing the specific work procedure. If the control unit determines that the work procedure determined based on the procedure information is included in the database, it determines that the work procedure included in the database is the specific work procedure. According to this method, the control system can easily determine whether the work procedure determined based on the procedure information includes the specific work procedure using the database. Therefore, the control system can easily determine whether the opening / closing state of the equipment should be changed to the closed state.

[0019] (10) In the above-described manner, the acquiring unit may also acquire time information indicating the time required to change the opening / closing state of the equipment from the open state to the closed state, and the control unit uses the time information to begin controlling the equipment so that the opening / closing state of the equipment becomes the closed state before the start of the specific work procedure. According to this method, the control system can close the opening / closing state of the equipment before the start of a work procedure where liquid may come into contact with the moving body. Therefore, water immersion within the moving body can be more effectively suppressed.

[0020] (11) In the above-described manner, the specific work step may also be a leak inspection step that checks whether the liquid will seep into the mobile body when it is splashed onto the mobile body. According to this method, it is possible to prevent the liquid sprayed onto the mobile body during the leak inspection step from seeping into the mobile body and causing the mobile body to become waterlogged.

[0021] (12) In the above-described manner, the specific work procedure may also be the work procedure in which the mobile body moves outdoors. According to this method, it is possible to prevent rain or snow from falling into the mobile body during the work procedure in which the mobile body moves outdoors, thus preventing water from seeping into the mobile body.

[0022] (13) In the above-described manner, the specific work process may also be a cleaning process that cleans the body of the mobile body. According to this method, it is possible to prevent the liquid used in the cleaning process from seeping into the mobile body and causing water to immerse the mobile body.

[0023] (14) In the above-described manner, the equipment may also be at least one of a window, a door, a trunk lid, a hood, and a roof. According to this method, it is possible to prevent water from entering the mobile body during work processes in which liquid may come into contact with the mobile body because at least one of the windows, doors, trunk lids, hoods, and roofs is in an open state.

[0024] (15) According to another aspect of this disclosure, a control method is provided. The control method controls the opening and closing state of an equipment component mounted on a mobile body and capable of changing its opening and closing state. In a closed state, the equipment component separates the inside and outside of the mobile body. The control method includes: an acquisition step, acquiring process information indicating a work process performed on the mobile body; and a control step, controlling the opening and closing state of the equipment component when the work process determined based on the process information includes a specific work process in which liquid may come into contact with the mobile body, such that the opening and closing state of the equipment component becomes closed in the specific work process. According to this method, by executing the acquisition step and the control step, the opening and closing state of the equipment component mounted on the mobile body can be made closed in a work process in which liquid may detect the mobile body. This suppresses water immersion within the mobile body.

[0025] This disclosure can be implemented in various ways other than the control system and control method described above. For example, it can be implemented by a method for manufacturing a control system, a computer program for implementing the control method of the control system, or a non-transient recording medium on which the computer program is recorded. Attached Figure Description

[0026] Figure 1 This is a conceptual diagram showing the configuration of the control system in the first embodiment.

[0027] Figure 2 This is a block diagram showing the configuration of the control system in the first embodiment.

[0028] Figure 3 This is a flowchart illustrating the processing flow of vehicle driving control in the first embodiment.

[0029] Figure 4 This is a flowchart illustrating an example of a control method for an equipment component.

[0030] Figure 5 This is a flowchart showing the details of the acquisition process in the first embodiment.

[0031] Figure 6 This is a flowchart illustrating the details of the control process in the first embodiment.

[0032] Figure 7 This is a block diagram showing the configuration of the control system in the second embodiment.

[0033] Figure 8 This is a flowchart illustrating the details of the control process in the second embodiment.

[0034] Figure 9 This is a block diagram showing the configuration of the control system in the third embodiment.

[0035] Figure 10 This is a flowchart illustrating the details of the control process in the third embodiment.

[0036] Figure 11 This is a block diagram showing the configuration of the control system in the fourth embodiment.

[0037] Figure 12 This is a flowchart illustrating another example of a control method for an equipment component.

[0038] Figure 13 This is a flowchart showing the details of the confirmation process in the fourth embodiment.

[0039] Figure 14 This is a block diagram showing the configuration of the control system in the fifth embodiment.

[0040] Figure 15 This is a flowchart showing the details of the confirmation process in the fifth embodiment.

[0041] Figure 16 This is a block diagram showing the configuration of the control system in the sixth embodiment.

[0042] Figure 17 This is a flowchart showing the details of the confirmation process in the sixth embodiment.

[0043] Figure 18 This is a block diagram showing the configuration of the control system in the seventh embodiment.

[0044] Figure 19 This is a flowchart illustrating the details of the control process in the seventh embodiment.

[0045] Figure 20 This is an explanatory diagram showing the general configuration of the control system in the eighth embodiment.

[0046] Figure 21 This is a flowchart illustrating the processing flow of vehicle driving control in the eighth embodiment. Detailed Implementation

[0047] A. First implementation method:

[0048] Figure 1 This is a conceptual diagram showing the configuration of the control system 50 in the first embodiment. The control system 50 includes one or more vehicles 100 as moving bodies, a server 200, and one or more external sensors 300.

[0049] In this disclosure, "mobile body" means an object capable of movement, such as a vehicle or an electric vertical takeoff and landing aircraft (so-called flying car). A vehicle can be a wheeled vehicle or a tracked vehicle, such as a passenger car, truck, bus, two-wheeled vehicle, four-wheeled vehicle, or engineering vehicle. Vehicles include battery electric vehicles (BEVs), gasoline vehicles, hybrid electric vehicles, and fuel cell vehicles. When the mobile body is not a vehicle, the terms "vehicle" or "car" in this disclosure may be appropriately replaced with "mobile body," and the term "driving" may be appropriately replaced with "moving."

[0050] Vehicle 100 is configured to operate autonomously. "Autonomous operation" means driving without relying on the driving actions of passengers. Driving actions refer to actions related to at least one of "driving," "steering," or "stopping" of vehicle 100. Autonomous driving is achieved through automatic or manual remote control using devices located outside vehicle 100, or through autonomous control of vehicle 100. In vehicle 100 operating autonomously, passengers who do not perform driving actions may also be present. Passengers who do not perform driving actions include, for example, people simply sitting in the seats of vehicle 100, or people performing tasks different from driving actions while riding in vehicle 100. Furthermore, driving based on passenger driving actions is sometimes referred to as "manned driving."

[0051] In this specification, "remote control" includes "fully remote control," in which all actions of vehicle 100 are determined entirely from outside the vehicle 100, and "partially remote control," in which some actions of vehicle 100 are determined from outside the vehicle 100. Additionally, "autonomous control" includes "fully autonomous control," in which vehicle 100 autonomously controls its own actions without receiving any information from external devices, and "partially autonomous control," in which vehicle 100 autonomously controls its own actions using information received from external devices.

[0052] In this embodiment, the control system 50 is used in a factory FC that performs multiple manufacturing processes to manufacture a 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 has a first location PL1 and a second location PL2. At each location PL1 and PL2, for example, one or more actual processes such as painting, assembly, and inspection are performed among the multiple manufacturing processes. The first location PL1 and the second location PL2 are connected by a travel path TR through which the vehicle 100 can travel. On the travel path TR, a transport process of multiple manufacturing processes, which transports the vehicle 100 from the first location PL1 to the second location PL2, is performed. In the factory FC, multiple external sensors 300 are installed along the travel path TR. The positions of each external sensor 300 in the factory FC are pre-adjusted. The vehicle 100 moves from the first location PL1 to the second location PL2 via the travel path TR without human intervention. Furthermore, the configuration of the factory FC is not limited to the above. At least one of the first location PL1 and the second location PL2 may also be a storage location for the vehicle 100, such as a yard.

[0053] Figure 2 This is a block diagram illustrating the configuration of the control system 50 in the first embodiment. The vehicle 100 includes a vehicle control device 110 for controlling various parts of the vehicle 100, an actuator assembly 120 including one or more actuators driven under the control of the vehicle control device 110, and a communication device 130 for communicating with external devices such as a server 200 via wireless communication. The actuator assembly 120 includes actuators for a drive mechanism to accelerate the vehicle 100, actuators for a steering mechanism to change the direction of travel of the vehicle 100, and actuators for a braking mechanism to decelerate the vehicle 100.

[0054] Furthermore, the vehicle 100 is equipped with a device 140 capable of changing its opening and closing state and separating the interior and exterior of the vehicle 100 when closed. Accompanying this, the actuator assembly 120 also includes a specific actuator for changing the opening and closing state of the device 140. The device 140 can be, for example, a door separating the interior and exterior of the passenger compartment, such as a front door or rear door. The device 140 can also be a tailgate separating the interior and exterior of the cargo compartment, a trunk lid separating the interior and exterior of the trunk room, a bonnet separating the interior and exterior of the engine compartment, or a roof separating the interior and exterior of the passenger compartment, such as a sunroof. In addition, the vehicle 100 may also be equipped with other devices 140 than those mentioned above.

