Control device, control method and system for a vehicle

Abstract

A control device includes: a process information determination unit for determining a manufacturing process to be performed on a vehicle capable of autonomous driving; a state determination unit for determining a start state, the start state defining the state of the vehicle at the time when the determined manufacturing process begins; and a control unit for performing state control processing to control the vehicle so that the state of the vehicle becomes the start state.

Description

[0001] Cross-reference of related applications

[0002] This application claims priority based on Japanese Patent Application No. 2023-213566, filed on December 19, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to control devices, vehicle control methods, and systems. Background Technology

[0004] Patent Document 1 describes a method for inspecting an on-board electronic control device. In this method, if the inspectable conditions that the vehicle to be inspected should meet are not met during the inspection process, the operator is notified of measures that should be taken to make the inspection possible.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2010-38783 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] In Patent Document 1, the conditions for inspection can be met by the actions of an operator, thereby enabling proper inspection of the vehicle's electronic control unit. Furthermore, technologies for moving vehicles autonomously are known. A technology is desired for properly performing inspections of vehicles capable of autonomous driving. This issue is not limited to inspection; it is common when performing various manufacturing processes related to the manufacture of vehicles capable of autonomous driving.

[0010] Technical means for solving the problem

[0011] This disclosure can be implemented in the following ways.

[0012] (1) According to a first aspect of the present disclosure, a control device is provided. The control device includes: a process determination unit for determining a manufacturing process to be performed on a vehicle capable of driving autonomously; a state determination unit for determining a start state, the start state defining the state of the vehicle at the determined start time of the manufacturing process; and a control unit for performing state control processing to control the vehicle so that the state of the vehicle becomes the start state.

[0013] This approach increases the likelihood that manufacturing processes will be performed appropriately.

[0014] (2) In the above method, a state determination unit may be included. After the state control process is executed, this state determination unit performs a determination process to determine whether the state of the vehicle is the starting state. If the state of the vehicle in the determination process is different from the starting state, the control unit performs at least one of the following processes: a stop process to stop the vehicle's movement, a retreat process to move the vehicle to a pre-set retreat location, and an anomaly reporting process. According to this method, the likelihood that the manufacturing process can be properly executed for the target vehicle and subsequent vehicles can be improved.

[0015] (3) In the above method, if the number of times the yielding process is executed is less than a preset baseline number, the control unit does not execute the stop process and the report process; if the number of executions is greater than the baseline number, the control unit executes at least one of the stop process and the report process. According to this method, the manufacturing process can be executed more efficiently, and the likelihood that the manufacturing process is properly executed can be increased.

[0016] (4) In the above method, the manufacturing process may also be a process of checking the wheel alignment of the vehicle, and the starting state includes: the vehicle is in neutral, the vehicle's foot brake and parking brake are not engaged, and the vehicle's steering angle is within a preset range. According to this method, the vehicle's wheel alignment check process can be appropriately performed using the vehicle's autonomous driving capability.

[0017] (5) In the above method, the manufacturing process may also be a process of checking the sideslip of the vehicle, and the starting state includes: the vehicle speed is below a preset value, the vehicle is in neutral, and the vehicle's steering angle is within a preset range. According to this method, the vehicle sideslip checking process can be appropriately performed using the vehicle's autonomous driving capability.

[0018] (6) In the above method, the manufacturing process may also be a process of checking the braking force of the vehicle's braking device, and the starting state includes: the brake in the vehicle that is different from the brake of the object being checked is not working, the vehicle is in neutral, and the vehicle's steering angle is within a preset range. According to this method, the inspection process of the vehicle's braking device can be appropriately performed using the vehicle's autonomous driving capability.

[0019] (7) Alternatively, the manufacturing process may involve inspecting the headlights of the vehicle using optical methods, wherein the starting state includes the vehicle being in park. According to this method, the inspection process of the vehicle's headlights can be appropriately performed using the vehicle's autonomous driving capability.

[0020] (8) In the above method, the starting state may also include: the gear position is in neutral immediately before the parking gear. According to this method, the inspection procedure of the vehicle's headlights can be performed more appropriately by utilizing the vehicle's autonomous driving capability.

[0021] (9) In the above method, the manufacturing process may also involve inspecting the acceleration device of the vehicle by driving the vehicle on a rotating roller, wherein the starting state includes: the vehicle speed being below a preset value and the vehicle's steering angle being within a preset range. According to this method, the inspection process of the vehicle's acceleration device can be performed more appropriately by utilizing the vehicle's autonomous driving capability.

[0022] (10) In the above-described manner, the manufacturing process may also be a process of inspecting the steering device of the vehicle, wherein the starting state includes: the vehicle being in neutral and the steering force applied to the steering device being below a preset value. According to this method, the vehicle's steering angle inspection process can be appropriately performed using the vehicle's autonomous driving capability.

[0023] (11) In the above-described manner, the manufacturing process may also be a process of electrically connecting pre-defined components to pre-defined locations on the vehicle, wherein the starting state includes: no power is being supplied to the location. According to this method, the process of assembling electrical components, electronic components, etc., of the vehicle can be appropriately performed using the vehicle's autonomous driving capability.

[0024] (12) In the above-described manner, when the manufacturing process is designated as the first manufacturing process, the starting state may include a state that does not hinder a second manufacturing process that is different from the first manufacturing process. According to this method, it is possible to suppress the second manufacturing process from being hindered by the first manufacturing process, and to increase the likelihood that each manufacturing process is properly performed.

[0025] (13) In the above-described manner, the work area for performing the first manufacturing process and the work area for performing the second manufacturing process may be adjacent to each other. According to this manner, the possibility of each manufacturing process being properly performed can be effectively increased.

[0026] (14) In the above manner, the second manufacturing process may also be performed after the first manufacturing process. According to this manner, the likelihood of each manufacturing process being properly performed can be increased more effectively.

[0027] (15) In the above-described manner, the second manufacturing step may also be a step that performs work using an optical sensor, and the starting state includes: the vehicle's lighting device is not illuminated. According to this method, it is possible to prevent work performed in the second work area from being hindered by light emanating from the vehicle's lighting device in the first work area.

[0028] (16) In the above manner, the second manufacturing process may also be a process of performing work using radar, wherein the starting state includes: no radio waves are being transmitted from the radar of the vehicle. According to this method, it is possible to suppress the work performed at the second work site from being hindered by radio waves transmitted from the radar of the vehicle at the first work site.

[0029] In addition to the control device described above, this disclosure can be implemented as, for example, a vehicle control method, system, program, a non-temporary recording medium containing a program, or a program product. Furthermore, the program product can be provided, for example, as a recording medium containing a program, or as a program product that can be distributed via a network. Attached Figure Description

[0030] Figure 1 This is a conceptual diagram showing the configuration of the system in the first embodiment.

[0031] Figure 2 This is a diagram illustrating the first inspection step and the second inspection step in the first embodiment.

[0032] Figure 3 This is a block diagram illustrating the configuration of the system in the first embodiment.

[0033] Figure 4 This is a flowchart illustrating the processing flow of vehicle driving control in the first embodiment.

[0034] Figure 5 This is a flowchart illustrating the processing flow of the vehicle control process in the first embodiment.

[0035] Figure 6 This is a diagram illustrating the first inspection step and the second inspection step in the second embodiment.

[0036] Figure 7 This is a diagram illustrating the first and second inspection steps in the third embodiment.

[0037] Figure 8 This is a diagram illustrating the first inspection step in the fourth embodiment.

[0038] Figure 9 This is a diagram illustrating the manufacturing process performed at the second work site in the fifth embodiment.

[0039] Figure 10 This is a flowchart illustrating the vehicle control process in the sixth embodiment.

[0040] Figure 11 This is a block diagram showing the configuration of the system in the seventh embodiment.

[0041] Figure 12 This is a flowchart illustrating the processing flow of vehicle driving control in the seventh embodiment. Detailed Implementation

[0042] A. First implementation method:

[0043] Figure 1 This is a conceptual diagram showing the configuration of system 50 in the first embodiment. System 50 includes one or more vehicles 100, a server 200, one or more external sensors 300, and a reporting unit 400.

[0044] Vehicle 100 can be a wheeled vehicle or a tracked vehicle, such as a passenger car, truck, bus, two-wheeled vehicle, four-wheeled vehicle, tank, engineering vehicle, etc. Vehicle 100 includes battery electric vehicles (BEVs), gasoline vehicles, hybrid vehicles, and fuel cell vehicles. In this embodiment, vehicle 100 is an electric vehicle.

[0045] 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."

[0046] 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.

[0047] Vehicle 100 only needs to have a configuration capable of moving autonomously, and for example, it can be in the form of a platform with the configuration described below. Specifically, in order for vehicle 100 to perform the three functions of "driving," "steering," and "stopping" through autonomous driving, it only needs to have at least the vehicle control device and actuator assembly described later. If information is obtained from external devices for autonomous driving, vehicle 100 also needs to have a communication device. That is, vehicle 100 capable of moving autonomously may not be equipped with at least some of the interior components such as the driver's seat and dashboard, nor with at least some of the exterior components such as bumpers and fenders, nor with a body shell. In this case, the remaining components such as the body shell can be assembled onto vehicle 100 before it is shipped from factory FC, or the remaining components such as the body shell can be assembled onto vehicle 100 after it has been shipped from factory FC without them. Each component can be assembled from any direction of the vehicle 100, such as the upper side, lower side, front side, rear side, right side, or left side. They can be assembled from the same direction or from different directions. Furthermore, the vehicle 100 in this embodiment is in the form of a completed vehicle.

[0048] In this embodiment, system 50 is used in the factory FC where vehicle 100 is manufactured. Vehicle 100 is configured to operate autonomously within the factory FC.

