Control system

Abstract

To provide a technology capable of shortening the inspection time required for an inspection process requiring driving of an engine. A control system includes an acquisition unit that acquires process information indicating a work process to be performed subsequently by a mobile body, the mobile body being a mobile body that uses at least an engine as a driving power source and is capable of moving by unmanned driving, and a control unit that starts warming-up of the engine before the start of a specific inspection process requiring driving of the engine, in a case where the work process specified by the process information is the specific inspection process.

Description

Technical Field

[0001] This invention relates to a control system. Background Technology

[0002] Previously, there was a known technology for driving vehicles autonomously within a vehicle manufacturing plant (Patent Document 1).

[0003] Patent Document 1: Japanese Patent Publication No. 2017-538619 Summary of the Invention

[0004] In factories manufacturing vehicles or inspection yards inspecting shipped mobile equipment, the engine may need to be driven during inspections, depending on the inspection requirements. To perform inspections requiring engine operation, the engine must be warmed up beforehand. However, since warming up the engine takes time, the inspection time may increase by an amount comparable to the warm-up time.

[0005] This invention can be implemented in the following ways.

[0006] (1) According to one aspect of the present invention, a control system is provided. The control system includes: an acquisition unit that acquires process information indicating a work process to be subsequently performed on a mobile body, the mobile body being a mobile body that is driven by at least an engine and capable of moving autonomously; and a control unit that, when the work process specified by the process information is a specific inspection process that requires driving the engine, starts warming up the engine before the start of the specific inspection process. According to this method, it is possible to start warming up the engine before the start of an inspection process that requires driving the engine. As a result, the inspection time can be shortened.

[0007] (2) In the above-described manner, the control unit can complete the warm-up before the start of the specific inspection procedure. According to this method, the engine warm-up can be completed before the start of an inspection procedure requiring engine operation. This further shortens the inspection time.

[0008] (3) In the above method, the acquisition unit can also acquire the required time for warm-up, and the control unit uses the required time to start the warm-up, thereby reducing the standby time from the completion of warm-up to the start of the specific inspection procedure. According to this method, the required time for engine warm-up can be used to shorten the standby time from the completion of engine warm-up to the start of the specific inspection procedure. As a result, the disadvantages caused by premature completion of engine warm-up due to increased fuel consumption or increased exhaust emissions can be suppressed.

[0009] (4) In the above-described manner, the control system may further include a calculation unit that calculates the required time using at least one of the external temperature of the mobile body, the exhaust volume of the mobile body, the oxygen concentration of the external air of the mobile body, and the slope of the road on which the mobile body moves, and outputs the calculation to the acquisition unit. According to this method, the required time for engine warm-up can be calculated more accurately based on at least one of the mobile body's driving environment (such as the external temperature of the mobile body, the oxygen concentration of the external air of the mobile body, and the slope of the road on which the mobile body moves) and the mobile body's characteristics (such as the exhaust volume of the mobile body). Therefore, engine warm-up can be started at an appropriate time. Thus, inspection time can be shortened or the drawbacks caused by premature completion of engine warm-up can be mitigated.

[0010] (5) In the above method, the specific inspection step can be at least one of the following steps: an engine inspection step to check the function of the engine; an exhaust inspection step to check the function of the exhaust treatment device that processes the exhaust generated by driving the engine; and a liquid leak inspection step to check for liquid leaks generated by driving the engine. According to this method, engine warm-up can begin before the engine inspection step, exhaust inspection step, and liquid leak inspection step. Therefore, the inspection time for the engine inspection step, exhaust inspection step, and liquid leak inspection step can be shortened.

[0011] This invention can be implemented in various ways other than the control system described above. For example, it can be implemented as a mobile body or server capable of performing at least a portion of the functions of the control system, a control method for the mobile body based on the control system, a computer program implementing the control method, a non-transitory recording medium recording the computer program, etc. Attached Figure Description

[0012] Figure 1 This is a conceptual diagram showing the structure of the control system in the first embodiment.

[0013] Figure 2 It is a block diagram representing the structure of the control system.

[0014] Figure 3 This is a flowchart illustrating the processing steps for vehicle driving control in the first embodiment.

[0015] Figure 4 This is a flowchart illustrating the control method for a vehicle corresponding to a manufacturing process.

[0016] Figure 5 This is an explanatory diagram showing the schematic structure of the control system in the second embodiment.