[0055] The vehicle control unit 110 comprises a computer having 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 bidirectionally connected via the internal bus 114. An actuator assembly 120 and a communication device 130 are connected to the input / output interface 113. The processor 111 executes various functions, including those of the vehicle control unit 115, by executing the program PG1 stored in the memory 112.

[0056] The vehicle control unit 115 drives the vehicle 100 by controlling the actuator assembly 120. The vehicle control unit 115 controls the actuator assembly 120 using a driving control signal received from the server 200, thereby enabling the vehicle 100 to drive. 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, the driving control signal may include the speed of the vehicle 100 as a parameter instead of its acceleration, or it may include the speed of the vehicle 100 as a parameter in addition to its acceleration.

[0057] Furthermore, the vehicle control unit 115 controls a specific actuator by using the equipment control signal received from the server 200, thereby changing the opening and closing state of the equipment 140. The equipment control signal is a control signal used to change the opening and closing state of the equipment 140. In this embodiment, the controlled equipment 140 is a power window whose opening and closing state can be changed by external electrical control. Therefore, when the vehicle control unit 115 receives an equipment control signal from the server 200 to change the opening and closing state of the power window to the closed state, it uses the received equipment control signal to control a specific actuator used to change the opening and closing state of the power window. Thus, the vehicle control unit 115 changes the opening and closing state of the power window to the closed state.

[0058] Server 200 comprises a computer having a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, memory 202, and input / output interface 203 are bidirectionally connected via the internal bus 204. A communication device 205 for communicating with various external devices is connected to the input / output interface 203. The communication device 205 can communicate with the vehicle 100 wirelessly and with various external sensors 300 via wired or wireless communication. The processor 201 executes the program PG2 stored in the memory 202 to perform various functions, including those of an acquisition unit 211 and a remote control unit 212.

[0059] The acquisition unit 211 acquires process information showing the manufacturing processes being performed on the vehicle 100. For example, the acquisition unit 211 acquires the process information through communication between the vehicle 100 and manufacturing equipment 400, such as a spray tester, installed at various locations PL1 and PL2 where the manufacturing processes are performed. In this case, for example, the vehicle 100 acquires equipment identification information from the manufacturing equipment 400 installed around the current location of the vehicle 100. Then, the vehicle 100 sends the equipment identification information acquired from the manufacturing equipment 400 to the server 200. Based on the equipment identification information, the acquisition unit 211 determines at least one of the manufacturing processes just performed on the vehicle 100, the manufacturing processes currently being performed on the vehicle 100, and the manufacturing processes to be performed on the vehicle 100 next. Then, based on a pre-set execution order of multiple manufacturing processes, the acquisition unit 211 determines the manufacturing process to be performed after the currently performing manufacturing process on the vehicle 100, thereby acquiring the process information.

[0060] Furthermore, the method for obtaining process information is not limited to the above. The acquisition unit 211 may also obtain process information using communication between the vehicle 100 and the manufacturing equipment 400, as follows: For example, the vehicle 100 receives radio waves emitted from a transmitter of a manufacturing equipment 400 located around the current location of the vehicle 100, with frequencies varying for each manufacturing equipment 400. The vehicle 100 then sends frequency information, indicating the frequency of the radio waves received from the manufacturing equipment 400, to the server 200. Based on the frequency information, the acquisition unit 211 determines at least one of the manufacturing process just performed on the vehicle 100, the manufacturing process currently being performed on the vehicle 100, and the next manufacturing process to be performed on the vehicle 100. Then, based on the execution order of the multiple manufacturing processes, the acquisition unit 211 determines the manufacturing process to be performed after the currently performing manufacturing process on the vehicle 100, thereby obtaining process information.

[0061] Alternatively, the acquisition unit 211 can also use vehicle location information to acquire process information. In this case, for example, the acquisition unit 211 determines the manufacturing process currently being performed on vehicle 100 by comparing the position of vehicle 100 in the global coordinate system GC with a map that uses the global coordinate system GC to represent the positions of various locations PL1, PL2, and TR within the factory FC. Then, based on the execution order of multiple manufacturing processes, the acquisition unit 211 determines the manufacturing process to be performed after the currently performing manufacturing process on vehicle 100, thereby acquiring process information.

[0062] Alternatively, the acquisition unit 211 can also use the production management information of the vehicle 100 to obtain process information. The production management information, for example, shows the predetermined start time of each manufacturing process for each vehicle 100. In this case, for example, the acquisition unit 211 obtains vehicle identification information such as the VIN number from the vehicle 100. Then, based on the current time, the acquisition unit 211 determines the manufacturing process currently being performed on the vehicle 100 according to the production management information. Then, based on the execution order of multiple manufacturing processes, the acquisition unit 211 determines the manufacturing process to be performed after the currently performing manufacturing process on the vehicle 100, thereby obtaining process information.

[0063] The remote control unit 212 obtains the detection results based on the sensors, uses the detection results to generate a driving control signal for controlling the actuator group 120 of the vehicle 100, and sends the driving control signal to the vehicle 100, thereby enabling the vehicle 100 to drive remotely.

[0064] Furthermore, if the manufacturing process determined based on the process information includes a specific manufacturing process in which water may come into contact with the vehicle 100, the remote control unit 212 controls the opening and closing state of the equipment 140 so that the equipment 140 is closed during the specific manufacturing process. The specific manufacturing process could be, for example, a leak detection process that checks whether water will seep into the vehicle 100 when water is splashed onto it. The specific manufacturing process could also be a manufacturing process in which the vehicle 100 is driven outdoors, or a washing process that washes the body of the vehicle 100. In this embodiment, if the manufacturing process determined based on the process information is included in a database DB that shows the specific manufacturing process and is pre-stored in the memory 202, the remote control unit 212 makes the determination as follows: In this case, the remote control unit 212 determines that the manufacturing process included in the database DB is the specific manufacturing process. Then, regardless of the open / closed state of the power window, the remote control unit 212 generates an equipment control signal to close the power window during a specific manufacturing process, and sends the equipment control signal to the vehicle 100. Thus, the remote control unit 212 remotely closes the power window. Furthermore, the method for determining the specific manufacturing process is not limited to the above.

[0065] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that detects the vehicle 100 from the outside. The external sensor 300 has a communication device (not shown) and can communicate with other devices such as the server 200 via wired or wireless communication.

[0066] Specifically, the external sensor 300 is composed of a camera. The camera, which is the external sensor 300, takes pictures of the vehicle 100 and outputs the captured images as detection results.

[0067] Figure 3 This is a flowchart illustrating the processing flow of the vehicle 100's driving control in the first embodiment. Figure 3 In the processing flow, the processor 201 of the server 200 functions as a remote control unit 212 by executing program PG2. Additionally, the processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing program PG1.

[0068] In step S1, the processor 201 of the server 200 uses the detection results output from the external sensor 300 to obtain vehicle position information. This vehicle position information is 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 step S1, the processor 201 uses images captured from a camera, which is the external sensor 300, to obtain the vehicle position information.

[0069] Specifically, in step S1, the processor 201 detects the shape of the vehicle 100 from the captured image, calculates the coordinates of the vehicle 100's location points in the coordinate system of the captured image (i.e., the local coordinate system), and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby obtaining the position of the vehicle 100. The shape of the vehicle 100 contained in the captured image can be detected, for example, by inputting the captured image into a detection model DM employing artificial intelligence. The detection model DM is prepared, for example, within or outside the control system 50, and pre-stored in the memory 202 of the server 200. As the detection model DM, for example, a learned machine learning model trained in a manner that achieves either semantic segmentation or instance segmentation can be used. As this machine learning model, for example, a convolutional neural network (hereinafter CNN) trained using a learning dataset can be used. The learning dataset, for example, has multiple training images containing the vehicle 100, and labels indicating which region in the training images represents the vehicle 100 and which region outside the vehicle 100 it represents. During CNN learning, it is preferable to update the CNN parameters by using back-propagation (error backpropagation method) to reduce the error between the output of the detection model DM and the label. In addition, the processor 201 uses, for example, optical flow to estimate the direction of the vehicle 100's movement vector calculated from the position changes of the vehicle 100's feature points between frames of the captured image, thereby obtaining the vehicle 100's orientation.