[0049] Factory FC has one or more work areas for performing manufacturing processes related to vehicle 100. Manufacturing processes may include various processes for manufacturing vehicle 100, such as assembly processes for assembling vehicle 100, assembly processes for assembling components of vehicle 100, and inspection processes for inspecting vehicle 100. Figure 1 In the example, as work sites, a first work site PL1 is shown where the assembly process of the assembled vehicle 100 is performed, a second work site PL2 where the first inspection process is performed, and a third work site PL3 where the second inspection process is performed. Additionally, in Figure 1The diagram shows the storage location PS for the vehicle 100 after inspection. Each manufacturing process is performed in the order of assembly, first inspection, and second inspection. (Example...) Figure 1 As shown, the work sites and the storage location PS are connected to each other via roads accessible by vehicle 100. The first work site PL1 and the second work site PL2 are connected via a first road TR1. The second work site PL2 and the third work site PL3 are connected via a second road TR2. The third work site PL3 and the storage location PS are connected via a third road TR3. Hereinafter, without distinguishing between the various roads provided in the factory FC, they will be simply referred to as "roads". In the factory FC, multiple external sensors 300 are installed along the roads. The positions of each external sensor 300 in the factory FC are pre-adjusted. Vehicle 100 moves from the first work site PL1 to the storage location PS via these roads, operating autonomously. Furthermore, vehicle 100 travels in the order of the first work site PL1, the second work site PL2, the third work site PL3, and the storage location PS.

[0050] The second work area PL2 and the third work area PL3 are adjacent to each other in the target direction of the movement of vehicle 100 in factory FC. The target direction means the direction of travel of vehicle 100 along the reference path RR, which will be described later. That is, the target direction is the direction from the rear side to the front side of the reference path RR. Specifically, the target direction is the direction from the rear side to the front side of the reference path RR on the main line ML.

[0051] Figure 2 This diagram illustrates the first inspection step SP1 and the second inspection step SP2 in this embodiment. Figure 2 The diagram illustrates the execution of a first inspection step SP1 for vehicle 100A and a second inspection step SP2 for vehicle 100B. The first inspection step SP1 is a wheel alignment inspection step that checks the wheel alignment of vehicle 100. The second inspection step SP2 is a headlight inspection step that uses an optical sensor to optically inspect the headlights of vehicle 100. Hereinafter, the inspection steps of vehicle 100, such as the first inspection step SP1 and the second inspection step SP2, will also be referred to as inspection steps. Furthermore, when the first inspection step SP1 is designated as a first manufacturing step, the second inspection step SP2 is equivalent to a second manufacturing step, a manufacturing step different from the first manufacturing step.

[0052] In the first inspection step SP1, while the wheels of the vehicle 100, located at a predetermined measurement position on the measuring table MS, are rotated by the rotary drive unit RD1, the toe angle, camber angle, or caster angle of the vehicle 100's wheels are measured by a contact or non-contact measuring device (not shown), thereby checking the wheel alignment of the vehicle 100. The rotary drive unit RD1 is, for example, composed of an electrically powered roller or an annular belt. In the second inspection step SP2, the headlights HL of the target vehicle 100, located at a predetermined inspection position, are optically inspected using an optical sensor that detects visible light. Figure 2 The image shows a scenario where a headlight tester HT with a camera having a built-in optical sensor is used at the third work site PL3 to inspect the position of the optical axis, the amount of light, or the color of light of the headlight HL of vehicle 100B.

[0053] Figure 2 The diagram shows the starting state of the first inspection process SP1, i.e., the first starting state SC1, and the starting state of the second inspection process SP2, i.e., the second starting state SC2. The starting state is preset for each manufacturing process, specifying the state of the vehicle 100 at the start of the manufacturing process. The starting state can be set, for example, as the motion state of the vehicle 100, the operation state of each part of the vehicle 100, or a combination of the motion state and operation state of the vehicle 100. The motion state and operation state of the vehicle 100 in the starting state can be represented by parameters.

[0054] The first initial state SC1 includes a first state C1, a second state C2, a third state C3, a fourth state C4, and a fifth state C5. First state C1 is when the vehicle 100 is in neutral (hereinafter also referred to as N gear). Second state C2 is when the vehicle 100's foot brake is not engaged. Third state C3 is when the vehicle 100's parking brake is not engaged. Fourth state C4 is when the vehicle 100's steering angle is within a preset reference range. Specifically, in this embodiment, fourth state C4 is when the vehicle 100's steering angle is 0°. Fifth state C5 is when the vehicle 100's lights are not illuminated.

[0055] In this embodiment, the fifth state C5 included in the first start state SC1 corresponds to a state that does not interfere with the second inspection process SP2 performed in the third work area PL3. Assuming that the headlights HL and other lighting devices of vehicle 100A are illuminated during the first inspection process SP1, light from these devices may shine from the second work area PL2 into the third work area PL3. Consequently, the light emanating from the second work area PL2 may be detected by an optical sensor during the second inspection process SP2 of vehicle 100B performed in the third work area PL3. Therefore, if the lighting devices of the target vehicle 100 are illuminated during the first inspection process SP1, the second inspection process SP2 may be hindered.

[0056] Additionally, the second starting state SC2 includes the sixth state C6, the seventh state C7, and the eighth state C8. The sixth state C6 is when the vehicle 100 is in park (hereinafter also referred to as P). The seventh state C7 is when the vehicle 100 is in neutral (N) immediately before P. That is, the seventh state C7 can also be described as the gear immediately after N changing to the current P. In this case, "immediately before" and "immediately after" mean that the gear shifts between N and P without passing through any other gear besides N and P. The eighth state C8 is when the lighting device other than the one being inspected is not illuminated. The eighth state C8 included in the second starting state SC2 is, for example, the fog lights not being illuminated.

[0057] like Figure 1 As shown, the factory FC in this embodiment has a main line ML, a first auxiliary line SL1, and a second auxiliary line SL2. The main line ML includes each work area from the first work area PL1 to the storage area PS, and each travel road from the first travel road TR1 to the third travel road TR3. In this embodiment, the main line ML is equivalent to a manufacturing line. A manufacturing line is a line in the factory FC used to perform various manufacturing processes on the vehicle 100 while it travels from the starting point to the ending point of unmanned driving.

[0058] The first auxiliary line SL1 is configured as a travel path connecting the second work area PL2 and the first travel path TR1. The beginning SE1 of the first auxiliary line SL1 is connected to the second work area PL2 in the main line ML, and the end EE1 of the first auxiliary line SL1 is connected to the first travel path TR1 in the main line ML. The first auxiliary line SL1 includes a first yielding area EL1 pre-set for the first inspection process SP1. The second auxiliary line SL2 is configured as a travel path connecting the third work area PL3 and the second travel path TR2. The beginning SE2 of the second auxiliary line SL2 is connected to the third work area PL3 in the main line ML, and the end EE2 of the second auxiliary line SL2 is connected to the second travel path TR2 in the main line ML. The second auxiliary line SL2 includes a second yielding area EL2 pre-set for the second inspection process SP2. The first auxiliary line SL1 corresponds to the return line with respect to the first inspection process SP1. Similarly, the second auxiliary line SL2 corresponds to the return line with respect to the second inspection process SP2. A return line is a line in the factory FC that includes yielding areas and whose beginning and end are connected to the manufacturing line.

[0059] Figure 3 This is a block diagram showing the configuration of system 50. Vehicle 100 includes a vehicle control unit 110 for controlling various parts of vehicle 100, an actuator assembly 120 containing one or more actuators driven under the control of vehicle control unit 110, a communication unit 130 for communicating with external devices such as server 200 via wireless communication, and one or more internal sensors 140. Actuator assembly 120 includes actuators related to the driving of vehicle 100, such as actuators for accelerating the drive unit, actuators for changing the direction of travel of vehicle 100, and actuators for decelerating the vehicle 100. The drive unit includes a battery, a driving motor driven by battery power, and drive wheels rotated by the driving motor. The actuators of the drive unit include the driving motor. Actuator assembly 120 may also include actuators for operating various auxiliary machines, windshield wipers, power windows, lights, and other equipment provided by vehicle 100.

[0060] The internal sensor 140 is a sensor mounted on the vehicle 100. The internal sensor 140 may include, for example, sensors for detecting the motion state of the vehicle 100, sensors for detecting the motion state of various parts of the vehicle 100, and sensors for detecting the surrounding environment of the vehicle 100. For example, in this embodiment, the internal sensor 140 includes a gear position sensor for determining the gear position of the transmission provided by the vehicle 100 and a vehicle speed sensor for determining the vehicle speed. In addition to the gear position sensor and vehicle speed sensor, the internal sensor 140 may also include various sensors such as cameras, LiDAR, millimeter-wave radar, ultrasonic sensors, GPS sensors, wheel speed sensors, acceleration sensors, gyroscope sensors, and various encoders for detecting the motion of various parts of the vehicle 100.

[0061] Furthermore, in this specification, "vehicle speed" means the relative speed of vehicle 100 with respect to the road surface on which vehicle 100 is located. This road surface is not limited to stationary surfaces but also includes moving surfaces such as conveyors or rollers. Vehicle speed can be detected using vehicle speed sensors or wheel speed sensors based on values ​​representing the rotational speed of the wheels. Additionally, vehicle speed relative to a stationary road surface can be calculated, for example, based on changes in the position of vehicle 100.

[0062] 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.

[0063] The vehicle control unit 115 controls the operation of various parts of the vehicle 100 by controlling the actuator assembly 120. Specifically, the vehicle control unit 115 drives the vehicle 100 by controlling various actuators related to driving. The vehicle control unit 115 controls the actuator assembly 120 using driving control signals received from the server 200, regardless of whether there are passengers on the vehicle 100, 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 the acceleration of the vehicle 100, or it may include the speed of the vehicle 100 as a parameter in addition to the acceleration of the vehicle 100. Furthermore, when there are passengers on the vehicle 100, the vehicle control unit 115 controls the actuator assembly 120 in accordance with the driving operations of the passengers, thereby enabling the vehicle 100 to drive.

[0064] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that captures images of 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. The external sensor 300 can also be used to detect the environment surrounding the vehicle 100. Specifically, the external sensor 300 is composed of a camera. The camera, which is the external sensor 300, acquires an image containing the vehicle 100 and outputs the image as a detection result.

[0065] The reporting unit 400 reports anomalies to users of the system 50. Users of the system 50 may be, for example, administrators of the system 50, factory FC managers, or operators within the factory FC. In this embodiment, the reporting unit 400 is configured as a tablet terminal carried by the administrator. The reporting unit 400 reports various information, including information related to the anomaly, to the user via its display unit 401. In this embodiment, the display unit 401 is configured as a touch panel capable of touch operation (e.g., a liquid crystal display, an organic EL display), and also functions as a receiving unit capable of receiving user operations. The reporting unit 400 includes a communication device (not shown) capable of communicating with the server 200 via wired or wireless communication. In other embodiments, the reporting unit 400 may, for example, report anomalies to the user via a speaker instead of the display unit 401, or via a speaker in addition to the display unit 401. Furthermore, the reporting unit 400 may be, for example, a display panel, a warning buzzer, a warning light installed in the factory FC, or a display device or speaker connected to the server 200.