[0017] Figure 6This is a flowchart illustrating the processing steps for vehicle driving control in the second embodiment. Detailed Implementation

[0018] A. Implementation Method 1:

[0019] Figure 1 This is a conceptual diagram showing the structure of the control system 50 in the first embodiment. The control system 50 includes one or more vehicles 100 as moving bodies, a server 200, and one or more external sensors 300.

[0020] In this invention, "mobile body" refers to a movable object, such as a vehicle or an electric vertical takeoff and landing (EVTOL) aircraft (so-called flying car). A vehicle can be a wheeled vehicle or a tracked vehicle, such as a sedan, truck, bus, two-wheeled vehicle, four-wheeled vehicle, construction vehicle, etc. In this invention, a "vehicle" uses at least an engine as its driving force source. Vehicles include gasoline vehicles, hybrid vehicles, and fuel cell vehicles. When the mobile body is not a vehicle, the terms "vehicle" and "car" in this invention can be appropriately replaced with "mobile body," and the term "driving" can be appropriately replaced with "moving." In this embodiment, vehicle 100 is a car that uses an engine as its driving force source instead of an electric motor. Furthermore, in other embodiments, vehicle 100 may, for example, be a hybrid vehicle equipped with both an engine and an electric motor as driving forces.

[0021] Vehicle 100 is configured to operate autonomously. "Autonomous driving" refers to driving without relying on occupant-based driving operations. Driving operations refer to operations related to at least one of "driving," "turning," 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 the autonomously operating vehicle 100, occupants who do not perform driving operations can ride. Occupants who do not perform driving operations include, for example, people who simply sit in the seats of vehicle 100, and people who perform tasks different from driving operations while riding in vehicle 100, such as assembly, inspection, or switching operations. Furthermore, driving based on occupant-based driving operations is sometimes referred to as "manual driving."

[0022] In this specification, "remote control" includes "full remote control," in which all actions of vehicle 100 are completely determined from outside vehicle 100, and "partial remote control," in which some actions of vehicle 100 are determined from outside vehicle 100. Furthermore, "autonomous control" includes: full autonomous control, in which vehicle 100 autonomously controls its own actions without receiving any information from external devices; and partial autonomous control, in which vehicle 100 autonomously controls its own actions using information received from external devices.

[0023] In this embodiment, the control system 50 is used in a factory FC that performs multiple manufacturing processes to manufacture a vehicle 100. The reference coordinate system of the factory FC is the global coordinate system GC, and any position within the factory FC can be represented by the X, Y, and Z coordinates in the global coordinate system GC. The factory FC includes a first location PL1 and a second location PL2. In the first location PL1 and the second location PL2, for example, one or more actual processes such as assembly and inspection are performed in multiple manufacturing processes. The first location PL1 and the second location PL2 are connected by a travel route TR that the vehicle 100 can travel on. The vehicle 100 moves from the first location PL1 to the second location PL2 via the travel route TR without human intervention. On the travel route TR, a transport process of transporting the vehicle 100 from the first location PL1 to the second location PL2 is performed in multiple manufacturing processes. However, the structure of the factory FC is not limited to the above description.

[0024] Multiple external sensors 300 are installed along the driving route TR in the factory FC. The positions of each external sensor 300 in the factory FC are pre-adjusted. The external sensors 300 are sensors located outside the vehicle 100. In this embodiment, the external sensors 300 are sensors that capture images of the vehicle 100 from the outside. The external sensors 300 are equipped with a communication device (not shown) and can communicate with other devices such as the server 200 via wired or wireless communication. Specifically, the external sensors 300 are composed of cameras. The camera, which serves as the external sensor 300, captures images of the vehicle 100 and outputs the image as a detection result.

[0025] Figure 2 This is a block diagram showing the structure of the control system 50. The vehicle 100 includes a vehicle control device 110 for controlling various parts of the vehicle 100, an actuator assembly 120 including one or more actuators driven under the control of the vehicle control device 110, and a communication device 130 for communicating with external devices such as a server 200 via wireless communication. The actuator assembly 120 includes actuators for accelerating the drive mechanism of the vehicle 100, actuators for changing the direction of travel of the vehicle 100 for a steering mechanism, and actuators for decelerating the vehicle 100 for a braking mechanism.

[0026] 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 connected via the internal bus 114 to enable bidirectional communication. An actuator assembly 120 and a communication device 130 are connected to the input / output interface 113. The processor 111 executes a program PG1 stored in the memory 112 to implement various functions, including those of the vehicle control unit 115.