[0070] In step S2, the processor 201 of the server 200 determines the target location that the vehicle 100 should go to next. In this embodiment, the target location is represented by the X, Y, and Z coordinates in the global coordinate system GC. The memory 202 of the server 200 pre-stores a reference path RR, which serves as the path that the vehicle 100 should travel. The path is represented by nodes indicating the starting point, nodes indicating the waypoints, nodes indicating the destination, and links connecting the nodes. The processor 201 uses the vehicle location information and the reference path RR to determine the target location that the vehicle 100 should go to next. The processor 201 determines the target location on the reference path RR, which is further ahead of the vehicle 100's current location.

[0071] In step S3, the processor 201 of the server 200 generates a driving control signal to move the vehicle 100 toward the determined target position. The processor 201 calculates the vehicle 100's speed based on the vehicle 100's position shift and compares the calculated speed with the target speed. Generally, 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, it determines acceleration to make the vehicle 100 decelerate. Furthermore, when the vehicle 100 is on the reference path RR, the processor 201 determines the steering angle and acceleration to prevent the vehicle 100 from leaving the reference path RR; when the vehicle 100 is not on the reference path RR—in other words, when the vehicle 100 has left the reference path RR—it determines the steering angle and acceleration to return the vehicle 100 to the reference path RR.

[0072] In step S4, the processor 201 of the server 200 sends the generated driving control signal to the vehicle 100. The processor 201 repeatedly performs tasks such as acquiring vehicle position information, determining target position, generating driving control signals, and sending driving control signals at predetermined intervals.

[0073] In step S5, the processor 111 of vehicle 100 receives a driving control signal sent from server 200. In step S6, the processor 111 of vehicle 100 uses the received driving control signal to control the 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 the actuator assembly 120 at a predetermined cycle. According to the control system 50 of this embodiment, vehicle 100 can be driven remotely, and vehicle 100 can be moved without the use of conveying equipment such as cranes or conveyors.

[0074] Figure 4 This is a flowchart illustrating an example of the control method for equipment component 140. Figure 4 In the control method shown, the acquisition process of step S100 and the control process of step S200 are executed sequentially. The acquisition process is the process of acquiring process information. The control process is the process of controlling the opening and closing state of the equipment 140 so that the opening and closing state of the equipment 140 becomes the closed state in a specific manufacturing process. Figure 4 The process shown, for example, is repeated at a pre-set time cycle starting from the point when vehicle 100 begins to be manufactured.

[0075] Figure 5 This is a flowchart showing the details of the acquisition process in the first embodiment. Figure 5 The illustrated process begins, for example, when a preset time has elapsed since the last execution timing. In step S111, vehicle 100 sends a request signal for obtaining device identification information to manufacturing equipment 400. Upon receiving the request signal, manufacturing equipment 400 sends its own device identification information to vehicle 100 in step S112. In step S113, vehicle 100 sends the device identification information received from manufacturing equipment 400 to server 200. In step S114, the acquisition unit 211 of server 200 determines the manufacturing process currently being performed on vehicle 100 based on the device identification information. In step S115, the acquisition unit 211 determines the manufacturing process to be performed after the currently performing manufacturing process on vehicle 100 based on the execution order of multiple manufacturing processes, thereby obtaining process information.

[0076] Figure 6 This is a flowchart illustrating the details of the control process in the first embodiment. Figure 6 The process shown begins, for example, after the process information has been obtained. In step S211, the remote control unit 212 of the server 200 uses the database DB, which shows the specific manufacturing process, to determine whether the manufacturing process determined based on the process information includes the specific manufacturing process. If the manufacturing process determined based on the process information does not include the specific manufacturing process (step S212: No), the remote control unit 212 does not control the opening and closing state of the power window and ends the process. If the manufacturing process determined based on the process information includes the specific manufacturing process (step S212: Yes), step S213 is executed. In step S213, the remote control unit 212 generates an equipment control signal for making the opening and closing state of the power window closed in the specific manufacturing process. In step S214, the remote control unit 212 sends the generated equipment control signal to the vehicle 100. The vehicle control unit 115 of the vehicle 100, which receives the equipment control signal, uses the received equipment control signal to control the specific actuator in step S215. Thus, the opening and closing state of the power window becomes closed in the specific manufacturing process.

[0077] According to the first embodiment described above, the control system 50, by sequentially executing the acquisition step and the control step, can ensure that the opening / closing state of the equipment component 140 mounted on the vehicle 100 is closed during the manufacturing process where water may come into contact with the vehicle 100. This helps to prevent water from entering the vehicle 100. In particular, when the vehicle 100 is driven autonomously and there are no passengers in the vehicle 100, it may be difficult to realize that the equipment component 140 is open during the manufacturing process where water may come into contact with the vehicle 100. In contrast, according to the first embodiment described above, the control system 50 can automatically close the opening / closing state of the equipment component 140 via remote control. Therefore, even when there are no passengers in the vehicle 100, the equipment component 140 is open, thus preventing water from entering the vehicle 100.

[0078] Furthermore, according to the first embodiment described above, the control system 50 can obtain process information by utilizing communication between the vehicle 100 and the manufacturing equipment 400.

[0079] Furthermore, according to the first embodiment described above, the control system 50 can easily determine, using the database DB, whether the manufacturing process determined based on the process information includes a specific manufacturing process. Therefore, the control system 50 can easily determine whether the open / closed state of the equipment 140 should be changed to the closed state.

[0080] Furthermore, according to the first embodiment described above, it is possible to prevent water sprayed onto the vehicle 100 during the leak inspection process from seeping into the vehicle 100 and causing water to seep into the vehicle 100.

[0081] Furthermore, according to the first embodiment described above, it is possible to prevent rain or snow from falling into the vehicle 100 during the manufacturing process in which the vehicle 100 is driven outdoors, thus preventing water from seeping into the vehicle 100.

[0082] Furthermore, according to the first embodiment described above, it is possible to prevent the cleaning water used to clean the vehicle 100 during the cleaning process from seeping into the vehicle 100 and causing water to seep into the vehicle 100.

[0083] Furthermore, according to the first embodiment described above, it is possible to prevent water from entering the vehicle 100 during the manufacturing process in which water may come into contact with the vehicle 100, due to at least one of the windows, doors, trunk lid, hood, and roof being in an open state.

[0084] B. Second implementation method:

[0085] Figure 7This is a block diagram showing the configuration of the control system 50a in the second embodiment. In this embodiment, the control system 50a controls the opening and closing state of the equipment 140 only when the equipment 140 is in the open state. Other configurations are the same as in the first embodiment unless otherwise specified. Configurations identical to those in the first embodiment are labeled with the same reference numerals and their descriptions are omitted.

[0086] The processor 111a of the vehicle control device 110a performs various functions, including those of the vehicle control unit 115 and the detection unit 116, by executing the program PG1 stored in the memory 112a.

[0087] The detection unit 116 detects the opening and closing state of the equipment 140 and outputs opening and closing information indicating the opening and closing state of the equipment 140. In this embodiment, the equipment 140 is also a power window whose opening and closing state can be changed by external electrical control. Therefore, the detection unit 116 uses communication within the vehicle 100a, such as CAN (Controller Area Network) communication, to detect the opening and closing state of the equipment 140.

[0088] The processor 201a of the server 200a performs various functions, including those of the acquisition unit 211a and the remote control unit 212a, by executing the program PG2 stored in the memory 202a.

[0089] In addition to process information, the acquisition unit 211a also acquires the opening and closing information output from the detection unit 116.

[0090] When the manufacturing process determined based on the process information includes a specific manufacturing process, and the opening / closing state of the equipment 140 determined based on the opening / closing information is in the open state, the remote control unit 212a generates an equipment control signal and sends the equipment control signal to the vehicle 100a. Thus, when the manufacturing process determined based on the process information includes a specific manufacturing process, and the opening / closing state of the equipment 140 determined based on the opening / closing information is in the open state, the remote control unit 212a changes the opening / closing state of the equipment 140 from the open state to the closed state.