[0066] Server 200 is a computer comprising 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 memory 202 stores various information, including program PG2, reference path RR, detection model DM, and database DB. The processor 201 executes program PG2 stored in the memory 202 to perform various functions, including those of a control unit 210, a process determination unit 215, a current state acquisition unit 220, a state determination unit 230, and a state determination unit 250. In the first embodiment, server 200 corresponds to the "control device" in this disclosure.

[0067] In this embodiment, the control unit 210 has the function of performing autonomous driving of the vehicle 100, as well as the function of performing state control processing and subsequent processing described later. The control unit 210 obtains detection results based on sensors, uses the detection results to generate a driving control signal for controlling the actuator assembly 120 of the vehicle 100, and sends the driving control signal to the vehicle 100, thereby enabling the vehicle 100 to move remotely. In addition to the driving control signal, the control unit 210 can also generate and output control signals for, for example, actuators that control the operation of various auxiliary devices, windshield wipers, power windows, headlights, and other equipment provided with the vehicle 100. That is, the control unit 210 can also remotely control the operation of such various equipment and auxiliary devices.

[0068] The process determination unit 215 determines the manufacturing process to be performed on the vehicle 100. Hereinafter, the manufacturing process performed on the vehicle 100 will also be referred to as the object manufacturing process. The process determination unit 215, for example, with respect to the vehicle 100 as the control object, obtains information on at least one of the vehicle 100's location information and process information, thereby determining the object manufacturing process. In this embodiment, the process determination unit 215 determines the object manufacturing process by obtaining location information. Furthermore, if each manufacturing process is pre-corresponding to each work location in the factory FC, the process determination unit 215 can determine the object manufacturing process by determining only the location of the vehicle 100 using the location information. Alternatively, the process determination unit 215 may, for example, determine the object manufacturing process based on the location information and by referring to a database that associates each location in the factory FC with identification information of each manufacturing process. The location information only needs to be information that can determine the location of the vehicle 100 to the extent that the manufacturing process received by the vehicle 100 can be determined. For example, the location information may be the location coordinates of the vehicle 100. Furthermore, as... Figure 1 As shown, in this embodiment, the reference coordinate system of the factory FC is the global coordinate system GC. Therefore, the position coordinates of the vehicle 100 can be represented as the X, Y, and Z coordinates in the global coordinate system GC. Alternatively, the position information can be information that roughly represents the position of the vehicle 100, such as information representing the area where the vehicle 100 is located within the factory FC. Furthermore, in the case where the positions of each external sensor 300 are preset, as in this embodiment, the position information can, for example, be information about the external sensor 300 that has captured the target vehicle 100.

[0069] Process information is information related to the manufacturing processes performed on vehicle 100. Process information is obtained, for example, based on information indicating the execution order of each manufacturing process and information indicating the next manufacturing process to be performed on the target vehicle 100. Such information indicating the execution order and next manufacturing process can be, for example, log data of each manufacturing process or work record data recording the progress of each manufacturing process. This information indicating the execution order and next manufacturing process can be stored, for example, in the memory 202 of server 200, in the memory 112 of vehicle control device 110 of target vehicle 100, or in a computer or recording medium external to target vehicle 100 and server 200. Furthermore, this information indicating the execution order and next manufacturing process can also be associated with the identification information of each vehicle 100 and stored therein. Additionally, process information can also be obtained based on the location information of target vehicle 100. In this case, for example, information indicating each location in the factory FC can be associated with information indicating each manufacturing process performed at each location and stored in memory 202, memory 112, an external computer, or a recording medium.

[0070] Explanation Return Figure 3 The current state acquisition unit 220 acquires the current state of the target vehicle 100. The current state represents the actual state of the vehicle 100 at the moment when the current state acquisition unit 220 performs the current state acquisition. The current state can be acquired using either the internal sensor 140 or the external sensor 300.

[0071] The current state only needs to include at least the movement state and operation state of the vehicle 100, and the states related to the start states set for each manufacturing process. That is, in this embodiment, the current state only needs to include the states related to the first state C1 to the eighth state C8 mentioned above. Specifically, the current state includes, for example, the gear position of the vehicle 100, the state indicating whether the foot brake of the vehicle 100 is engaged, the state indicating whether the parking brake of the vehicle 100 is engaged, the steering angle of the vehicle 100, the gear position history of the vehicle 100, and the state indicating whether the various lighting devices of the vehicle 100 are illuminated. The gear position history is generated, for example, by the processor 111 recording the gear position in the memory 112 whenever the gear position of the vehicle 100 changes, or at predetermined time intervals.

[0072] The state determination unit 230 determines a start state for the object manufacturing process based on at least one of the acquired location information and process information. Hereinafter, the start state determined by the state determination unit 230, i.e., the start state set for the object manufacturing process, will also be referred to as the object state. In this embodiment, the state determination unit 230 uses a database (DB) to determine the object state.

[0073] In this embodiment, the database DB stores location information representing locations within the factory FC, associated with the start state of a manufacturing process performed at the corresponding work location. For example, in the database DB, the location information representing the second work location PL2 is associated with the start state, i.e., the first start state SC1, of the first inspection process SP1 performed at the second work location PL2. Similarly, the location information representing the third work location PL3 is associated with the second start state SC2. Furthermore, in this embodiment, for example, the location information representing the first travel route TR1, the second travel route TR2, and the third travel route TR3 is not associated with a start state in the database DB. In other embodiments, for example, the location information and start state are also associated with identification information of the manufacturing process in the database DB. Additionally, the database DB may, for example, contain data that associates each location information with the identification information of each manufacturing process, and data that associates the identification information of each manufacturing process with each start state.

[0074] Hereinafter, the work area used to perform the object manufacturing process will also be referred to as the object work area. Furthermore, the manufacturing process performed before the object manufacturing process will be referred to as the preceding process. Additionally, the manufacturing process performed after the object manufacturing process will be referred to as the following process. For example, if the object manufacturing process is the first inspection process SP1, the assembly process is equivalent to the preceding process. Furthermore, in this case, the second inspection process SP2 is equivalent to the following process.

[0075] When the state determination unit 230 determines the object state, the control unit 210 performs state control processing. State control processing involves controlling the vehicle 100 to make its state the object state. Specifically, in this embodiment, state control processing involves instructing the object vehicle 100 to make its state the object state. After the state control processing is executed, the state determination unit 250 performs determination processing. Determination processing determines whether the state of the vehicle 100 is the object state.

[0076] Furthermore, in this embodiment, if the control unit 210 determines that the state of the vehicle 100 differs from the state of the object during processing, it performs subsequent processing. Subsequent processing involves performing at least one of stop processing, retreat processing, and report processing. Retreat processing involves retreating the vehicle 100 to a predetermined retreat location related to the object manufacturing process. Stop processing involves stopping the vehicle 100's movement. Report processing involves reporting an anomaly.

[0077] Figure 4 This is a flowchart illustrating the processing flow of the vehicle 100's driving control in the first embodiment. Figure 4 In the processing flow, the processor 201 of the server 200 functions as a control unit 210 by executing program PG2, performing remote control of the vehicle 100. Additionally, the processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing program PG1.

[0078] In step S1, the processor 201 of the server 200 uses the detection results output from the external sensor 300 to obtain the vehicle position information of the vehicle 100. The vehicle position information is the basis for generating the driving control signal. 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.

[0079] 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 (AI). The detection model DM is prepared, for example, within or outside the 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.

[0080] 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.

[0081] 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.

[0082] 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 a predetermined cycle.

[0083] 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 system 50 in 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.

[0084] Figure 5 This is a flowchart illustrating the process flow of vehicle control processing for implementing the control method of vehicle 100 in this embodiment. Figure 5 Vehicle control processes, for example, are executed at predetermined time intervals. Figure 5 In the vehicle control processing, the processor 201 of the server 200 functions as the control unit 210, the process determination unit 215, the current state acquisition unit 220, the state determination unit 230, and the state determination unit 250 by executing the program PG2.

[0085] In step S105, the current state acquisition unit 220 acquires the current state of the target vehicle 100. The current state acquisition unit 220 may acquire the current state of the target vehicle 100 in step S105, for example, by receiving the detection result from the internal sensor 140 of the target vehicle 100. Alternatively, the current state acquisition unit 220 may also acquire the current state of the target vehicle 100 using the detection result from the external sensor 300. In this case, the current state acquisition unit 220 may acquire the current state, for example, by analyzing an image captured by a camera that is the external sensor 300. In step S105, the current state acquisition unit 220 associates the acquired current state with the identification information of the target vehicle 100 and stores it in the memory 202.

[0086] In step S110, the process determination unit 215 determines the object manufacturing process. Specifically, in step S110, the process determination unit 215 determines the object manufacturing process by obtaining the position information of the object vehicle 100. In this embodiment, the process determination unit 215 obtains the vehicle position information of the object vehicle 100 as the position information of the object vehicle 100. Hereinafter, the step of determining the object manufacturing process like step S110 will also be referred to as the process determination step.

[0087] In step S115, the state determination unit 230 performs a state determination process for determining the object's state. Specifically, in step S115, the state determination unit 230 determines the object's state based on the location information of the object vehicle 100 obtained in step S110 and by referring to the database DB. Hereinafter, the step of determining the object's state like step S115 will also be referred to as the state determination step. For example, if the location information representing the second work area PL2 is obtained in step S110, in step S115, the state determination unit 230 can determine the first start state SC1 associated with the second work area PL2 as the object's state by using this location information and referring to the database DB. That is, in this case, obtaining the location information representing the second work area PL2 in step S110 is equivalent to determining the first inspection process SP1 as the object manufacturing process. Furthermore, in step S110, if location information indicating locations such as the first driving road TR1, the second driving road TR2, and the third driving road TR3 that are not associated with the starting state is obtained, the object manufacturing process is not determined in step S110, and the object state is not determined in step S115.