[0027] The vehicle control unit 115 drives the vehicle 100 by controlling the actuator assembly 120. The vehicle control unit 115 controls the actuator assembly 120 using a driving control signal received from the server 200, thereby enabling the vehicle 100 to drive. The driving control signal is a control signal used to drive the vehicle 100. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the driving control signal may replace 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, the vehicle control unit 115 drives the engine by controlling the actuator assembly 120 using a drive control signal received from the server 200. The drive control signal is a control signal used to control the drive engine.

[0028] Server 200 comprises a computer having a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, memory 202, and input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 for communicating with various external devices is connected to the input / output interface 203. The communication device 205 can communicate wirelessly with vehicle 100 and can communicate with various external sensors 300 via wired or wireless communication. The processor 201 executes a program PG2 stored in memory 202 to perform various functions, including an acquisition unit 211 and a remote control unit 212.

[0029] The acquisition unit 211 acquires process information. Process information refers to information indicating the manufacturing process to be performed after the vehicle 100. The acquisition unit 211 acquires process information, for example, using vehicle position information. Specifically, the acquisition unit 211 specifies the manufacturing process currently being performed on the vehicle 100 by comparing the position of the vehicle 100 in the global coordinate system GC with the position of each location PL1, PL2, TR within the factory FC represented by the global coordinate system GC. Then, the acquisition unit 211 acquires process information by specifying the manufacturing process to be performed after the currently performed manufacturing process on the vehicle 100 based on the execution order of multiple manufacturing processes.

[0030] Furthermore, the method for acquiring process information is not limited to the above. For example, the acquisition unit 211 can acquire process information by communicating with the vehicle 100 through various devices such as manufacturing equipment or inspection equipment installed at various locations PL1, PL2, and TR where the manufacturing process is performed. Moreover, the acquisition unit 211 can acquire process information by detecting feature points that can identify multiple manufacturing processes from the detection results of the external sensor 300, thereby specifying the manufacturing process currently being performed on the vehicle 100. Furthermore, the acquisition unit 211 can acquire process information by specifying the manufacturing process currently being performed on the vehicle 100 using manufacturing management information representing the manufacturing status of each vehicle 100 in the factory FC.

[0031] The remote control unit 212 acquires sensor-based detection results, generates a driving control signal for controlling the actuator assembly 120 of the vehicle 100 using the detection results, and sends the driving control signal to the vehicle 100, thereby enabling the vehicle 100 to move remotely. The remote control unit 212 can not only generate and output driving control signals and drive control signals, but also generate and output control signals for actuators used to control the operation of various auxiliary devices, wipers, power windows, lights, and other equipment provided with the vehicle 100. In other words, the remote control unit 212 can remotely control the operation of these various devices or auxiliary equipment.

[0032] Furthermore, when the manufacturing process specified by the process information is a specific inspection process that requires driving the engine, the remote control unit 212 starts engine warm-up before the specific inspection process begins. Specifically, when the manufacturing process specified by the process information is a specific inspection process that requires driving the engine, the remote control unit 212 generates a drive control signal to start engine warm-up and sends the drive control signal to the vehicle 100, thereby starting engine warm-up remotely. The specific inspection process is, for example, an engine inspection process. An engine inspection process is an inspection process that checks the function of the engine. The specific inspection process can also be an exhaust inspection process. An exhaust inspection process is an inspection process that checks the function of an exhaust treatment device that processes the exhaust generated by driving the engine. Furthermore, the specific inspection process can be a liquid leakage inspection process. A liquid leakage inspection process is an inspection process that checks for liquid leakage generated by driving the engine, checking that no liquids such as fuel, engine oil, or refrigerant are leaking from pumps such as fuel pumps or water pumps mounted on the vehicle 100.

[0033] Furthermore, the specific inspection procedure is not limited to the above. For example, in order to correctly evaluate the engine's function during an engine inspection, sometimes air generated in the fuel supply line from the fuel tank to the engine is removed before starting the engine inspection. In this case, the engine needs to be driven to remove the air. Therefore, the specific inspection procedure can be an air purging procedure to remove air generated in the fuel supply line.

[0034] Figure 3 This is a flowchart illustrating the processing steps for driving control of the vehicle 100 in the first embodiment. Figure 3 In the processing steps, the processor 201 of the server 200 functions as a remote control unit 212 by executing program PG2. Furthermore, the processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing program PG1.