[0091] Figure 8 This is a flowchart illustrating the details of the control process in the second embodiment. Figure 8The process shown begins, for example, after the process information has been obtained. In step S221, the remote control unit 212a of the server 200a uses the database DB, which shows the specific manufacturing process, to determine whether the manufacturing process determined based on the process information includes the specific manufacturing process. If the manufacturing process determined based on the process information does not include the specific manufacturing process (step S222: No), the remote control unit 212a does not control the opening and closing state of the power window, but ends the process. If the manufacturing process determined based on the process information includes the specific manufacturing process (step S222: Yes), step S223 is executed. In step S223, the remote control unit 212a sends a detection start signal to the vehicle 100a to start the detection of the opening and closing state of the power window. Upon receiving the detection start signal, the detection unit 116 of the vehicle 100a uses the communication within the vehicle 100a to detect the opening and closing state of the power window in step S224. In step S225, the detection unit 116 outputs the opening and closing information as a detection result to the server 200a. Therefore, in step S226, the acquisition unit 211a of the server 200a acquires opening and closing information. If the opening / closing state of the power window determined based on the opening and closing information is closed (step S227: No), the remote control unit 212a does not control the opening / closing state of the power window, but ends the process. That is, in this case, the remote control unit 212a maintains the opening / closing state of the power window as closed. If the opening / closing state of the power window determined based on the opening and closing information is open (step S227: Yes), step S228 is executed. In step S228, the remote control unit 212a generates an equipment control signal for making the opening / closing state of the power window closed in a specific manufacturing process. In step S229, the remote control unit 212a sends the generated equipment control signal to the vehicle 100a. The vehicle control unit 115 of the vehicle 100a, which receives the equipment control signal, uses the received equipment control signal to control a specific actuator in step S230. Therefore, the opening / closing state of the electric window is changed from the open state to the closed state, so that the opening / closing state of the electric window becomes the closed state in a specific manufacturing process.

[0092] According to the second embodiment described above, in a manufacturing process where water may come into contact with the vehicle 100a, when the equipment component 140 is in an open state, the control system 50a can automatically change the open / closed state of the equipment component 140 from an open state to a closed state via remote control, so that the equipment component 140 is in a closed state during the manufacturing process where water may come into contact with the vehicle 100a.

[0093] Furthermore, according to the second embodiment described above, the control system 50a can detect the opening and closing state of the equipment component 140 by using communication within the vehicle 100a via the communication line within the vehicle 100a.

[0094] Furthermore, the equipment 140 capable of detecting the opening and closing status using communication within the vehicle 100a is not limited to power windows. Any equipment 140 capable of detecting the opening and closing status using communication within the vehicle 100a can have its opening and closing status changed by external electrical control, such as power doors, power tailgates, or power roofs.

[0095] C. Third implementation method:

[0096] Figure 9 This is a block diagram illustrating the configuration of the control system 50b in the third embodiment. In this embodiment, the type of the controlled component 140 differs from that in the first embodiment. Specifically, in this embodiment, the controlled component 140 is a hood whose opening and closing state can be changed by mechanical operation. The opening and closing state of a component 140, such as a hood, whose opening and closing state can be changed by mechanical operation, is sometimes impossible to detect using communication within the vehicle 100b. Therefore, in this embodiment, the control system 50b does not utilize communication within the vehicle 100b to detect the opening and closing state of the component 140. Furthermore, the opening and closing state of a component 140, such as a hood, whose opening and closing state can be changed by mechanical operation, is sometimes impossible to change by external electrical control. Therefore, in this embodiment, the control system 50b notifies the user U that the opening and closing state of the component 140 is open, thereby changing the opening and closing state of the component 140 from open to closed. Other configurations are the same as in the first embodiment unless otherwise specified. Configurations identical to those in the above embodiments are labeled with the same reference numerals and their descriptions are omitted.

[0097] The processor 201b of server 200b performs various functions, including those of detection unit 210, acquisition unit 211a, and remote control unit 212b, by executing program PG2 stored in memory 202b.

[0098] The detection unit 210 does not utilize the communication ground within the vehicle 100b to detect the opening and closing state of the equipment component 140. In this embodiment, the detection unit 210 uses the detection results of a camera, which is an external sensor 300, to detect the opening and closing state of the equipment component 140. In this case, the detection of the opening and closing state of the equipment component 140 can also be performed using a machine learning model, similar to the acquisition of vehicle position information. Furthermore, the method for detecting the opening and closing state of the equipment component 140 is not limited to the above. The detection unit 210 may also use the detection results of internal sensors mounted on a different vehicle 100b than the vehicle 100b being controlled to detect the opening and closing state of the equipment component 140.

[0099] If the manufacturing process determined based on the process information includes a specific manufacturing process, the remote control unit 212b will notify the user U that the equipment 140 is in the open state. In this case, the remote control unit 212b may notify the user U via at least one of the following: the notification device 150 of the vehicle 100b, the notification device 250 of the server 200b, the notification device 550 of the portable terminal 500 held by the user U, and the notification device 650 installed in the factory FC. For example, the remote control unit 212b may notify the user U that the equipment 140 is in the open state by sounding a horn mounted on the vehicle 100b that produces a warning sound. The remote control unit 212b may also notify the user U that the equipment 140 is in the open state by turning on or flashing a light mounted on the vehicle 100b, or by swinging a windshield wiper mounted on the vehicle 100b. Additionally, the remote control unit 212b can also notify the user U that the equipment 140 is in the open state by displaying text information indicating that the equipment 140 is in the open state on the display of the server 200b or the portable terminal 500, or on a monitor installed in the factory FC. The remote control unit 212b can also notify the user U that the equipment 140 is in the open state by playing audio information indicating that the equipment 140 is in the open state from the speaker of the server 200b or the portable terminal 500, or from the speaker installed in the factory FC. In this embodiment, the remote control unit 212b generates a notification control signal for sounding the horn and sends the notification control signal to the vehicle 100b, thereby remotely controlling the horn to sound. The notification control signal is a control signal used to control the operation of the notification devices 150, 250, 550, and 650.

[0100] The processor 111b of the vehicle control unit 110b performs various functions, including those of the vehicle control unit 115b, by executing the program PG1 stored in the memory 112b.

[0101] The vehicle control unit 115b also controls the notification device 150 by using a notification control signal received from the server 200b, thereby notifying the user U of various information. In this embodiment, when the vehicle control unit 115b receives a notification control signal from the server 200b to sound the horn, it uses the received notification control signal to sound the horn.

[0102] Figure 10 This is a flowchart illustrating the details of the control process in the third embodiment. Figure 10 The process shown begins, for example, after the process information has been acquired. In step S231, the remote control unit 212a of the server 200b uses the database DB, which shows the specific manufacturing process, to determine whether the manufacturing process determined based on the process information includes the specific manufacturing process. If the manufacturing process determined based on the process information does not include the specific manufacturing process (step S232: No), the remote control unit 212a does not notify the control unit for the opening and closing state of the hood, and instead terminates the process. If the manufacturing process determined based on the process information includes the specific manufacturing process (step S232: Yes), step S233 is executed. In step S233, the detection unit 210 of the server 200b sends a request signal for acquiring an image to the camera, which is an external sensor 300. Upon receiving the request signal, the external sensor 300 sends the image obtained by taking a picture of the vehicle 100b to the server 200b in step S234. In step S235, the detection unit 210 of the server 200b, having acquired the captured image, detects the opening / closing state of the equipment 140 by analyzing the captured image. In step S236, the detection unit 210 outputs opening / closing information as a detection result. In step S237, the acquisition unit 211a of the server 200b acquires the opening / closing information. If the opening / closing state of the hood, determined based on the opening / closing information, is closed (step S238: No), the remote control unit 212b of the server 200b does not send a notification to control the opening / closing state of the hood, but instead terminates the process. If the opening / closing state of the hood, determined based on the opening / closing information, is open (step S238: Yes), step S239 is executed. In step S239, the remote control unit 212b generates a notification control signal to sound the horn of the vehicle 100b. In step S240, the remote control unit 212b sends the generated notification control signal to the vehicle 100b. In step S241, the vehicle control unit 115 of vehicle 100b, having received the notification control signal, uses the received notification control signal to sound the horn. In this way, by notifying user U that the hood's opening / closing state is open, user U manually changes the hood's opening / closing state from open to closed, so that in a specific manufacturing process, the hood's opening / closing state becomes closed.

[0103] According to the third embodiment described above, the control system 50b notifies the user U via notification devices 150, 250, 550, and 650 that the opening / closing state of the equipment 140 is open, as follows: The control system 50b can change the opening / closing state of the equipment 140 from open to closed, so that the equipment 140 is closed during manufacturing processes where water may come into contact with the vehicle 100b. In this way, even for equipment 140 whose opening / closing state cannot be changed by external electrical control during manufacturing processes where water may come into contact with the vehicle 100b, the opening / closing state can also be closed.

[0104] Furthermore, according to the third embodiment described above, the control system 50b is able to detect the opening and closing state of the equipment component 140 from outside the vehicle 100b using sensors.

[0105] Furthermore, the device 140 capable of detecting the opening and closing state using sensor detection results is not limited to the hood. The device 140 capable of detecting the opening and closing state using sensor detection results can also be, for example, a power window or other device 140 whose opening and closing state can be changed by external electrical control.