[0088] In step S116, the state determination unit 230 determines whether the object state has been determined. If the object state is not determined in step S116, the processor 201 terminates the vehicle control process. If the object state is determined in step S116, in step S117, the state determination unit 250 determines whether the current state obtained in step S105 is the determined object state.

[0089] In other embodiments, the current state of vehicle 100 may be obtained after the state determination step. In this case, the current state need only include at least the state related to the object state determined in the state determination step from each start state of each manufacturing process.

[0090] If the current state differs from the object state in step S117, in step S120, the control unit 210 performs state control processing on the object vehicle 100. Specifically, the control unit 210 generates a control command to make the state of the object vehicle 100 become the object state determined in step S115, and sends the generated control command to the object vehicle 100. When the state control processing is performed in step S120, the object vehicle 100 controls the actuator assembly 120 based on the sent control command. As a result, the state of the object vehicle 100 becomes the object state. Hereinafter, the step of controlling the vehicle 100 to make its state become the object state, as in step S120, will also be referred to as the state control step.

[0091] For example, when the object manufacturing process is the first inspection process SP1, in step S120, the control unit 210 instructs the object vehicle 100 to enter the first start state SC1. Specifically, in this case, the control unit 210 generates, for example, control commands to change the gear of the object vehicle 100 to neutral (N) at the wheel alignment measurement position, control commands to release the foot brake of the object vehicle 100 at the measurement position, control commands to release the parking brake of the object vehicle 100 at the measurement position, control commands to make the steering angle of the object vehicle 100 zero at the measurement position, and control commands to turn off the lights of the object vehicle 100 before the object vehicle 100 reaches the measurement position, and sends the generated control commands to the object vehicle 100. Furthermore, when the object manufacturing process is the second inspection process SP2, in step S120, the control unit 210 instructs the vehicle 100B to enter the second start state SC2. Specifically, in this case, the control unit 210 generates, for example, a control command to change the gear of the target vehicle 100 to N gear and then immediately to P gear at the inspection position of the headlights HL, and a control command to turn off the fog lights of the target vehicle 100 before the target vehicle 100 reaches the inspection position, and sends the generated control commands to the target vehicle 100. Furthermore, such control commands may also include, for example, a control command to move the target vehicle 100 to a predetermined working position. For example, the control command sent to the target vehicle 100 to put the target vehicle 100 into the first starting state SC1 may also include a driving control signal to move the target vehicle 100 to the measurement position on the measurement platform MS. In addition, each control command may be sent to the vehicle 100 together or separately.

[0092] If the current state is an object state in step S117, the processor 201 terminates the vehicle control process. That is, in the vehicle control process of this embodiment, if the control unit 210 is in an object state in step S117, it does not perform state control processing. Furthermore, even if the control unit 210 does not perform state control processing in this case, the object vehicle 100 is still in an object state, so the object manufacturing process is appropriately performed with respect to the object vehicle 100.

[0093] In step S125, the current state acquisition unit 220 acquires the current state of the target vehicle 100 again. In step S130, the state determination unit 250 performs a determination process. Specifically, in step S130, the state determination unit 250 determines whether the current state acquired again in step S125 is the target state determined in step S115. That is, the determination process in this embodiment is equivalent to determining whether the state of the target vehicle 100 has changed to the target state through the state control process. Furthermore, in step S130 of this embodiment, if the state determination unit 250 fails to acquire the current state within the prescribed time in step S125, it also determines that the current state is not the target state. Such delays or obstacles in acquiring the current state may occur, for example, due to communication delays or obstacles between the vehicle 100 and the server 200.

[0094] If the current state is not the object state in step S130, in step S135, the control unit 210 determines whether the number of times the retreat process for the object vehicle 100 has been executed is less than or equal to a preset baseline number. Hereinafter, the number of times the retreat process has been executed is also referred to as the retreat count. In this embodiment, the baseline count is two or more times. In other embodiments, the baseline count may be, for example, one time.

[0095] If the number of retreats in step S135 is less than the baseline number, the control unit 210 performs a retreat process in step S140. In the retreat process of this embodiment, the control unit 210 instructs the vehicle 100 to move the target vehicle 100 to the target work site via the return line connected to the manufacturing line, and the state of the target vehicle 100 becomes the target state.

[0096] For example, in the case where the object manufacturing process is the first inspection process SP1, in step S140, the control unit 210 instructs the object vehicle 100 to move to the second work area PL2 via the first auxiliary line SL1, and the state of the object vehicle 100 becomes the first start state SC1. In this case, the control unit 210 first sends a driving control signal to the object vehicle 100, causing the object vehicle 100 to travel to the second work area PL2 via the first auxiliary line SL1 and the main line ML. Then, the control unit 210 sends a control command to the object vehicle 100 to make the state of the object vehicle 100 become the first start state SC1.

[0097] Additionally, for example, in the case where the object manufacturing process is the second inspection process SP2, in step S140, the control unit 210 instructs the object vehicle 100 to move to the third work area PL3 via the second auxiliary line SL2, and the state of the object vehicle 100 becomes the second start state SC2. In this case, the control unit 210 first sends a driving control signal to the object vehicle 100, causing the object vehicle 100 to travel to the third work area PL3 via the second auxiliary line SL2 and the main line ML. Then, the control unit 210 sends a control command to the object vehicle 100 to make the state of the object vehicle 100 become the second start state SC2.

[0098] After performing the backoff process, the processor 201 returns the process to step S125. Then, steps S125 and S130 are executed again. In the second step S130, the determination process is executed again to determine whether the current state of the target vehicle 100 obtained in the second step S125 is a target state. Hereinafter, the determination process executed again in this manner, i.e., the determination process executed after the second time, will also be referred to as the re-determination process. If, in the previously executed step S130, for example, a temporary anomaly in the system 50 caused the determination that the current state of the target vehicle 100 is not a target state, the probability of determining that the current state of the target vehicle 100 is a target state in the second step S130 is high. A temporary anomaly refers to, for example, a temporary communication barrier between the target vehicle 100 and an external device, or a temporary obstacle within the target vehicle 100 related to signal transmission and reception. On the other hand, if in the previously executed step S130, for example, a non-temporary anomaly in system 50 causes the current state of the target vehicle 100 to be determined to be a non-target state, the probability of determining that the current state of the target vehicle 100 is a target state in the subsequent step S130 is low. A non-temporary anomaly refers to, for example, a non-temporary communication failure, a broken wire in any wiring in the target vehicle 100, or a malfunction in the actuator assembly 120 of the target vehicle 100.

[0099] Furthermore, if it is determined in step S130 that the current state of the target vehicle 100 is not a target state, step S135 is executed again. And if the number of yielding attempts in step S135 is less than the base number, yielding processing is executed again in step S140. That is, in this embodiment, when the number of yielding attempts is less than the base number, if it is determined again that the state of the target vehicle 100 is not a target state, yielding processing is executed again. Thus, in this embodiment, when it is determined that the state of the target vehicle 100 is not a target state during processing, yielding processing is repeatedly executed until the number of yielding attempts becomes greater than the base number.

[0100] If the number of yielding attempts exceeds the reference number in step S135, the control unit 210 performs a stop process in step S145. In step S145, the control unit 210, for example, sends a driving control signal to the target vehicle 100 for braking the target vehicle 100. In step S150, the control unit 210 performs a report process using the reporting unit 400. When the number of yielding attempts exceeds the reference number, compared to when the number of yielding attempts is less than the reference number, the probability that the target vehicle 100's state is not the target state is higher due to the aforementioned non-temporary anomaly. Therefore, in this embodiment, it can be said that the stop process and report process are performed when the probability of not achieving the target state is higher due to a non-temporary anomaly.

[0101] After step S150 is executed, the control unit 210 resets the count of the number of times the object has yielded. Furthermore, if the current state is the object state in step S130, the control unit 210 also resets the count of the number of times the object has yielded.

[0102] According to the system 50 in this embodiment described above, the start state, i.e., the object state, of the object manufacturing process to be performed on the vehicle 100 is determined, and the object vehicle 100 is controlled to make the state of the object vehicle 100 the object state. Therefore, the likelihood that the manufacturing process is properly performed can be increased.

[0103] Furthermore, in this embodiment, the control unit 210 does not perform state control processing when the current state of the target vehicle 100 is the target state. Therefore, it is possible to suppress the increase in processing load due to unnecessary processing.

[0104] Furthermore, in other embodiments, the control unit 210 may instruct the target vehicle 100 during the state control processing in step S120 to change only the parts of the current state that differ from the target state. The "parts that differ from the target state" are not physical parts like specific locations within the vehicle 100, but rather refer to the state of the vehicle 100. For example, if the target manufacturing process is the first inspection process SP1, and the target vehicle 100's state conforms to the first state C1 to the fourth state C4 but does not conform to the fifth state C5, the control unit 210 may generate a control command that does not include control signals for changing the target vehicle 100's state to the first state C1, second state C2, third state C3, and fourth state C4, but includes control signals for changing the target vehicle 100's state to the fifth state C5, and send the generated control command to the target vehicle 100. That is, in this case, the control unit 210 may send a control command that does not include control signals for controlling the gear position, brake operating state, or steering angle, but includes control signals for turning off the headlights HL. In this way, by only changing the part of the current state that differs from the object state, the state of the object vehicle 100 can be changed to the object state. Therefore, for example, the processing load associated with the generation and transmission of control commands for changing the state of the object vehicle 100 to the object state can be further reduced.

[0105] Furthermore, in this embodiment, after performing the state control processing, a determination process is performed to determine whether the state of the target vehicle 100 is the target state. If the state of the target vehicle 100 is not the target state in the determination process, at least one of the following processes is performed: stop processing, retreat processing, and report processing. Therefore, for example, by performing the stop processing, an anomaly that prevents the target vehicle 100 from becoming the target state can be eliminated while the target vehicle 100 is stopped. Additionally, for example, by performing the report processing, the user (e.g., manager, operator) who reported the anomaly can take measures to eliminate the anomaly. Furthermore, for example, by performing the retreat processing, subsequent manufacturing processes of the vehicle 100 can be prevented from being hindered by the target vehicle 100. In this way, the likelihood of the manufacturing processes being properly performed regarding the target vehicle 100 and subsequent vehicles 100 can be increased.