[0035] In step S1, the processor 201 of the server 200 uses the detection results output from the external sensor 300 to acquire vehicle position information. This vehicle position information is the basis for generating driving control signals. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S1, the processor 201 uses video images acquired from a camera, which is the external sensor 300, to acquire the vehicle position information.

[0036] Specifically, in step S1, the processor 201 detects the shape of the vehicle 100 from the camera image, calculates the coordinates of the vehicle 100's location points in the local coordinate system of the camera image, 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 camera image can be detected, for example, by inputting the camera image into a detection model DM utilizing artificial intelligence. The detection model DM is prepared, for example, within or outside the control system 50, and pre-stored in the memory 202 of the server 200. As the detection model DM, for example, a learned machine learning model can be used, which has been learned in a manner that achieves either semantic segmentation or instance segmentation. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) learned through supervised learning using a training dataset can be used. The training dataset, for example, has multiple training images including 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 backpropagation (error backpropagation method) to reduce the error between the output of the detection model DM and the label. Furthermore, the processor 201 can, for example, infer the orientation of the vehicle 100 by calculating the orientation of the vehicle 100's movement vector based on the positional changes of the vehicle 100's feature points between frames of the camera image using optical flow.

[0037] In step S2, the processor 201 of the server 200 determines the target location that the vehicle 100 should proceed to next. In this embodiment, the target location is represented by the X, Y, and Z coordinates in the global coordinate system GC. The server 200's memory 202 pre-stores the path that the vehicle 100 should travel, i.e., the reference path RR. The path is represented by nodes indicating the starting point, nodes indicating the points passed through, nodes indicating the destination, and links connecting the nodes. The processor 201 uses the vehicle's position information and the reference path RR to determine the target location that the vehicle 100 should proceed to next. The processor 201 determines the target location on the reference path RR that is ahead of the vehicle 100's current position.

[0038] In step S3, the processor 201 of the server 200 generates a driving control signal to cause the vehicle 100 to move towards 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 by accelerating the vehicle 100; when the speed is higher than the target speed, the processor 201 determines acceleration by decelerating the vehicle 100. Furthermore, when the vehicle 100 is on the reference path RR, the processor 201 determines the steering angle and acceleration to ensure the vehicle 100 does not leave 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—the processor 201 determines the steering angle and acceleration to ensure the vehicle 100 returns to the reference path RR.

[0039] 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.

[0040] 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 actuator assembly 120, thereby causing vehicle 100 to travel at the acceleration and steering angle represented by the driving control signal. The processor 111 repeatedly receives the driving control signal and controls actuator assembly 120 at a predetermined cycle. According to the control system 50 of this embodiment, vehicle 100 can be driven remotely, and vehicle 100 can be moved without the use of conveying equipment such as cranes or conveyors.

[0041] Figure 4 This is a flowchart illustrating the control method for the vehicle 100 corresponding to the manufacturing process. Figure 4The illustrated process, for example, is repeatedly executed at a pre-set time cycle from the start of autonomous driving. In step S101, the acquisition unit 211 of the server 200 acquires process information. If the manufacturing process specified by the process information is not a specific inspection process (step S102: No), the server 200 terminates the process. If the manufacturing process specified by the process information is a specific inspection process (step S102: Yes), in step S103, the remote control unit 212 of the server 200 generates a drive control signal for starting engine warm-up before the specific inspection process begins. In step S104, the remote control unit 212 sends the generated drive control signal to the vehicle 100. In step S105, the vehicle control unit 115 of the vehicle 100 uses the received drive control signal to control the actuator assembly 120, thereby driving the engine. Thus, engine warm-up begins.

[0042] According to the first embodiment described above, the engine warm-up can be started remotely before the inspection process requiring engine operation begins. This shortens the inspection time.

[0043] Furthermore, according to the first embodiment described above, engine warm-up can begin before the engine inspection process, exhaust inspection process, fluid leak inspection process, and air bleed process. This shortens the inspection time for the engine inspection process, exhaust inspection process, fluid leak inspection process, and air bleed process.

[0044] B. Second Implementation Method:

[0045] Figure 5 This is an explanatory diagram showing the schematic structure of the control system 50v in the second embodiment. In this embodiment, the control system 50v differs from that in the first embodiment in that it does not include the server 200. Furthermore, the vehicle 100v in this embodiment is capable of autonomous operation through its own control. Other structural details are the same as in the first embodiment unless otherwise specified.