[0106] D. Fourth Implementation Method:

[0107] Figure 11 This is a block diagram showing the configuration of the control system 50c in the fourth embodiment. In this embodiment, after the remote control unit 212 sends a control signal, such as an equipment control signal or a notification control signal, to change the open / closed state of the equipment 140 to a closed state, the control system 50c confirms that the equipment 140 is in a closed state. Furthermore, if the control system 50c is unable to change the open / closed state of the equipment 140 to a closed state due to certain problems, it notifies the user U of an error message. This prevents water from seeping into the vehicle 100c. Other configurations are the same as in the first embodiment unless otherwise specified. Configurations identical to those in the above embodiments are labeled with the same reference numerals and descriptions are omitted.

[0108] The processor 111c of the vehicle control device 110c performs various functions, including those of the vehicle control unit 115 and the detection unit 116, by executing the program PG1 stored in the memory 112c.

[0109] The processor 201c of the server 200c performs various functions, including functions as an acquisition unit 211c, a remote control unit 212, and a notification unit 213, by executing the program PG2 stored in the memory 202c.

[0110] In addition to process information, the acquisition unit 211c also acquires opening and closing information showing the opening and closing state of the equipment 140 at a time point after the remote control unit 212 sends a control signal to make the opening and closing state of the equipment 140 become the closed state.

[0111] When the notification unit 213 determines that the equipment 140 is in an open state based on the open / closed information at the time point after the remote control unit 212 sends a control signal to close the equipment 140, the notification unit 213 notifies the user U of an error message related to the vehicle 100c. In this case, the notification unit 213 may notify the user U via at least one of the following: the notification device 150 of the vehicle 100c; the notification device 250 of the server 200c; the notification device 550 of the portable terminal 500 held by the user U; or the notification device 650 installed in the factory FC. For example, the notification unit 213 may notify the user U that the equipment 140 is in an open state by sounding a horn mounted on the vehicle 100c that produces a warning sound. The notification unit 213 may also notify the user U that the equipment 140 is in an open state by illuminating or flashing a light mounted on the vehicle 100c, or by swinging a windshield wiper mounted on the vehicle 100c. Alternatively, the notification unit 213 can also notify the user U that the equipment 140 is in an open state by displaying text information indicating that the equipment 140 is in an open state on the display of the server 200c or portable terminal 500 or on a monitor installed in the factory FC. The notification unit 213 can also notify the user U that the equipment 140 is in an open state by playing audio information indicating that the equipment 140 is in an open state from the speaker of the server 200c or portable terminal 500 or on a speaker installed in the factory FC. In this embodiment, the notification unit 213 generates a notification control signal for sounding the horn and sends the notification control signal to the vehicle 100c, thereby sounding the horn remotely.

[0112] Figure 12 This is a flowchart illustrating another example of the control method for equipment component 140. Figure 12 In the control method shown, after the aforementioned acquisition and control steps are performed, the confirmation step in step S300 is executed. The confirmation step is a step that confirms that the equipment 140 is in a closed state at a time point after the remote control unit 212 sends a control signal to change the open / closed state of the equipment 140 to a closed state. In this embodiment, the confirmation step includes a notification step that notifies the user U of error information based on the open / closed state of the equipment 140. Figure 12 The process shown, for example, is repeated at a pre-set time cycle starting from the point when vehicle manufacturing 100c begins.

[0113] Figure 13 This is a flowchart showing the details of the confirmation process in the fourth embodiment. Figure 13 The illustrated process begins, for example, after a predetermined time has elapsed following the transmission of a control signal by the remote control unit 212 to change the open / closed state of the equipment 140 to the closed state. This predetermined time is, for example, set based on the time required to change the open / closed state of the equipment 140 from the open state to the closed state. In step S311, the remote control unit 212 of the server 200c sends a detection start signal to the vehicle 100c to initiate the detection of the power window's open / closed state. Upon receiving the detection start signal, the detection unit 116 of the vehicle 100c detects the open / closed state of the power window using communication within the vehicle 100c in step S312. In step S313, the detection unit 116 outputs the open / closed information as a detection result to the server 200c. Consequently, in step S314, the acquisition unit 211c of the server 200c acquires the open / closed information. If the power window's open / closed state, determined based on the opening / closing information, is closed (step S315: No), the notification unit 213 of the server 200c does not notify the user U of any error information, but instead terminates the process. If the power window's open / closed state, determined based on the opening / closing information, is open (step S315: Yes), step S316 is executed. In step S316, the notification unit 213 generates a notification control signal to sound the horn of the vehicle 100c. In step S317, the notification unit 213 sends the generated notification control signal to the vehicle 100c. Upon receiving the notification control signal, the vehicle control unit 115 of the vehicle 100c uses the received notification control signal to sound the horn in step S318.

[0114] According to the fourth embodiment described above, after the remote control unit 212 sends a control signal to close the opening / closing state of the equipment 140, the control system 50c can confirm that the equipment 140 is in the closed state. Furthermore, after the remote control unit 212 sends a control signal to close the opening / closing state of the equipment 140, the control system 50c can also notify the user U of an error message if the equipment 140 is in the open state. In this manner, the user U can be prompted to take measures to close the equipment 140, or to prevent the equipment 140 from remaining in the open state and performing manufacturing processes where water may come into contact with the vehicle 100c. Therefore, water immersion in the vehicle 100c can be more effectively suppressed.

[0115] E. Fifth implementation method:

[0116] Figure 14This is a block diagram showing the configuration of the control system 50d in the fifth embodiment. In this embodiment, the vehicle 100d is not driven autonomously within at least a portion of the factory FC, but is transported using conveying equipment 700 such as cranes and conveyors. Furthermore, if the control system 50d is unable to close the opening / closing state of the equipment 140 due to certain problems, it stops the operation of the conveying equipment 700 that transports the vehicle 100d toward the location PL2 where a specific manufacturing process is performed. Thus, the control system 50d prevents water from entering the vehicle 100d. Other configurations are the same as in the first embodiment unless otherwise specified. Configurations identical to those in the above embodiments are labeled with the same reference numerals and descriptions are omitted.

[0117] The processor 111d of the vehicle control device 110d performs various functions, including those of the vehicle control unit 115 and the detection unit 116, by executing the program PG1 stored in the memory 112d.

[0118] The processor 201d of the server 200d performs various functions, including those of the acquisition unit 211c and the remote control unit 212d, by executing the program PG2 stored in the memory 202d.

[0119] If the remote control unit 212d determines that the open / closed state of equipment 140 is open based on the open / closed information at a time point after sending a control signal to close the open / closed state of equipment 140, then it stops the operation of the conveying equipment 700. In this embodiment, the remote control unit 212d generates an equipment control signal and sends it to the conveying equipment 700, thereby stopping the operation of the conveying equipment 700 via remote control. The equipment control signal is a control signal used to control the operation of the conveying equipment 700.

[0120] Figure 15 This is a flowchart illustrating the details of the confirmation process in the fifth embodiment. In this embodiment, the confirmation process includes a device stopping process that halts the operation of the conveying device 700 based on the open / closed state of the equipment component 140. Figure 15The process shown begins, for example, after a predetermined time has elapsed following the transmission of a control signal by the remote control unit 212d to close the opening / closing state of the equipment 140. In step S321, the remote control unit 212d of the server 200d sends a detection start signal to the vehicle 100d to initiate the detection of the opening / closing state of the power window. Upon receiving the detection start signal, the detection unit 116 of the vehicle 100d detects the opening / closing state of the power window using communication within the vehicle 100d in step S322. In step S323, the detection unit 116 outputs the opening / closing information as a detection result to the server 200d. Consequently, in step S324, the acquisition unit 211c of the server 200d acquires the opening / closing information. If the opening / closing state of the power window, determined based on the opening / closing information, is closed (step S325: No), the remote control unit 212d of the server 200d does not stop the operation of the conveyor 700, but instead terminates the process. If the opening / closing state of the power window, determined based on the opening / closing information, is "open" (step S325: Yes), step S326 is executed. In step S326, the remote control unit 212d generates a device control signal to stop the operation of the conveyor 700. In step S327, the remote control unit 212d sends the generated device control signal to the conveyor 700. Upon receiving the device control signal, the conveyor 700 uses the received device control signal to stop its operation in step S328.

[0121] According to the fifth embodiment described above, after the remote control unit 212d sends a control signal to close the opening / closing state of the equipment 140, the control system 50d can also stop the operation of the conveying equipment 700 when the equipment 140 is in the open state. In this way, it is possible to avoid the manufacturing process where water could come into contact with the vehicle 100d while the equipment 140 remains in the open state. Therefore, it is possible to more effectively suppress water immersion inside the vehicle 100d.