[0106] Furthermore, in this embodiment, during the retreat process, the control unit 210 instructs the target vehicle 100 to move to the target work area via the return line, and the target vehicle 100's state becomes the target state. This allows the target vehicle 100 to retreat even if its state is not the target state after the state control process. Additionally, since the target vehicle 100 moves to the target work area via a return line different from the manufacturing line, interference between the target vehicle 100 and subsequent vehicles 100 can be suppressed. Therefore, the likelihood of the manufacturing process being properly executed regarding the target vehicle 100 and subsequent vehicles 100 can be further improved.

[0107] Furthermore, in this embodiment, after the retraction process is performed, a re-determination process is performed. If the state of the target vehicle 100 is not the target state during the re-determination process, the retraction process is performed again. Therefore, the likelihood of the manufacturing process being performed appropriately can be further improved.

[0108] Furthermore, in this embodiment, if the number of yielding attempts is less than a base number, no stop processing or report processing is performed; if the number of yielding attempts is greater than the base number, at least one of the stop processing and report processing is performed. Thus, when the number of yielding attempts is less than the base number, the yielding process is repeatedly performed until the vehicle 100 reaches the object state; when the number of yielding attempts is greater than the base number, stop processing and report processing are performed. That is, if there is a high probability that the vehicle 100 will not reach the object state due to a temporary anomaly in system 50, the yielding process can be repeatedly performed while the vehicle 100 is moving until the vehicle 100 reaches the object state; and if there is a high probability that the vehicle 100 will not reach the object state due to a non-temporary anomaly in system 50, stop processing and report processing can be performed. Therefore, the manufacturing process can be performed more efficiently, and the likelihood of the manufacturing process being performed appropriately can be increased.

[0109] Furthermore, in this embodiment, the starting state of the first inspection process SP1, i.e., the first starting state SC1, includes a state of the vehicle 100 that does not obstruct the second inspection process SP2. Therefore, it is possible to suppress the second inspection process SP2 from being obstructed by the first inspection process SP1, thereby increasing the likelihood that each inspection process will be performed appropriately.

[0110] Furthermore, in this embodiment, the second work area PL2 and the third work area PL3 are adjacent to each other in the factory FC. Therefore, the likelihood of each inspection process being properly performed can be effectively increased.

[0111] Furthermore, in this embodiment, the second inspection step SP2 is a subsequent step after the first inspection step SP1. Therefore, it is possible to more effectively increase the likelihood that each inspection step is properly performed.

[0112] Furthermore, in other embodiments, the second work area PL2 and the third work area PL3 may not be adjacent to each other. Additionally, the second inspection process SP2 may not be a subsequent process of the first inspection process SP1. Even in these cases, by including a state of the vehicle 100 in the first start state SC1 that does not obstruct the second inspection process SP2, it is possible to suppress the second inspection process SP2 from being obstructed by the first inspection process SP1, thereby increasing the likelihood that each inspection process is properly performed.

[0113] Furthermore, in this embodiment, the second inspection process SP2 is a process that performs operations using optical sensors, and the starting state of the first inspection process SP1, namely the first starting state SC1, includes the object vehicle 100's lighting device not being illuminated. Therefore, it is possible to prevent the operation performed in the third work area PL3 from being hindered by light emanating from the object vehicle 100's lighting device in the second work area PL2.

[0114] Furthermore, in other embodiments, the process of performing the operation using the optical sensor may not be the headlight inspection process, but may be other manufacturing processes using the optical sensor. For example, the process of performing the operation using the optical sensor may be the operation using the optical sensor provided by vehicle 100. In this case, the process of performing the operation using the optical sensor may be the process of inspecting the camera provided by vehicle 100 in an optical manner, or the process of using the camera provided by vehicle 100 to enable a computer such as vehicle control device 110 to perform various learning processes. The learning processes in this case may be, for example, learning processes for generating three-dimensional images or panoramic images by using images captured by multiple cameras as input images, or learning processes for generating object detection models for detecting objects contained in the images.

[0115] Furthermore, in this embodiment, the starting state of the wheel alignment inspection process, i.e., the first starting state SC1, which is the first inspection process SP1, includes: a first state C1 where the gear is in neutral (N), a second state C2 where the foot brake is not engaged, a third state C3 where the parking brake is not engaged, and a fourth state C4 where the steering angle is within the reference range. Therefore, the wheel alignment inspection of the vehicle 100 can be appropriately performed using autonomous driving.

[0116] Furthermore, in this embodiment, the starting state of the headlight inspection process, i.e., the second starting state SC2, which is the second inspection process SP2, includes a sixth state C6 with the gear in P position. Thus, for example, compared to the case where the second starting state SC2 includes the first state C1 instead of the sixth state C6, the wheels of the target vehicle 100 are more securely fixed during the headlight inspection process, thereby better suppressing optical axis misalignment of the headlights HL during the headlight inspection process. Therefore, it is possible to properly perform the inspection of the headlights HL using autonomous driving.

[0117] Furthermore, in this embodiment, the second start state SC2 includes a seventh state C7 where the gear is in N gear immediately before P gear. For example, if the gear of vehicle 100 is simply changed from drive gear (hereinafter also referred to as D gear) to P gear, the wheels of vehicle 100 may be fixed in a state reflecting the effects of the vehicle 100's recent driving state. In contrast, by changing the gear of vehicle 100 immediately after N gear to P gear, it is possible to prevent the wheels of vehicle 100 from being fixed in a state reflecting the effects of the recent driving state, while simultaneously changing the gear of vehicle 100 to P gear. Therefore, by including the seventh state C7 in the second start state SC2, the inconsistency of inspection conditions in the headlight inspection process can be further suppressed, and thus, the inspection of headlights HL can be performed more appropriately.

[0118] Furthermore, in other embodiments, the first starting state SC1 may include other states besides those described above, or may replace the aforementioned states with other states. Similarly, the second starting state SC2 may include other states besides those described above, or may replace the aforementioned states with other states.

[0119] B. Second implementation method:

[0120] Figure 6 This is a diagram illustrating the first inspection step SP1b and the second inspection step SP2b in the second embodiment. Figure 6 The diagram illustrates the execution of a first inspection step SP1b for vehicle 100A and a second inspection step SP2b for vehicle 100B. Unlike the first embodiment, the first inspection step SP1b in this embodiment is a sideslip inspection step that checks the sideslip amount of vehicle 100. Furthermore, the second inspection step SP2b is a radar inspection step that checks the radar Rd provided by vehicle 100. The radar Rd is, for example, a millimeter-wave radar. The second inspection step SP2b corresponds to a manufacturing step that performs operations using the radar Rd. Other configurations in this embodiment are the same as in the first embodiment unless otherwise specified.

[0121] In the first inspection step SP1b, for example, the sideslip of the target vehicle 100 is detected by passing the target vehicle 100 at a speed below a preset value on a sideplate SB equipped with a potentiometer and a force sensor for detecting sideslip. In the second inspection step SP2, the radar Rd is inspected, for example, by detecting a target object OB located outside the target vehicle 100 using the radar Rd. Specifically, in this case, radio waves are transmitted from the transmitting unit of the radar Rd to the target object OB, and the radio waves reflected by the target object OB are received using the receiving unit of the radar Rd.

[0122] like Figure 6 As shown, the first start state SC1b in this embodiment includes a first state C1, a fourth state C4, a ninth state C9, and a tenth state C10. The ninth state C9 is when the vehicle speed of the vehicle 100 is below a preset reference value. The tenth state C10 is when no radio waves are transmitted from the radar Rd of the target vehicle 100. Furthermore, the reference range for the fourth state C4 in the sideslip inspection process and the reference range for the fourth state C4 in the positioning inspection process can be the same or different. In this embodiment, the fourth state C4 is a state with a steering angle of 0°. Additionally, the second start state SC2b includes a sixth state C6 and a seventh state C7.

[0123] In this embodiment, the tenth state C10 included in the first start state SC1b corresponds to the state of vehicle 100 that does not interfere with the second inspection process SP2b performed at the third work site PL3. Assuming that radio waves are being transmitted from radar Rd of vehicle 100A during the first inspection process SP1b, the radio waves from radar Rd may travel from the second work site PL2 to the third work site PL3. Thus, the radio waves traveling from the second work site PL2 to the third work site PL3 may, for example, be received by radar Rd of vehicle 100B during a radar inspection process performed at the third work site PL3. Therefore, if radio waves are being transmitted from radar Rd of the target vehicle 100 during the first inspection process SP1b, the second inspection process SP2b may be interfered with.

[0124] In this embodiment, the same procedure as in the first embodiment is followed. Figure 5The vehicle control process is as follows. For example, in the case where the object manufacturing process is the first inspection process SP1b, in step S120, the control unit 210 sends, for example, a control command to the object vehicle 100 to change the gear of the object vehicle 100 to N gear at a preset inspection start position for the sideslip inspection process, a control command to make the speed of the object vehicle 100 below a preset value before the object vehicle 100 reaches the inspection start position, a control command to make the steering angle of the object vehicle 100 zero at the inspection start position, and a control command to turn off the lights of the object vehicle 100 before the object vehicle 100 reaches the measurement position. The inspection start position is, for example, the position in front of the sideslip plate SB. In addition, in the case where the object manufacturing process is the second inspection process SP2b, in step S120, the control unit 210 sends, for example, a control command to the object vehicle 100 to change the gear of the object vehicle 100 to N gear at the inspection position for the radar inspection process, and then immediately change the gear to P gear.

[0125] According to the system 50 in this embodiment described above, the second inspection process SP2b is a process that performs the operation of the radar Rd provided by the vehicle 100. The first start state SC1b of the first inspection process SP1b includes the tenth state C10 in which no radio waves are transmitted from the target vehicle 100. Therefore, it is possible to suppress the manufacturing process performed in the third work area PL3 from being hindered by radio waves transmitted from the radar Rd of the target vehicle 100 in the second work area PL2.

[0126] Furthermore, in other embodiments, the process of performing the operation using the radar Rd may not be a radar inspection process, but rather another manufacturing process using the radar Rd. For example, this process may be a process in which a computer such as a vehicle control unit 110 performs various learning processes using the radar Rd. In this case, the learning process may be, for example, a learning process for generating an object detection model based on received data generated by receiving radio waves by the radar Rd to detect the presence or absence and type of objects.