[0046] In this embodiment, the processor 111v of the vehicle control unit 110v functions as the vehicle control unit 115v and the acquisition unit 116 by executing the program PG1 stored in the memory 112v. The acquisition unit 116 acquires process information. The vehicle control unit 115v acquires sensor-based output results, uses the output results to generate a driving control signal, and outputs the generated driving control signal to activate the actuator assembly 120, thereby enabling the vehicle 100v to drive autonomously. In this embodiment, in addition to the program PG1, the memory 112v also stores the detection model DM and the reference path RR in advance. Furthermore, when the manufacturing process specified by the process information is a specific inspection process, the vehicle control unit 115v starts engine warm-up before the specific inspection process begins.

[0047] Figure 6 This is a flowchart illustrating the processing steps for the driving control of the vehicle 100V in the second embodiment. Figure 6 In the processing steps, the processor 111v of the vehicle 100v functions as the vehicle control unit 115v by executing program PG1.

[0048] In step S901, the processor 111v of the vehicle control device 110v acquires vehicle position information using detection results output from the camera, which is an external sensor 300. In step S902, the processor 111v determines the target location that the vehicle 100v should proceed to next. In step S903, the processor 111v generates a driving control signal to cause the vehicle 100v to travel to the determined target location. In step S904, the processor 111v controls the actuator group 120 using the generated driving control signal to cause the vehicle 100v to travel according to the parameters represented by the driving control signal. The processor 111v repeats 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 control system 50v in this embodiment, the vehicle 100v can be driven autonomously by the vehicle 100v even without remote control of the server 200.

[0049] According to the second embodiment described above, the engine warm-up can be initiated via autonomous control of the vehicle's 100V system before the start of any inspection procedures requiring engine operation. This reduces inspection time.

[0050] C. Other implementation methods:

[0051] (C1) In the above embodiments, the control units 115v and 212 can complete the engine warm-up before the start of a specific inspection procedure. In this case, the control units 115v and 212 can start the engine warm-up, for example, based on the required warm-up time or the start time of the specific inspection procedure. In this way, the engine warm-up can be completed before the start of the inspection procedure that requires driving the engine. As a result, the inspection time can be further shortened.

[0052] (C2) The longer the standby time from the completion of engine warm-up to the start of a specific inspection procedure, the greater the fuel consumption. Furthermore, the increased exhaust emissions may worsen the working environment in the factory's fuel cell (FC). Therefore, in the above embodiments, the acquisition units 116 and 211 can also acquire the required time for engine warm-up. Then, the control units 115v and 212 can use the required time for engine warm-up to start engine warm-up, thereby reducing the standby time from the completion of engine warm-up to the start of the specific inspection procedure. In this way, the required time for engine warm-up can be used to shorten the standby time from the completion of engine warm-up to the start of the specific inspection procedure. This helps to suppress the disadvantages caused by premature completion of engine warm-up.

[0053] (C3) In the above embodiment, the control systems 50 and 50v may also include a calculation unit that calculates the required time for engine warm-up and outputs it to the acquisition unit 116 and 211. In this case, as shown in (1) to (4) below, the calculation unit can calculate the required time for engine warm-up based on at least one of the driving environment of the vehicle 100 and 100v and the characteristics of the vehicle 100 and 100v, which are the reasons for the change in the required time for engine warm-up.

[0054] (1) The lower the external temperature of the vehicle (100V, 100V), the longer the engine warm-up time is required. The higher the external temperature of the vehicle (100V, 100V), the shorter the engine warm-up time is required. Therefore, the calculation unit can use the external temperature of the vehicle (100V, 100V) to calculate the engine warm-up time. In this way, in the control units (115V, 212), the lower the external temperature of the vehicle (100V, 100V), the earlier the engine warm-up begins, thereby more reliably shortening the inspection time. Furthermore, in this way, in the control units (115V, 212), the higher the external temperature of the vehicle (100V, 100V), the later the engine warm-up begins, thereby more reliably suppressing the disadvantages caused by premature engine warm-up completion.

[0055] (2) The smaller the vehicle's displacement (100V, 100V), the longer the engine warm-up time will be. The larger the vehicle's displacement (100V, 100V), the shorter the engine warm-up time will be. Therefore, the calculation unit can use the vehicle's displacement (100V, 100V) to calculate the engine warm-up time. In this way, in the control units (115V, 212), the smaller the vehicle's displacement (100V, 100V), the earlier the engine warm-up will begin, thus reliably shortening the inspection time. Furthermore, in this way, in the control units (115V, 212), the larger the vehicle's displacement (100V, 100V), the later the engine warm-up will begin, thus reliably suppressing the drawbacks caused by premature engine warm-up completion.