[0122] F. Sixth Implementation Method:

[0123] Figure 16 This is a block diagram showing the configuration of the control system 50e in the sixth embodiment. In this embodiment, when the equipment 140 cannot be closed due to certain problems, the control system 50e stops the vehicle 100e, which is traveling unmanned towards the location PL2 where a specific manufacturing process is performed. Thus, the control system 50e prevents water from entering the vehicle 100e. Other configurations are the same as in the first embodiment unless otherwise specified. Configurations identical to those in the above embodiments are labeled with the same reference numerals and descriptions are omitted.

[0124] The processor 201e of the server 200e performs various functions, including those of the acquisition unit 211c and the remote control unit 212e, by executing the program PG2 stored in the memory 202e.

[0125] If the remote control unit 212e determines that the open / closed state of equipment 140 is open based on the open / closed information at a time point after sending a control signal to close the open / closed state of equipment 140, then the remote control unit 212e stops the movement of vehicle 100e, which is traveling unmanned towards the location PL2 where a specific manufacturing process is performed. In this embodiment, the remote control unit 212e generates a stop control signal and sends it to vehicle 100e, thereby stopping the movement of vehicle 100e remotely. The stop control signal is a control signal used to stop vehicle 100e.

[0126] The processor 111e of the vehicle control device 110e performs various functions, including those of the vehicle control unit 115e and the detection unit 116, by executing the program PG1 stored in the memory 112e.

[0127] The vehicle control unit 115e also uses a stop control signal received from the server 200e to control the actuator group 120, thereby stopping the vehicle 100e.

[0128] Figure 17 This is a flowchart illustrating the details of the confirmation process in the sixth embodiment. In this embodiment, the confirmation process includes a vehicle stopping process that stops the movement of the vehicle 100e based on the open / closed state of the equipment 140. Figure 17The process shown begins, for example, after a predetermined time has elapsed following the transmission of a control signal by the remote control unit 212e to close the opening / closing state of the equipment 140. In step S331, the remote control unit 212e of the server 200e sends a detection start signal to the vehicle 100e to initiate the detection of the opening / closing state of the power window. Upon receiving the detection start signal, the detection unit 116 of the vehicle 100e detects the opening / closing state of the power window using communication within the vehicle 100e in step S332. In step S333, the detection unit 116 outputs the opening / closing information as a detection result to the server 200e. Consequently, in step S334, the acquisition unit 211c of the server 200e acquires the opening / closing information. If the opening / closing state of the power window, determined based on the opening / closing information, is closed (step S335: No), the remote control unit 212e of the server 200e does not stop the operation of the vehicle 100e, but instead terminates the process. If the opening / closing state of the power window, determined based on the opening / closing information, is open (step S335: Yes), step S336 is executed. In step S336, the remote control unit 212e generates a stop control signal to stop the movement of the vehicle 100e traveling towards the specific manufacturing process via autonomous driving. In step S337, the remote control unit 212e sends the generated stop control signal to the vehicle 100e traveling towards the specific manufacturing process via autonomous driving. Upon receiving the stop control signal, in step S338, the vehicle 100e uses the received stop control signal to control the actuator assembly 120, thereby stopping the vehicle 100e.

[0129] According to the sixth embodiment described above, after the remote control unit 212e sends a control signal to close the opening / closing state of the equipment 140, the control system 50e can also, when the equipment 140 is in the open state, stop the movement of the vehicle 100e, which is traveling unmanned towards a manufacturing process where water may come into contact with the vehicle 100e. In this way, it is possible to prevent the equipment 140 from remaining in the open state while the manufacturing process where water may come into contact with the vehicle 100e is being performed. Therefore, it is possible to more effectively suppress water immersion inside the vehicle 100e.

[0130] G. Seventh Implementation Method:

[0131] Figure 18This is a block diagram showing the configuration of the control system 50f in the seventh embodiment. In this embodiment, the control system 50f initiates control of the opening and closing state of the equipment 140 based on the time required to change the opening / closing state of the equipment 140 from an open state to a closed state. Therefore, in a specific manufacturing process, the opening / closing state of the equipment 140 is more reliably changed to a closed state. Other configurations are the same as in the first embodiment unless otherwise specified. Configurations identical to those in the above embodiments are labeled with the same reference numerals and their descriptions are omitted.

[0132] The processor 201f of server 200f performs various functions, including those of acquisition unit 211f and remote control unit 212f, by executing program PG2 stored in memory 202f.

[0133] In addition to process information, the acquisition unit 211f also acquires time information indicating the time required to change the opening / closing state of the equipment 140 from the open state to the closed state. The acquisition unit 211f acquires this time information, for example, by referring to a table pre-stored in the memory 202f that represents the time required to change the opening / closing state of the equipment 140 from the open state to the closed state, categorized by equipment 140. Alternatively, the acquisition unit 211f may use the current opening degree and opening / closing speed of the equipment 140 to calculate the time required to change the opening / closing state of the equipment 140 from the open state to the closed state, thereby acquiring the time information.

[0134] The remote control unit 212f uses the required timing information to initiate control of the equipment 140, ensuring that the open / closed state of the equipment 140 is closed before the start of a specific manufacturing process. The remote control unit 212f may, for example, use production management information to determine the predetermined start time of the specific manufacturing process. Alternatively, the remote control unit 212f may use the distance between the manufacturing equipment 400 and the vehicle 100 located at the site PL2 where the specific manufacturing process is performed, as well as the travel speed of the vehicle 100, to determine the predetermined start time of the specific manufacturing process. Then, the remote control unit 212f uses the required timing information to determine the timing for initiating control of the equipment 140, ensuring that the open / closed state of the equipment 140 is closed before the predetermined start time of the specific manufacturing process. Finally, the remote control unit 212f generates an equipment control signal and sends it to the vehicle 100 in a manner that enables control of the equipment 140 to begin at the determined timing.

[0135] Figure 19 This is a flowchart illustrating the details of the control process in the seventh embodiment. Figure 19The process shown begins, for example, after the process information has been acquired. In step S271, the remote control unit 212f of the server 200f uses the database DB, which shows the specific manufacturing process, to determine whether the manufacturing process determined based on the process information includes the specific manufacturing process. If the manufacturing process determined based on the process information does not include the specific manufacturing process (step S272: No), the remote control unit 212f does not control the opening and closing state of the power window, but ends the process. If the manufacturing process determined based on the process information includes the specific manufacturing process (step S272: Yes), step S273 is executed. In step S273, the acquisition unit 211f of the server 200f acquires the required time information for the power window. In step S274, the remote control unit 212f uses the acquired required time information to determine the timing for starting the control of the power window. In step S275, the remote control unit 212f generates an equipment control signal in a manner that allows the control of the power window to begin at the determined timing. In step S276, the remote control unit 212f sends the generated equipment control signal to the vehicle 100, enabling the control of the power window to begin at a predetermined time. Upon receiving the equipment control signal, the vehicle control unit 115 of the vehicle 100 uses the received equipment control signal to control a specific actuator in step S277. Thus, the power window's open / closed state becomes closed before the start of a specific manufacturing process.

[0136] According to the seventh embodiment described above, the control system 50f can close the opening / closing state of the equipment component 140 before the manufacturing process where water may come into contact with the vehicle 100 begins. Therefore, water immersion inside the vehicle 100 can be more effectively suppressed.

[0137] H. Eighth Implementation Method:

[0138] Figure 20 This is an explanatory diagram showing the schematic configuration of the control system 50v in the eighth embodiment. In this embodiment, the difference from the first embodiment is that the control system 50v does not include the server 200. Furthermore, the vehicle 100v in this embodiment can drive autonomously through the autonomous control of the vehicle 100v. Other configurations are the same as in the first embodiment unless otherwise specified. Configurations identical to those in the above embodiments are labeled with the same reference numerals and their descriptions are omitted.

[0139] In this embodiment, the processor 111v of the vehicle control device 110v functions as the vehicle control unit 115v and the acquisition unit 117 by executing the program PG1 stored in the memory 112v. The acquisition unit 117 acquires various information, including process information. The vehicle control unit 115v acquires the output results obtained from the sensors, generates a driving control signal using the output results, and outputs the generated driving control signal to actuate the actuator assembly 120, thereby enabling the vehicle 100v to drive autonomously. In this embodiment, in addition to the program PG1, the memory 112v also stores the detection model DM and the reference path RR in advance. Furthermore, when the manufacturing process determined based on the process information includes a specific manufacturing process, the vehicle control unit 115v controls the opening and closing state of the equipment part 140 so that the opening and closing state of the equipment part 140 is closed in the specific manufacturing process.

[0140] Figure 21 This is a flowchart illustrating the processing flow of the vehicle 100V driving control in the eighth embodiment. Figure 21 In the processing flow, the processor 111v of the vehicle 100v functions as the vehicle control unit 115v by executing program PG1.