[0127] Furthermore, in this embodiment, the starting state of the sideslip inspection process, i.e., the first starting state SC1b, which is the first inspection process SP1b, includes: a ninth state C9 where the speed of the target vehicle 100 is below a reference value, a first state C1 where the gear is in neutral (N), and a fourth state C4 where the steering angle is within the reference range. Therefore, it is possible to perform the sideslip inspection of the vehicle 100 appropriately using autonomous driving.

[0128] Furthermore, in this embodiment, the start state of the radar inspection process, i.e., the second start state SC2b, which is the second inspection process SP2b, includes a sixth state C6 and a seventh state C7. Therefore, radar inspection of the vehicle 100 can be appropriately performed using autonomous driving.

[0129] Furthermore, in other embodiments, the first starting state SC1b may include other states in addition to the states described above, or may include other states in place of the states described above. Similarly, the second starting state SC2b may include other states in addition to the states described above, or may include other states in place of the states described above.

[0130] C. Third implementation method:

[0131] Figure 7 This is a diagram illustrating the first inspection step SP1c and the second inspection step SP2c in the third embodiment. Figure 7 The diagram illustrates the execution of a first inspection step SP1c for vehicle 100A and a second inspection step SP2c for vehicle 100B. Unlike the first embodiment, the first inspection step SP1c in this embodiment is a drum test step that uses a rotatable roller RL to inspect the accelerator of vehicle 100. Furthermore, the second inspection step SP2c is a brake inspection step that checks the braking force of the braking device of vehicle 100. Other configurations in this embodiment are the same as in the first embodiment unless otherwise specified.

[0132] In the first inspection step SP1b, the acceleration device of the target vehicle 100 is inspected by driving the target vehicle 100 on a rotating roller RL. Specifically, in the first inspection step SP1b, while driving the target vehicle 100 on the roller RL, the vehicle speed and acceleration of the target vehicle 100 are detected based on the rotational speed of the roller RL as the target vehicle 100 travels, thereby inspecting the acceleration device of the target vehicle 100. In the second inspection step SP2b, for example, the braking force of the brake of the target vehicle 100 is inspected by applying a rotational force from the rotary drive unit RD2 to the wheels of the vehicle 100 located at a predetermined measurement position, thereby activating the brake of the target vehicle 100. The braking force is measured, for example, based on the detection result of a torque sensor that detects the torque of the rotary drive unit RD2. In this embodiment, the second inspection step SP2c is the step of inspecting the foot brake. That is, the brake of the target vehicle is a foot brake.

[0133] like Figure 7As shown, the first starting state SC1c in this embodiment includes the fourth state C4 and the ninth state C9. Furthermore, the second starting state SC2c includes the first state C1, the fourth state C4, and the eleventh state C11. The eleventh state C11 is a state where the brake, different from the brake being inspected, is not engaged. Specifically, in this embodiment, the eleventh state C11 refers to the parking brake not being engaged. In other embodiments, when the brake being inspected is a parking brake, the eleventh state C11 may be, for example, a state where the foot brake is not engaged. Additionally, the reference range for the fourth state C4 in the drum test process and the brake inspection process may be different, and may also differ from the reference range for the fourth state C4 in the sideslip inspection process and the positioning inspection process. In this embodiment, each fourth state C4 represents a state where the steering angle is 0°. Furthermore, the reference value for the ninth state C9 in the drum test process may differ from the reference value for the ninth state C9 in the sideslip inspection process. In this embodiment, the reference value for the ninth state C9 in the sideslip inspection process is zero.

[0134] In this embodiment, the same procedure as in the first embodiment is followed. Figure 5 The vehicle control process is as follows. For example, in the case where the object manufacturing process is the first inspection process SP1c, in step S120, the control unit 210 sends to the object vehicle 100, for example, a control command to change the gear of the object vehicle 100 to N gear at a preset measurement position for the drum test process, a control command to make the steering angle of the object vehicle 100 zero at the measurement position, and a control command to stop the object vehicle 100 at the measurement position. In addition, in the case where the object manufacturing process is the second inspection process SP2c, in step S120, the control unit 210 sends to the object vehicle 100, for example, a control command to change the gear of the object vehicle 100 to N gear at a preset inspection position for the brake inspection process, a control command to make the steering angle of the object vehicle 100 zero at the inspection position, and a control command to release the parking brake of the object vehicle 100 before reaching the inspection position.

[0135] According to the system 50 in this embodiment described above, the first start state SC1c of the drum test process, which is the first inspection process SP1c, includes: a ninth state C9 where the vehicle speed is below a reference value, and a fourth state C4 where the steering angle is within a reference range. Therefore, it is possible to appropriately perform the inspection of the acceleration device of the vehicle 100 using unmanned driving.

[0136] Furthermore, in this embodiment, the starting state of the brake inspection process, i.e., the second starting state SC2c, which is the second inspection process SP2c, includes: an eleventh state C11 where the brakes in the target vehicle 100 that are different from the brakes of the inspection target are not in operation; a first state C1 where the gear is in neutral (N); and a fourth state C4 where the steering angle is within the reference range. Therefore, it is possible to perform the inspection of the braking device of the vehicle 100 appropriately using unmanned driving.

[0137] Furthermore, in other embodiments, the first start state SC1c may include other states in addition to the states described above, or may include other states in place of the states described above. Similarly, the second start state SC2c may include other states in addition to the states described above, or may include other states in place of the states described above.

[0138] D. Fourth Implementation Method:

[0139] Figure 8 This is a diagram illustrating the first inspection step SP1d in the fourth embodiment. Figure 8 The diagram illustrates the execution of the first inspection step SP1d for vehicle 100A. Unlike the first embodiment, the first inspection step SP1d in this embodiment is an angle test step to check the steering angle of the steering device of vehicle 100. Other configurations in this embodiment are the same as in the first embodiment unless otherwise specified.

[0140] In the first inspection step SP1d, with the drive wheels of the target vehicle 100 positioned on the rotary table TT, the maximum steering angle of the steering device of the target vehicle 100 is inspected using the rotary table TT. The rotary table TT is configured to rotate about a rotation axis RX1 along a vertical line.

[0141] like Figure 8 As shown, the first starting state SC1d in this embodiment includes a first state C1 and a twelfth state C12. The twelfth state C12 is a state in which the steering force applied to the steering device of the target vehicle 100 is below a preset reference value. Specifically, the reference value for the twelfth state C12 in this embodiment is zero. That is, the twelfth state C12 in this embodiment is equivalent to a state in which no steering force is applied to the steering device of the target vehicle 100.

[0142] In this embodiment, the same procedure as in the first embodiment is followed. Figure 5Vehicle control processing. For example, in the case where the object manufacturing process is the first inspection process SP1d, in step S120, the control unit 210 sends, for example, a control command to the object vehicle 100 to change the gear of the object vehicle 100 to N gear at a pre-set inspection position for the angle testing process, and a control command to make the steering force of the steering device of the object vehicle 100 zero at the inspection position.

[0143] According to the system 50 in this embodiment described above, the first start state SC1d, which is the starting state of the angle test process as the first inspection process SP1d, includes: a first state C1 where the gear is in neutral (N), and a twelfth state C12 where the steering force applied to the steering device is below a reference value. Therefore, the angle test process of the vehicle 100 can be appropriately performed using unmanned driving.

[0144] Furthermore, in other embodiments, the first initial state SC1d may include other states in addition to the states described above, or may include other states in place of the states described above.

[0145] E. Fifth implementation method:

[0146] Figure 9 This diagram illustrates the manufacturing process performed at the second work station PL2 in the fifth embodiment. In this embodiment, unlike the first embodiment, the component connection process CP is performed at the second work station PL2 as a manufacturing process, rather than an inspection process. Other configurations in this embodiment are the same as in the first embodiment unless otherwise specified.

[0147] The component connection process CP is a process in which pre-defined components are electrically connected to pre-defined locations on the target vehicle 100b. Figure 9 The diagram illustrates the process of performing the component connection step CP on a test bench-type vehicle 100b. Specifically, in Figure 9 The diagram shows a case where a component CM is assembled from the exterior of a target vehicle 100b, and the component CM is electrically connected to a first portion p1 of the target vehicle 100b. Furthermore, in... Figure 9In the diagram, the component CM located before the target vehicle 100b is shown by a dashed line, while the component CM located after the target vehicle 100b and electrically connected is shown by a solid line. The component CM can be, for example, various electronic or electrical components. Furthermore, the component CM can be installed and electrically connected to the vehicle 100b, for example, while forming any electrical assembly with other components. Additionally, the component connection process CP can be performed by a worker, a robot, or both. Hereinafter, the part of the vehicle 100 that is electrically connected to the component CM will be referred to as the target part. That is, in this embodiment, the first part p1 corresponds to the target part.

[0148] like Figure 9 As shown, the starting state of the component connection process CP, i.e., the third starting state SCp, includes a non-energized state C13. The non-energized state C13 is a state in which no power is supplied to the target part. That is, in this embodiment, the non-energized state C13 is equivalent to a state in which no power is supplied to the first part p1.

[0149] In this embodiment, the same procedure as in the first embodiment is followed. Figure 5 Vehicle control processing. For example, in the case where the object manufacturing process is a component connection process CP, in step S120, the control unit 210 sends a control command to the object vehicle 100b to make the object vehicle 100b a de-energized state C13 at a preset assembly position. Upon receiving the control command, the vehicle 100b controls various switches or other actuators provided with the object vehicle 100b to electrically disconnect the circuit Cr1, which includes the first part p1, from the power supply device provided with the object vehicle 100b and from the power supply outside the object vehicle 100b. Furthermore, in this case, as long as power is not supplied to the first part p1, power can be supplied to circuits such as Cr2, which do not include the first part p1.

[0150] According to the system 50 in this embodiment described above, the start state, i.e., the third start state SCp, of the component connection process CP includes a non-energized state C13. In this way, when assembling component CM for vehicle 100b, it is possible to suppress malfunctions of the assembled component CM caused by supplying power directly to the target area. Therefore, the process of assembling component CM for vehicle 100b can be appropriately performed using the autonomous driving capability of vehicle 100b.