[0056] (3) The higher the elevation of the driving location of vehicle 100, 100v, the lower the proportion of oxygen in the external air supplied to the engine, and therefore the longer the engine warm-up time is. The lower the elevation of the driving location of vehicle 100, 100v, the higher the proportion of oxygen in the external air supplied to the engine, and therefore the shorter the engine warm-up time is. That is, the lower the amount of oxygen in the external air of vehicle 100, 100v, i.e., the lower the oxygen concentration of the external air of vehicle 100, 100v, the longer the engine warm-up time is. The higher the oxygen concentration of the external air of vehicle 100, 100v, the shorter the engine warm-up time is. Therefore, the calculation unit can use the oxygen concentration of the external air of vehicle 100, 100v to calculate the engine warm-up time. In this manner, the lower the oxygen concentration of the outside air in the vehicle's 100 and 100 v systems in control units 115v and 212, the earlier the engine warm-up begins, thus reliably shortening the inspection time. Furthermore, in this manner, the higher the oxygen concentration of the outside air in the vehicle's 100 and 100 v systems in control units 115v and 212, the later the engine warm-up begins, thus more reliably suppressing the drawbacks caused by premature engine warm-up completion.

[0057] (4) When vehicle 100, 100v is traveling downhill, the engine load is difficult to increase, so the time required for engine warm-up tends to be longer. When vehicle 100, 100v is traveling uphill, the engine load tends to increase, so the time required for engine warm-up tends to be shorter. That is, when vehicle 100, 100v is traveling downhill, the steeper the slope of the road, the longer the time required for engine warm-up tends to be. When vehicle 100, 100v is traveling uphill, the steeper the slope of the road, the shorter the time required for engine warm-up tends to be. Therefore, the calculation unit can use the slope of the road traveled by vehicle 100, 100v to calculate the time required for engine warm-up. In this way, when vehicle 100, 100v is traveling downhill with a steeper slope, control units 115v, 212 can more reliably shorten the inspection time by starting engine warm-up earlier. Furthermore, if this method is adopted, when the vehicle 100 and 100v are driving uphill with a steeper slope, the control units 115v and 212 can more reliably suppress the drawbacks caused by premature engine warm-up by starting the engine warm-up later.

[0058] (C4) The control systems 50 and 50V can also be used outside the factory FC where vehicles 100 and 100V are manufactured. That is, the control systems 50 and 50V can control vehicles 100 and 100V after shipment. When the control systems 50 and 50V are used outside the factory FC, the expression "manufacturing" in this invention can be appropriately replaced with "operation," and the expression "factory" can be appropriately replaced with "workshop" or "inspection site." In this way, even in locations outside the factory FC, such as urban areas or vehicle inspection stations, engine warm-up can begin before the inspection process that requires engine operation. Thus, even in locations outside the factory FC, such as urban areas or vehicle inspection stations, inspection time can be shortened.

[0059] (C5) In the above embodiments, the external sensor 300 is not limited to a camera; for example, it can be a ranging device. The ranging device can be, for example, a Light Detection and Ranging (LiDAR) device. In this case, the detection result output by the external sensor 300 can be three-dimensional point cloud data representing vehicles 100 and 100v. In this case, the server 200 or vehicles 100 and 100v can obtain vehicle position information by using template matching of the three-dimensional point cloud data as the detection result and pre-prepared reference point cloud data.

[0060] (C6) In the first embodiment described above, the server 200 performs the process from acquiring vehicle location information to generating a driving control signal. In contrast, the vehicle 100 may perform at least a portion of the process from acquiring vehicle location information to generating a driving control signal. For example, it may be performed in the manner described in (1) to (3) below.

[0061] (1) Server 200 can 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 in the obtained vehicle location information to the target location. Server 200 can generate a path from the current location to the target location, or a path to the destination. Server 200 can send the generated path to vehicle 100. Vehicle 100 can generate a driving control signal to make vehicle 100 drive on the path received from server 200, and use the generated driving control signal to control actuator group 120.

[0062] (2) Server 200 can acquire vehicle location information and send the acquired vehicle location information to vehicle 100. Vehicle 100 can determine the target location that vehicle 100 should head towards next, generate a path from the current position of vehicle 100 as indicated in the received vehicle location information to the target position, generate a driving control signal to make vehicle 100 drive on the generated path, and use the generated driving control signal to control actuator group 120.