[0141] In step S901, the processor 111v of the vehicle control device 110v obtains vehicle position information using the detection results output from the camera, which is an external sensor 300. In step S902, the processor 111v determines the target location that the vehicle 100v should go to next. In step S903, the processor 111v generates a driving control signal to make the vehicle 100v move toward the determined target location. In step S904, the processor 111v controls the actuator group 120 using the generated driving control signal, thereby making the vehicle 100v move according to the parameters represented by the driving control signal. The processor 111v repeatedly performs the acquisition of vehicle position information, determination of target location, generation of driving control signal, and control of actuator group 120 at a predetermined cycle. According to the control system 50v in this embodiment, even without remote control of the vehicle 100v through the servers 200, 200a-200f, the vehicle 100v can be driven autonomously.

[0142] According to the eighth embodiment described above, the control system 50v can automatically turn the opening / closing state of the equipment component 140 into a closed state through the autonomous control of the vehicle 100v.

[0143] I. Other implementation methods:

[0144] (I1) Vehicles 100, 100a-100d, and 100v are not necessarily configured to be able to drive autonomously. For example, in embodiments other than the sixth embodiment described above, vehicles 100, 100a-100d, and 100v may also be driven by humans in at least a portion of the area within the factory FC.

[0145] (I2) The same problem may arise in manufacturing processes where liquids other than water may come into contact with vehicles 100, 100a-100e, and 100v. Therefore, a specific manufacturing process may also be a manufacturing process where liquids other than water may come into contact with vehicles 100, 100a-100e, and 100v. For example, a specific manufacturing process may be a painting process where liquid paint comes into contact with vehicles 100, 100a-100e, and 100v. A specific manufacturing process may also be a cleaning process where the body of vehicles 100, 100a-100e, and 100v is washed with a liquid detergent, or a painting process where a liquid waterproofing coating agent is applied to the body of vehicles 100, 100a-100e, and 100v. In cases where a liquid other than water may come into contact with the manufacturing process of vehicles 100, 100a-100e, and 100v during a specific manufacturing process, the term "water" in this disclosure may be appropriately replaced with "liquid" or "fluid". In such a manner, it is possible to prevent liquids other than water from seeping into vehicles 100, 100a-100e, and 100v.

[0146] (I3) Control systems 50, 50a-50f, and 50v can also be used outside the factory FC that manufactures vehicles 100, 100a-100e, and 100v. That is, control systems 50, 50a-50f, and 50v can also control the opening and closing state of equipment 140 mounted on vehicles 100, 100a-100e, and 100v after shipment. For example, control systems 50, 50a-50f, and 50v can control the opening and closing state of equipment 140 when a leak inspection process is performed after the glass constituting the moon roof has been replaced in a repair shop that repairs vehicles 100, 100a-100e, and 100v. Control systems 50, 50a-50f, and 50v can also control the opening and closing state of equipment 140 when vehicles 100, 100a-100e, and 100v are parked in an outdoor parking lot. The control systems 50, 50a-50f, and 50v can also control the opening and closing state of equipment 140 in gas stations equipped with car wash machines that clean vehicles 100, 100a-100e, and 100v. When the work process is outside the manufacturing process, the term "manufacturing" in this disclosure can be appropriately replaced with "work." In this case, the control systems 50, 50a-50f, and 50v can control the opening and closing state of equipment 140 mounted on vehicles 100, 100a-100e, and 100v after shipment. Therefore, water immersion in vehicles 100, 100a-100e, and 100v can be prevented even outside the factory FC.

[0147] (I4) In the above embodiments, the external sensor 300 is not limited to a camera, but may also be a ranging device, for example. The ranging device may be, for example, LiDAR (Light Detection and Ranging). In this case, the detection result output by the external sensor 300 may also be three-dimensional point cloud data representing vehicles 100, 100a-100e, and 100v. In this case, servers 200, 200a-200f, and vehicles 100, 100a-100e, and 100v may also obtain vehicle position information by matching the three-dimensional point cloud data as the detection result with a template of pre-prepared reference point cloud data.

[0148] (I5) In the first embodiment described above, the server 200, 200a-200f performs the process from obtaining vehicle location information to generating a driving control signal. In contrast, the vehicle 100, 100a-100e may also perform at least a portion of the process from obtaining vehicle location information to generating a driving control signal. For example, it may be performed in the manner described in (1) to (3) below.

[0149] (1) Servers 200 and 200a-200f can obtain vehicle location information, determine the target location that vehicles 100 and 100a-100e should go to next, and generate a path from the current location of vehicles 100 and 100a-100e as indicated by the obtained vehicle location information to the target location. Servers 200 and 200a-200f can generate either a path to the target location between the current location and the destination, or a path to the destination. Servers 200 and 200a-200f can send the generated path to vehicles 100 and 100a-100e. Vehicle 100 can generate a driving control signal in such a way that vehicles 100 and 100a-100e travel on the path received from servers 200 and 200a-200f, and use the generated driving control signal to control actuator group 120.

[0150] (2) Servers 200 and 200a-200f can obtain vehicle location information and send the obtained vehicle location information to vehicles 100 and 100a-100e. Vehicles 100 and 100a-100e can determine the target location that vehicle 100 should go to next, generate a path from the current location of vehicles 100 and 100a-100e as indicated by the received vehicle location information to the target location, generate a driving control signal in the manner that vehicles 100 and 100a-100e travel on the generated path, and use the generated driving control signal to control actuator group 120.

[0151] (3) In the methods described in (1) and (2) above, internal sensors may be installed on vehicles 100, 100a-100e, and the detection results output from the internal sensors may be used in at least one of the path generation and driving control signal generation. The internal sensors are sensors installed on vehicles 100, 100a-100e, and 100v. The internal sensors may include, for example, sensors that detect the motion state of vehicles 100, 100a-100e, and 100v, sensors that detect the motion state of various parts of vehicles 100, 100a-100e, and 100v, and sensors that detect the surrounding environment of vehicles 100, 100a-100e, and 100v. Specifically, the internal sensors may include, for example, cameras, LiDAR, millimeter-wave radar, ultrasonic sensors, GPS sensors, accelerometers, gyroscopes, etc. For example, in the above method (1), servers 200 and 200a-200f may obtain the detection results of the internal sensors and reflect these results in the path when generating the path. Alternatively, vehicles 100 and 100a-100e may obtain the detection results of the internal sensors and reflect them in the driving control signal when generating the driving control signal. In the above method (2), vehicles 100 and 100a-100e may obtain the detection results of the internal sensors and reflect them in the path when generating the path. In the above method (2), vehicles 100 and 100a-100e may obtain the detection results of the internal sensors and reflect them in the path when generating the driving control signal.

[0152] (I6) In the eighth embodiment described above, the vehicle 100v may be equipped with an internal sensor, and the detection results output from the internal sensor may be used in at least one of the processes of path generation and driving control signal generation. For example, the vehicle 100v may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the path when generating the path. Alternatively, the vehicle 100v may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the driving control signal when generating the driving control signal.

[0153] (I7) In the eighth embodiment described above, vehicle 100v obtains vehicle position information using the detection results of external sensor 300. Alternatively, vehicle 100v may be equipped with internal sensors. Vehicle 100v uses the detection results of these internal sensors to obtain vehicle position information, determines the target location to which vehicle 100v should proceed, generates a path from its current position (represented by the obtained vehicle position information) to the target location, generates a driving control signal for traveling along the generated path, and uses the generated driving control signal to control the actuator assembly 120. In this case, vehicle 100v can travel without using the detection results of any external sensor 300. Furthermore, vehicle 100v may obtain the target arrival time and / or congestion information from outside the vehicle, reflecting the target arrival time and / or congestion information in at least one of the path and the driving control signal. Additionally, the entire functionality of control system 50v may be implemented within vehicle 100v. That is, the processing implemented by control system 50v in this disclosure can be implemented solely by vehicle 100v.

[0154] (I8) In the above embodiments, servers 200, 200a-200f automatically generate driving control signals to be sent to vehicles 100, 100a-100e. Alternatively, servers 200, 200a-200f may also generate driving control signals to be sent to vehicles 100, 100a-100e according to the operation of an external operator located outside the vehicles 100, 100a-100e. For example, an external operator may operate a control device equipped with a display showing images captured from external sensors 300, a steering wheel, accelerator pedal, brake pedal for remotely operating vehicles 100, 100a-100e, and a communication device for communicating with servers 200, 200a-200f via wired or wireless communication, and servers 200, 200a-200f generate driving control signals corresponding to the operations applied to the control device.