[0151] In addition, in other embodiments, the third start state SCp may include other states besides the non-energized state C13, or may include other states instead of the non-energized state C13.

[0152] F. Sixth Implementation Method:

[0153] Figure 10 This is a flowchart illustrating the vehicle control processing flow for implementing the vehicle 100 control method in the sixth embodiment. The difference between this embodiment and the first embodiment lies in that... Figure 10 In step S110b, process information, rather than location information, is obtained. Other configurations in this embodiment are the same as in the first embodiment unless otherwise specified.

[0154] In step S110b, the process determination unit 215 determines the target manufacturing process by acquiring the process information of the target vehicle 100. In this embodiment, step S110b involves the process determination unit 215 determining the next manufacturing process to be performed on the target vehicle 100 by acquiring the process information of the target vehicle 100. Specifically, in step S110b, the process determination unit 215 acquires the process information of the target vehicle 100 based on information indicating the execution order of each manufacturing process performed on the target vehicle 100 and information indicating the next manufacturing process to be performed on the target vehicle 100, as described in the first embodiment.

[0155] In this embodiment, during the state determination process in step S115b, the state determination unit 230 determines the object state, for example, by referring to the database DB and the process information of the object vehicle 100 obtained in step S110b. In this case, the database DB stores, for example, identification information of each manufacturing process and the start state of each manufacturing process.

[0156] According to the system 50 of this embodiment described above, based on the process information of the target vehicle 100, the target state is determined, and an instruction is given to make the target vehicle 100 a target state. Therefore, according to the system 50 of this embodiment, the possibility of the manufacturing process being properly executed can also be improved.

[0157] In addition, in other embodiments, the process determination unit 215 may obtain both the location information and process information of the target vehicle 100, and determine the target state based on the location information and process information.

[0158] G. Seventh Implementation Method:

[0159] Figure 11 This is a block diagram illustrating the configuration of system 50v in the seventh embodiment. In this embodiment, the difference from the first embodiment is that system 50v does not include server 200. Furthermore, the vehicle 100v in this embodiment can operate under autonomous control. Other configurations are the same as in the first embodiment unless otherwise specified.

[0160] In this embodiment, the processor 111v of the vehicle control device 110v functions as the control unit 210v, process determination unit 215, current state acquisition unit 220, state determination unit 230, and state determination unit 250 by executing the program PG1 stored in the memory 112v. Additionally, in this embodiment, the control unit 210v functions as the vehicle control unit 115v. The vehicle control unit 115v acquires output results based on sensors, generates driving control signals using the output results, and outputs the generated driving control signals to activate the actuator assembly 120, thereby enabling autonomous control of the vehicle 100v. In this embodiment, in addition to the program PG1, the memory 112v also stores a detection model DM, a reference path RR, and a database DB. The vehicle control device 110v in the seventh embodiment is equivalent to the "control device" in this disclosure.

[0161] Figure 12 This is a flowchart illustrating the processing flow of the vehicle 100V driving control in the seventh embodiment. Figure 12 In the processing flow, the processor 111v of the vehicle 100v functions as the control unit 210v by executing program PG1.

[0162] In step S11, 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 S21, the processor 111v determines the target location that the vehicle 100v should go to next. In step S31, the processor 111v generates a driving control signal to make the vehicle 100v move toward the determined target location. In step S41, 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 actuators at a predetermined cycle. According to the system 50v in this embodiment, even without remote control of the vehicle 100v through the server 200, the vehicle 100v can be driven autonomously.

[0163] In this embodiment, with Figure 5 The same vehicle control processing is performed by the processor 111v of the vehicle 100v, for example, at predetermined time intervals. In this embodiment, "object vehicle" means the vehicle itself. Figure 5Each step is executed by the processor 111v. For example, in step S105, the current state acquisition unit 220 of the vehicle 100v acquires the current state of the vehicle 100v at predetermined time intervals using the internal sensor 140 and the external sensor 300, and stores the acquired current state in the memory 112v. Furthermore, in step S120, the control unit 210v of the vehicle 100v generates and outputs a control command to make the state of the vehicle 100v become the target state determined in step S115. Based on the generated control command, the vehicle control unit 115v controls the actuator group 120 of the vehicle 100v. Additionally, in step S140, the control unit 210v generates and outputs a control command to move the vehicle 100v to the target work site via a return line connected to the manufacturing line, and a control command to make the state of the target vehicle 100v become the target state. Furthermore, in the stopping process of step S145, the control unit 210v, for example, generates and outputs a driving control signal to brake the vehicle 100v. Furthermore, in other implementations, for example, with Figure 10 The same processing of vehicle control can be performed by processor 111v.

[0164] According to the system 50v in this embodiment described above, it also determines the object state of the object vehicle 100v and controls the object vehicle 100v to make its state the object state. Therefore, it is possible to increase the likelihood that the manufacturing process can be properly executed.

[0165] H. Other implementation methods:

[0166] (H1) In the above embodiments, the control unit 210 does not perform state control processing when the current state is an object state. Conversely, the control unit 210 may also perform state control processing regardless of whether the current state is an object state. Furthermore, in this case, the system 50 may not have a current state acquisition unit 220. That is, for example, the server 200 and the vehicle control device 110 may not have a current state acquisition unit 220.

[0167] (H2) In the above embodiments, the control unit 210 performs all three processes in subsequent processing: stop processing, retreat processing, and report processing. However, it may also perform only one or two of these processes. If retreat processing is not performed, a retreat location may not be required in the factory FC. Furthermore, if report processing is not performed, the system 50 may not have a report unit 400. Additionally, the control unit 210 may not have the function of performing autonomous driving; a separate autonomous driving function unit may be provided in the system 50, independent of the control unit 210. Specifically, if the control unit 210 only performs report processing in subsequent processing, it may not have the function of performing autonomous driving. Furthermore, for example, if the control unit 210 only outputs a signal that triggers the stopping of the vehicle 100 during stop processing, or if the control unit 210 only outputs a signal that triggers the retreat of the vehicle 100 during retreat processing, it may not have the function of performing autonomous driving.

[0168] (H3) In the above embodiments, the system 50 includes a status determination unit 250, but it may also not include a status determination unit 250. That is, for example, the server 200 and the vehicle control device 110 may not include a status determination unit 250.

[0169] (H4) In the above embodiments, a return line is provided at the factory FC, but it is also possible that no return line is provided. In this case, the retreat location may be provided at a location different from the return line. In addition, in this case, the retreat process may not be a process that causes the target vehicle 100 to return to the target work site via the return line, but may be a process that only causes the target vehicle 100 to retreat to the retreat location.

[0170] (H5) In the above embodiments, the control unit 210 may perform the retreat process again if the state of the target vehicle 100 is not the target state during the re-determination process, but it may also choose not to perform the retreat process again. In this case, the control unit 210 may, for example, perform the stop process and report process instead of performing the retreat process again if the state of the target vehicle 100 is not the target state during the re-determination process.

[0171] (H6) In the above embodiments, the control unit 210 does not perform stop processing and report processing when the number of concessions is less than or equal to a reference number, and performs stop processing and report processing when the number of concessions is greater than the reference number. Conversely, the control unit 210 may also perform only either stop processing or report processing when the number of concessions is less than or equal to a reference number. Furthermore, the control unit 210 may not change the processing content based on the number of concessions as described above. In this case, the control unit 210 may, for example, not perform stop processing or report processing regardless of the number of concessions, or it may perform stop processing and report processing regardless of the number of concessions.

[0172] (H7) In the above embodiments, the number of work areas included in the factory FC and the number of manufacturing processes performed in the factory FC can be arbitrary. For example, the number of work areas included in the factory FC can be either one or two or more. Furthermore, the number of manufacturing processes performed in the factory FC can be either one or two or more. Additionally, the order of execution of the manufacturing processes and the combination of the executed manufacturing processes are not limited to the order and combination described in the above embodiments and can be arbitrary. Furthermore, two or more different manufacturing processes can be performed in one work area. In this case, a machine or multiple machines with the function of performing multiple manufacturing processes can be provided in the work area to perform two or more different manufacturing processes. When two or more different manufacturing processes are performed in one work area, and the state determination unit 230 determines the object state based on the position information, each starting state can be set as the state of the vehicle 100 in the first manufacturing process performed among the multiple manufacturing processes performed in one work area. Furthermore, when two or more different manufacturing processes are performed in one work area, and the status determination unit 230 determines the object status based on the process information, the start status can be set for each manufacturing process performed in one work area. Additionally, for example, not limited to wheel alignment inspection or sideslip inspection, the start status of any manufacturing process can include a state of the vehicle 100 that does not interfere with other manufacturing processes.

[0173] (H8) In the above embodiments, the database DB can establish an association between the start state and the location information representing the travel route. In this case, for example, the database DB can establish an association between the start state of the manufacturing process to be performed at the next work site for a certain travel route.

[0174] (H9) In the above embodiments, various functional units such as the control unit 210, process determination unit 215, status determination unit 230, and status determination unit 250 may also be provided by the vehicle 100 in the system 50. In this case, as described in the seventh embodiment, all of the control unit 210, process determination unit 215, status determination unit 230, and status determination unit 250 may be provided by the vehicle 100, or only some of these functional units may be provided by the vehicle 100. In addition, in the system 50, some or all of these functional units may also be provided by the server 200 and external devices of the vehicle 100.

[0175] (H10) In the above embodiments, the external sensor 300 is a camera. However, the external sensor 300 is not limited to a camera; for example, it could be a ranging device such as LiDAR (Light Detection and Ranging). In this case, the detection result output by the external sensor 300 could also be three-dimensional point cloud data representing the vehicle 100. In this case, the server 200 and the vehicle 100 can 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.

[0176] (H11) In the first embodiment described above, the server 200 performs the process from obtaining the vehicle location information to generating the driving control signal. In contrast, the vehicle 100 may also perform at least a portion of the process from obtaining the vehicle location information to generating the driving control signal. For example, it may be performed in the manner described in (1) to (3) below.

[0177] (1) The server 200 may obtain vehicle location information, determine the target location that vehicle 100 should go to next, and generate a path from the current location of vehicle 100 as indicated by the obtained vehicle location information to the target location. The server 200 may generate a path from the current location to the target location, or a path to the destination. The server 200 may send the generated path to vehicle 100. Vehicle 100 may generate a driving control signal in such a way that vehicle 100 travels on the path received from server 200, and use the generated driving control signal to control actuator group 120.