[0063] (3) In the methods described in (1) and (2) above, an internal sensor may be installed in the vehicle 100, and the detection results output from the internal sensor may be used in at least one of the path generation and the driving control signal generation. The internal sensor is a sensor installed in the vehicle 100. The internal sensor may include, for example, a sensor for detecting the motion state of the vehicle 100, a sensor for detecting the motion state of various parts of the vehicle 100, and a sensor for detecting the surrounding environment of the vehicle 100. Specifically, the internal sensor may include, for example, a camera, LiDAR, millimeter-wave radar, ultrasonic sensor, GPS sensor, accelerometer, gyroscope sensor, etc. For example, in the method described in (1) above, the server 200 may reflect the detection results of the internal sensor in the path when acquiring the detection results of the internal sensor and generating the path. In the method described in (1) above, the vehicle 100 may reflect the detection results of the internal sensor in the driving control signal when acquiring the detection results of the internal sensor and generating the driving control signal. In the method described in (2) above, the vehicle 100 may reflect the detection results of the internal sensor in the path when acquiring the detection results of the internal sensor and generating the path. In the manner described in (2) above, the vehicle 100 can reflect the detection results of the internal sensors into the driving control signal when acquiring the detection results of the internal sensors and generating the driving control signal.

[0064] (C7) In the second embodiment described above, an internal sensor may be mounted on the vehicle 100v, and the detection results output from the internal sensor may be used in at least one of the path generation and the generation of the driving control signal. For example, the vehicle 100v may reflect the detection results of the internal sensor in the path when acquiring the detection results of the internal sensor and generating the path. The vehicle 100v may reflect the detection results of the internal sensor in the driving control signal when acquiring the detection results of the internal sensor and generating the driving control signal.

[0065] (C8) In the second embodiment described above, the vehicle 100v uses the detection results of the external sensor 300 to obtain vehicle position information. Alternatively, an internal sensor can be mounted on the vehicle 100v. The vehicle 100v uses the detection results of the internal sensor to obtain vehicle position information, determines the target position that the vehicle 100v should head towards next, generates a path from the current position of the vehicle 100v as indicated in the acquired vehicle position information to the target position, generates a driving control signal for driving the generated path, and uses the generated driving control signal to control the actuator assembly 120. In this case, the vehicle 100v can drive without using the detection results of the external sensor 300. Furthermore, the vehicle 100v can obtain the target arrival time or congestion information from outside the vehicle 100v and reflect the target arrival time or congestion information in at least one of the path and the driving control signal. Moreover, the functional structure of the control system 50v can be entirely set within the vehicle 100v. That is, the processing implemented by the control system 50v in this invention can be implemented solely by the vehicle 100v.

[0066] (C9) 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 can generate a driving control signal to be sent to the vehicle 100 based on the operation of an external operator located outside the vehicle 100. For example, the external operator can operate a control device equipped with a display showing camera images output 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. The server 200 can then generate a driving control signal corresponding to the operation applied to the control device.

[0067] (C10) In the above embodiments, vehicles 100 and 100v only need to have a structure capable of moving autonomously, for example, they can be platforms with the structure described below. Specifically, in order to perform the three functions of "driving," "turning," and "stopping" autonomously, vehicles 100 and 100v only need to have vehicle control devices 110 and 110v and actuator assembly 120. For autonomous driving, if vehicles 100 and 100v obtain information from the outside, they also need to have a communication device 130. That is, vehicles 100 and 100v capable of moving autonomously may not have at least some interior parts such as driver's seats or dashboards installed, nor at least some exterior parts such as bumpers or mudguards installed, nor a body shell installed. In this case, the remaining parts, such as the body shell, can be installed on vehicles 100 and 100v before they are shipped from the factory FC, or they can be installed on vehicles 100 and 100v after they are shipped from the factory FC, without the remaining parts being installed on them. Each part can be installed from any direction on vehicles 100 and 100v, such as the top, bottom, front, rear, right, or left side, or from the same direction or different directions. Furthermore, the platform's shape can be positioned in the same way as vehicle 100 in the first embodiment.