[0155] (I9) In the above embodiments, vehicles 100, 100a-100e, and 100v only need to have a configuration that enables them to move autonomously, for example, they can also be in the form of a platform with the configuration described below. Specifically, in order to perform the three functions of "driving," "steering," and "stopping" through autonomous driving, vehicles 100, 100a-100e, and 100v need to have at least vehicle control devices 110, 110a-110e, and 110v and actuator assembly 120. When vehicles 100, 100a-100e, and 100v need to obtain information from the outside for autonomous driving, vehicles 100, 100a-100e, and 100v also need to have a communication device 130. That is, vehicles 100, 100a-100e, and 100v capable of autonomous driving may be without at least some of the interior components such as the driver's seat and dashboard, or without at least some of the exterior components such as bumpers and mudguards, and may also be without a body shell. In this case, the remaining components such as the body shell may be installed on vehicles 100, 100a-100e, and 100v before they are shipped from the factory FC, or the remaining components such as the body shell may be installed on vehicles 100, 100a-100e, and 100v after they have been shipped from the factory FC in a state where the remaining components such as the body shell are not installed on vehicles 100, 100a-100e, and 100v. Each component can be assembled from any direction, such as the upper, lower, front, rear, right, or left side of the vehicles 100, 100a-100e, and 100v. They can be assembled from the same direction or from different directions. Furthermore, the shape of the test bench can be determined in the same way as that of the vehicles 100, 100a-100e, and 100v in the first embodiment.

[0156] (I10) Vehicles 100, 100a-100e, and 100v can also be manufactured by combining multiple modules. A module means a unit composed of one or more parts that are aggregated according to the structure and function of vehicles 100, 100a-100e, and 100v. For example, the chassis of vehicles 100, 100a-100e, and 100v can be manufactured by combining a front module constituting the front part of the chassis, a central module constituting the central part of the chassis, and a rear module constituting the rear part of the chassis. Furthermore, the number of modules constituting the chassis is not limited to three, and can be two or less or four or more. In addition, it is also possible to modularize parts of vehicles 100, 100a-100e, and 100v that are different from the chassis, or to modularize parts of vehicles 100, 100a-100e, and 100v that are different from the chassis instead of the chassis. In addition, various modules can also include any exterior parts such as bumpers and grilles, and any interior parts such as seats and consoles. Furthermore, not limited to vehicles 100, 100a-100e, and 100v, any type of mobile body can be manufactured by combining multiple modules. Such modules can be manufactured, for example, by joining multiple parts using welding or fasteners, or by integrally molding at least a portion of the module into a single component using casting. This molding method of integrally molding at least a portion of a module into a single component is also known as Giga-casting or Mega-casting. By using Giga-casting, the various parts of a mobile body, which were previously formed by joining multiple components, can be formed into a single component. For example, the aforementioned front module, central module, and rear module can also be manufactured using Giga-casting.

[0157] (I11) Transporting vehicles using driverless vehicles is also called "autonomous transport". Furthermore, the configuration used to achieve autonomous transport is also called a "vehicle remote-controlled autonomous driving transport system". Additionally, a production method that utilizes autonomous transport to produce vehicles is also called "autonomous production". In autonomous production, for example in a vehicle manufacturing plant, at least a portion of the vehicle transport is achieved through autonomous transport.

[0158] (I12) In the above embodiments, some or all of the functions and processes implemented in software can also be implemented in hardware. Conversely, some or all of the functions and processes implemented in hardware can also be implemented in software. As the hardware for implementing the various functions in the above embodiments, various circuits such as integrated circuits and discrete circuits can also be used.

[0159] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features corresponding to the technical features in the various embodiments described in the "Summary of the Invention" section 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. In addition, such technical features can be appropriately deleted unless they are described as essential parts in this specification.

[0160] Label Explanation

[0161] 50, 50a-50f, 50v… control system; 100, 100a-100e, 100v… vehicle; 110, 110a-110e, 110v… vehicle control unit; 111, 111a-111e, 111v… processor of vehicle control unit; 112, 112a-112e, 112v… memory of vehicle control unit; 113… input / output interface of vehicle control unit; 114… internal bus of vehicle control unit; 115, 115b, 115e, 115v… vehicle control unit; 116, 210… detection unit; 117, 211, 211a, 211c, 211f… acquisition unit; 120… actuator group; 130… vehicle communication device; 140… equipment; 150… vehicle notification device; 200, 200a-200f… service. 201, 201a-201f… Server processor, 202, 202a-202f… Server memory, 203… Server input / output interface, 204… Server internal bus, 205… Server communication device, 212, 212a, 212b, 212d-212f… Remote control unit, 213… Notification unit, 250… Server notification device, 300… External sensor, 400… Manufacturing equipment, 500… Portable terminal, 550… Notification device for portable terminal, 650… Notification device installed in the factory, 700… Conveying equipment, DB… Database, DM… Detection model, FC… Factory, GC… Global coordinate system, PG1, PG2… Program, PL1… First location, PL2… Second location, RR… Reference path, TR… Driving road, U… User.

Claims

1. A control system for controlling the opening and closing state of an equipment component mounted on a moving body and capable of changing its opening and closing state. When closed, the equipment separates the inside and outside of the moving body. The control system includes: The acquisition unit acquires process information showing the work processes performed on the moving body; and The control unit controls the opening and closing state of the equipment component when the operation process determined based on the process information includes a specific operation process in which liquid may come into contact with the moving body, so that the opening and closing state of the equipment component becomes the closed state in the specific operation process.

2. The control system according to claim 1, wherein, The acquiring unit also acquires opening / closing information showing the opening / closing state of the equipment component. When the control unit determines that the opening / closing state of the equipment is open based on the opening / closing information, it changes the opening / closing state of the equipment from open to closed.

3. The control system according to claim 1, wherein, The acquisition unit also acquires opening / closing information showing the opening / closing state of the equipment at a time point after the control unit sends a control signal to make the opening / closing state of the equipment become the closed state. The control system further includes a notification unit that notifies the user of error information when the opening / closing state of the equipment determined based on the opening / closing information at the time point is in the open state.

4. The control system according to claim 1, wherein, The acquisition unit also acquires opening / closing information showing the opening / closing state of the equipment at a time point after the control unit sends a control signal to make the opening / closing state of the equipment become the closed state. If the opening / closing state of the equipment is determined to be open based on the opening / closing information at the specified time point, the control unit stops the operation of the conveying equipment that is conveying the moving body toward the location where the specific work procedure is performed.

5. The control system according to claim 1, wherein, The mobile vehicle is capable of moving autonomously. The acquisition unit also acquires opening / closing information showing the opening / closing state of the equipment at a time point after the control unit sends a control signal to make the opening / closing state of the equipment become the closed state. If the opening / closing state of the equipment is determined to be open based on the opening / closing information at the specified time point, the control unit stops the movement of the mobile body that is moving towards the location where the specific work procedure is to be performed via the unmanned driving system.

6. The control system according to any one of claims 2 to 5, wherein, It also includes a detection unit that uses communication within the mobile body to detect the opening and closing state of the equipment and outputs the opening and closing information.

7. The control system according to any one of claims 2 to 5, wherein, It also has: Sensors detect the moving body from outside the moving body; and The detection unit uses the detection results of the sensor to detect the opening and closing state of the equipment and outputs the opening and closing information.

8. The control system according to claim 1, wherein, The acquisition unit acquires the process information by communicating between the mobile body and equipment installed at the location where the work process is performed.

9. The control system according to claim 1, wherein, It also includes a memory that stores a database showing the specific work procedures. If the control unit determines that the work process is included in the database based on the process information, the control unit determines that the work process included in the database is the specific work process.

10. The control system according to claim 1, wherein, The acquisition unit also acquires time information showing the time required to change the opening / closing state of the equipment from the open state to the closed state. The control unit uses the required time information to begin controlling the equipment so that the open / closed state of the equipment becomes the closed state before the specific work procedure begins.

11. The control system according to claim 1, wherein, The specific work procedure is a leakage inspection procedure that checks whether the liquid will seep into the mobile body when the liquid is splashed onto it.

12. The control system according to claim 1, wherein, The specific work procedure is the work procedure for the mobile body to move outdoors.

13. The control system according to claim 1, wherein, The specific work procedure is a cleaning procedure for cleaning the body of the moving object.

14. The control system according to claim 1, wherein, The equipment component is at least one of the following: window, door, trunk lid, hood, and roof.

15. A control method for controlling the opening and closing state of an equipment component mounted on a moving body and capable of changing its opening and closing state. When closed, the equipment separates the inside and outside of the moving body. The control method comprises: Obtain the process, obtain process information showing the operation process performed on the moving body; and The control process controls the opening and closing state of the equipment component when the operation process determined based on the process information includes a specific operation process in which liquid may come into contact with the moving body, so that the opening and closing state of the equipment component becomes the closed state in the specific operation process.

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