[0178] (2) The server 200 can obtain vehicle location information and send the obtained vehicle location information to the vehicle 100. The vehicle 100 can decide the target location that the vehicle 100 should go to next, generate a path from the current position of the vehicle 100 represented by the received vehicle location information to the target location, generate a driving control signal in the manner that the vehicle 100 travels on the generated path, and use the generated driving control signal to control the actuator group 120.

[0179] (3) In the methods described in (1) and (2) above, the vehicle 100 may be equipped with an internal sensor 140, and the detection results output from the internal sensor 140 may be used in at least one of the path generation and driving control signal generation. For example, in the method described in (1) above, the server 200 may obtain the detection results of the internal sensor 140 and reflect the detection results of the internal sensor 140 in the path when generating the path. In the method described in (1) above, the vehicle 100 may also obtain the detection results of the internal sensor 140 and reflect the detection results of the internal sensor 140 in the driving control signal when generating the driving control signal. In the method described in (2) above, the vehicle 100 may obtain the detection results of the internal sensor 140 and reflect the detection results of the internal sensor 140 in the path when generating the path. In the method described in (2) above, the vehicle 100 may also obtain the detection results of the internal sensor 140 and reflect the detection results of the internal sensor 140 in the driving control signal when generating the driving control signal.

[0180] (H12) In the seventh embodiment described above, the vehicle 100v may be equipped with an internal sensor 140, and the detection result output from the internal sensor 140 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 result of the internal sensor 140 and reflect the detection result of the internal sensor 140 in the path when generating the path. Alternatively, the vehicle 100v may acquire the detection result of the internal sensor 140 and reflect the detection result of the internal sensor 140 in the driving control signal when generating the driving control signal.

[0181] (H13) In the seventh embodiment described above, vehicle 100v obtains vehicle position information using the detection results of external sensor 300. Alternatively, vehicle 100v may be equipped with an internal sensor 140. Vehicle 100v uses the detection results of the internal sensor 140 to obtain vehicle position information, determines the target location that vehicle 100v should go to next, generates a path from the current position of vehicle 100v as indicated by the obtained vehicle position information to the target location, generates a driving control signal for traveling on 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 vehicle 100v, reflecting the target arrival time and / or congestion information in at least one of the path and driving control signal. Additionally, the entire functionality of system 50v may be provided within vehicle 100v. That is, the processing implemented through system 50V in this disclosure can be implemented independently through vehicle 100V.

[0182] (H14) In the first embodiment described above, the server 200 automatically generates a driving control signal to be sent to the vehicle 100. Alternatively, the server 200 may also generate a driving control signal to be sent to the vehicle 100 according to the operation of an external operator located outside the vehicle 100. For example, the server 200 may generate a driving control signal corresponding to the operation applied to the driving control device, which is equipped with a display showing images captured from external sensors 300, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 via wired or wireless communication, operated by an external operator.

[0183] (H15) In the above embodiments, the vehicle 100 only needs to have a configuration that enables it to move autonomously, for example, it can also be in the form of a platform with the configuration described below. Specifically, in order for the vehicle 100 to perform the three functions of "driving", "steering" and "stopping" through autonomous driving, it only needs to have at least a vehicle control device 110 and an actuator assembly 120. When the vehicle 100 obtains information from the outside for autonomous driving, the vehicle 100 also needs to have a communication device 130. That is, the vehicle 100 that can move autonomously may not be equipped with at least some of the interior components such as the driver's seat and dashboard, may not be equipped with at least some of the exterior components such as bumpers and mudguards, and may not be equipped with a body shell. In this case, the remaining components such as the body shell can be assembled onto the vehicle 100 during the period until the vehicle 100 is shipped from the factory FC, or the remaining components such as the body shell can be assembled onto the vehicle 100 after the vehicle 100 is shipped from the factory FC in a state where the remaining components such as the body shell are not assembled onto the vehicle 100. Each component can be assembled from any direction, such as the upper, lower, front, rear, right, or left side of the vehicle 100, and can be assembled from the same direction or from different directions. Furthermore, the shape of the test stand can be determined in the same way as the vehicle 100 in the first embodiment.

[0184] (H16) The vehicle 100 can also be manufactured by combining multiple modules. A module means a unit consisting of one or more parts that are aggregated according to the configuration and function of the vehicle 100. For example, the chassis of the vehicle 100 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, parts of the vehicle 100 that are different from the chassis can be modularized, or parts of the vehicle 100 that are different from the chassis can be modularized 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. Such modules can be manufactured, for example, by joining multiple parts together using welding or fasteners, or by integrally molding at least a portion of the module into a single part using casting. The molding method of integrally molding at least a portion of the module into a single part is also called Giga-casting or Mega-casting. By using Giga-casting, it is possible to form a single component from the parts of a mobile body that were previously formed by joining multiple parts together. For example, the aforementioned front module, central module, and rear module can also be manufactured using Giga-casting.

[0185] (H17) Transporting vehicle 100 using the driving of an unmanned vehicle 100 is also called "autonomous transport". Furthermore, the configuration used to achieve autonomous transport is also called a "vehicle remote control autonomous driving transport system". Additionally, the production method that uses autonomous transport to produce vehicle 100 is also called "autonomous production". In autonomous production, for example in a factory FC that manufactures vehicle 100, at least a portion of the transport of vehicle 100 is achieved through autonomous transport.

[0186] (H18) In the above embodiments, some or all of the functions and processes implemented in software may also be implemented in hardware. Conversely, some or all of the functions and processes implemented in hardware may 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 may be used.

[0187] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, technical features in the embodiments that correspond 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 as long as they are not described as essential parts in this specification.

[0188] Explanation of reference numerals in the attached figures

[0189] 50, 50V…system, 100, 100A, 100B, 100B, 100V…vehicle, 110, 110V…vehicle control unit, 111, 111V…processor, 112, 112V…memory, 113…input / output interface, 114…internal bus, 115, 115V…vehicle control unit, 120…actuator group, 130…communication device, 140…internal sensor, 200…server, 201…processor, 202…memory, 203…input / output interface, 204…internal bus, 205…communication device, 210, 210V…control unit, 215…process determination unit, 220…current status acquisition unit, 230…status determination unit, 250…status determination unit, 300…external sensor, 400…reporting unit, 401…display unit.

Claims

1. A control device comprising: The process determination department determines the manufacturing processes to be performed for vehicles that can operate autonomously. A state determination unit determines a start state, which specifies the state of the vehicle at the determined start time of the manufacturing process; and The control unit performs state control processing to control the vehicle so that the vehicle's state becomes the starting state.

2. The control device according to claim 1, wherein, The system includes a state determination unit that, after the state control processing is executed, performs a determination process to determine whether the vehicle's state is the initial state. If the state of the vehicle in the determination process is different from the initial state, the control unit executes at least one of the following processes: a stop process to stop the vehicle from moving, a retreat process to move the vehicle to a pre-set retreat location, and a report process to report an anomaly.

3. The control device according to claim 2, wherein, If the number of times the yielding process is executed is less than a preset baseline number, the control unit will not execute the stop process and the report process. If the number of executions exceeds the baseline number, the control unit executes at least one of the stop processing and the report processing.

4. The control device according to claim 1, wherein, The manufacturing process is the process of checking the wheel alignment of the vehicle. The starting state includes: the vehicle is in neutral, the vehicle's foot brake and parking brake are not engaged, and the vehicle's steering angle is within a preset range.

5. The control device according to claim 1, wherein, The manufacturing process is a process of checking the sideslip of the vehicle. The starting state includes: the vehicle speed is below a preset value, the vehicle is in neutral, and the vehicle's steering angle is within a preset range.

6. The control device according to claim 1, wherein, The manufacturing process is a process of checking the braking force of the vehicle's braking device. The starting state includes: the brakes in the vehicle that are different from the brakes of the object under inspection are not working, the vehicle is in neutral, and the vehicle's steering angle is within a preset range.

7. The control device according to claim 1, wherein, The manufacturing process involves optically inspecting the headlights of the vehicle. The starting state includes: the vehicle is in park.

8. The control device according to claim 7, wherein, The starting state includes: the gear position is in neutral immediately before the parking gear.

9. The control device according to claim 1, wherein, The manufacturing process involves inspecting the acceleration device of the vehicle by driving the vehicle on rotating rollers. The starting state includes: the vehicle speed is below a preset value, and the vehicle's steering angle is within a preset range.

10. The control device according to claim 1, wherein, The manufacturing process is the process of inspecting the steering device of the vehicle. The starting state includes: the vehicle being in neutral and the steering force applied to the steering device being below a preset value.

11. The control device according to claim 1, wherein, The manufacturing process involves electrically connecting pre-defined components to pre-defined locations on the vehicle. The initial state includes: no power is being supplied to the part.

12. The control device according to any one of claims 1 to 11, wherein, When the manufacturing process is designated as the first manufacturing process, the starting state includes a state that does not hinder a second manufacturing process that is different from the first manufacturing process.

13. The control device according to claim 12, wherein, The work area for performing the first manufacturing process and the work area for performing the second manufacturing process are adjacent to each other.

14. The control device according to claim 13, wherein, The second manufacturing process is performed after the first manufacturing process.

15. The control device according to claim 13, wherein, The second manufacturing step is the step of performing operations using optical sensors. The initial state includes: the vehicle's lights are not turned on.

16. The control device according to claim 13, wherein, The second manufacturing process is the process of performing operations using radar. The initial state includes: no radio waves being transmitted from the radar of the vehicle.

17. A method for controlling a vehicle, comprising: The process involves determining the manufacturing steps to be performed on vehicles capable of operating autonomously. The state determination step includes determining a start state, which specifies the state of the vehicle at the determined start time of the manufacturing process; and The state control step involves controlling the vehicle to make its state the starting state.

18. A system having: The process determination department determines the manufacturing processes to be performed for vehicles that can operate autonomously. A state determination unit determines a start state, which specifies the state of the vehicle at the determined start time of the manufacturing process; and The control unit performs state control processing to control the vehicle so that the vehicle's state becomes the starting state.

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