[0068] (C11) Vehicles 100 and 100v can be manufactured by combining multiple modules. A module refers to a unit composed of one or more parts that are aggregated according to the structure or function of vehicle 100 or 100v. For example, the platform of vehicle 100 or 100v can be manufactured by combining a front module constituting the front part of the platform, a central module constituting the central part of the platform, and a rear module constituting the rear part of the platform. In addition, the number of modules constituting the platform is not limited to three, and may be two or less or four or more. Furthermore, in addition to the platform, or in place of the platform, parts of vehicle 100 or 100v that are different from the platform can be modularized. Furthermore, various modules may include any exterior parts such as bumpers or grilles, or any interior parts such as seats or consoles. Furthermore, not limited to vehicle 100 or 100v, any kind of moving body can also be manufactured by combining multiple modules. Such modules can be manufactured, for example, by joining multiple parts by welding or fasteners, or by casting at least a portion of the module as a single part. A molding method that integrally forms at least a portion of a module as a single part is also known as mega-casting or supercasting. By using mega-casting, it is possible to form the various parts of a moving body, which were previously formed by joining multiple components, into a single part. For example, the aforementioned front module, central module, and rear module can be manufactured using mega-casting.

[0069] (C12) The use of driverless vehicles 100 and 100v to transport vehicles 100 and 100v is also referred to as "self-propelled transport". Furthermore, the structure used to implement self-propelled transport is also referred to as a "vehicle remote-controlled autonomous driving transport system". Furthermore, the production method that utilizes self-propelled transport to produce vehicles 100 and 100v is also referred to as "self-propelled production". In self-propelled production, for example, in factory FC where vehicles 100 and 100v are manufactured, at least a portion of the transport of vehicles 100 and 100v is achieved through self-propelled transport.

[0070] (C13) In the above embodiments, at least a portion of the functions of the server 200 can be functions of the vehicle control devices 110 and 110v, or functions of other devices such as the external sensor 300. If this is the case, the structure of the control systems 50 and 50v can be appropriately modified.

[0071] (C14) In the above embodiments, some or all of the functions and processes implemented in software can be implemented in hardware. Furthermore, some or all of the functions and processes implemented in hardware can be implemented in software. As the hardware for implementing the various functions in the above embodiments, various circuits such as integrated circuits or discrete circuits can be used.

[0072] This invention is not limited to the embodiments described above, and can be implemented in various structures without departing from its spirit. For example, in order to solve some or all of the above-described problems, or to achieve some or all of the above-described effects, the technical features of the embodiments corresponding to the technical features in the various ways described in the summary section of the invention can be appropriately replaced or combined. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted.

[0073] Symbol Explanation

[0074] 50, 50V - Control system; 100, 100V - Vehicle; 110, 110V - Vehicle control unit; 111, 111V - Processor of vehicle control unit; 112, 112V - Memory of vehicle control unit; 113 - Input / output interface of vehicle control unit; 114 - Internal bus of vehicle control unit; 115, 115V - Vehicle control unit; 116, 211 - Acquisition unit; 120 - Actuator group; 130 - Vehicle communication device; 200 - Server; 201 - Server processor; 202 - Server memory; 203 - Server input / output interface; 204 - Server internal bus; 205 - Server communication device; 212 - Remote control unit; 300 - External sensor; DM - Detection model; FC - Factory; GC - Global coordinate system; PG1, PG2 - Program; PL1 - Location 1; PL2 - Location 2; RR - Reference path; TR - Driving route.

Claims

1. A control system, characterized in that, have: The acquisition unit acquires process information representing subsequent work procedures to be performed on the mobile body, wherein the mobile body is at least powered by an engine and capable of autonomous driving; and The control unit, when the operation process specified by the process information is a specific inspection process that requires driving the engine, starts the engine warm-up before the start of the specific inspection process.

2. The control system according to claim 1, characterized in that, The control unit completes the warm-up before the specific inspection procedure begins.

3. The control system according to claim 1, characterized in that, The acquisition unit also acquires the required time for the warm-up process. The control unit uses the required time to start the warm-up, thereby reducing the standby time from the completion of the warm-up to the start of the specific inspection procedure.

4. The control system according to claim 3, characterized in that, It also includes a calculation unit that uses at least one of the external temperature of the mobile body, the exhaust volume of the mobile body, the oxygen concentration of the external air of the mobile body, and the slope of the road on which the mobile body moves to calculate the required time, and outputs it to the acquisition unit.

5. The control system according to any one of claims 1 to 4, characterized in that, The specific inspection procedure is at least one of the following procedures: An engine inspection procedure for checking the functionality of the engine; An exhaust inspection procedure that checks the function of an exhaust treatment device that processes the exhaust gas generated by driving the engine; and A liquid leak inspection procedure for checking for liquid leaks caused by driving the engine.

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