Controller, mobile body, and control method

Abstract

To suppress remote control from being continued by an unintended target.SOLUTION: A controller includes: a detection result acquisition unit that acquires detection results provided by a detector that is loaded on a mobile body movable through unmanned operation and detects a landmark located outside of the mobile body; a determination unit that determines the landmark to be detected by the detector; and a control unit that moves the mobile body through unmanned operation and differentiates processes related to the movement of the mobile body between a case where the landmark to be detected by the detector is included in the detection results and a case where the landmark is not included in the detection results.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control device, a moving object, and a control method. [Background technology]

[0002] There is known a technique for confirming whether or not the intended vehicle is being controlled by sending a command to remotely control the wipers of a vehicle and observing whether or not the wipers of the vehicle move in response to the command (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Pat. No. 10,532,771 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described technology, when a target vehicle and a non-target vehicle perform the same operation at the same time, there is a possibility that an error will occur in determining whether or not the intended target is being controlled. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] (1) According to a first aspect of the present disclosure, there is provided a control device comprising: an acquisition unit that acquires a detection result of a detector that is mounted on a moving body capable of moving by unmanned driving and detects a landmark located outside the moving body, a determination unit that determines the landmark to be detected by the detector, and a control unit that moves the moving body by unmanned driving, and that performs different processing related to the movement of the moving body depending on whether the landmark to be detected by the detector is included in the detection result or not. According to the control device of this embodiment, it is possible to suppress an error in determining whether or not the intended target is being controlled. (2) In the control device of the above form, when the detection result does not include a landmark that should be detected by the detector, the control unit may execute at least one of the following processes: a process of notifying that an abnormality has occurred, a process of changing the speed of the moving body, and a process of stopping control of the moving body. According to the control device of this embodiment, it is possible to prevent the moving object from moving unintentionally. (3) In the control device of the above aspect, the detector may be a camera, and the mark may be a two-dimensional code. According to the control device of this embodiment, it is possible to determine whether or not the intended target is being controlled by using the detection result of the two-dimensional code by the camera. (4) In the control device of the above aspect, the determination unit may determine the landmark to be detected by the detector using position information used as information indicating the position of the moving body and position information indicating the position of the landmark. According to the control device of this aspect, the landmark detected by the detector can be estimated with high accuracy. (5) In the control device of the above embodiment, the mark may be a projected image projected by a projection device located outside the moving body, and the control device may further include a projection control unit that controls the projection device. According to the control device of this aspect, the image projected by the projection device can be used as a mark. (6) In the control device of the above form, the determination unit determines the landmark to be detected by the detector and the direction relative to the moving body in which the landmark is to be detected, and the control unit may differ processing related to the movement of the moving body depending on whether the landmark to be detected by the detector is included in the detection result and whether the landmark to be detected by the detector is located in the direction in which it is to be detected. According to the control device of this embodiment, it is possible to more accurately determine whether or not the intended target is being controlled. (7) According to a second aspect of the present disclosure, there is provided a moving body capable of moving by unmanned operation, the moving body including a detector for detecting a landmark located outside the moving body, an acquisition unit for acquiring information on the landmark to be detected by the detector determined by a control device that controls the moving body from outside the moving body, and a control unit for moving the moving body in response to a command transmitted from the control device, the control unit performing different processing related to the movement of the moving body depending on whether the landmark to be detected by the detector is included in the detection result of the detector or not. According to this aspect of the moving body, it is possible to prevent errors in determining whether or not the intended target is being controlled. (8) According to a third aspect of the present disclosure, there is provided a moving body capable of moving by unmanned driving, the moving body including a detector for detecting a landmark located outside the moving body, a determination unit for determining the landmark to be detected by the detector, and a control unit for moving the moving body by unmanned driving, the control unit performing different processing related to the movement of the moving body depending on whether the landmark to be detected by the detector is included in the detection result of the detector or not. According to this aspect of the moving body, it is possible to prevent errors in determining whether or not the intended target is being controlled. (9) According to a fourth aspect of the present disclosure, there is provided a control method, which acquires a detection result of a detector mounted on a moving body capable of moving by unmanned operation and detecting a landmark located outside the moving body, determines the landmark to be detected by the detector, and performs different processing related to the movement of the moving body depending on whether the landmark to be detected by the detector is included in the detection result or not. According to the control method of this aspect, it is possible to suppress an error in determining whether or not the intended target is being controlled. The present disclosure may be realized in various forms other than the control device, the moving body, and the control method, for example, in the form of an unmanned driving system, a computer program, and a recording medium on which the computer program is recorded. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram showing the configuration of an unmanned driving system according to a first embodiment. [Diagram 2] FIG. 1 is an explanatory diagram showing a configuration of a vehicle according to a first embodiment. [Figure 3A] FIG. 1 is an explanatory diagram showing a state in which a vehicle is moved by remote control in a factory. [Figure 3B] 4 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. [Figure 4] 6 is a flowchart showing the contents of a confirmation process according to the first embodiment. [Diagram 5] 5 is a flowchart showing the contents of a detection process according to the first embodiment. [Figure 6] FIG. 11 is an explanatory diagram showing how a remote control target is confirmed. [Figure 7] FIG. 11 is an explanatory diagram showing the configuration of an unmanned driving system according to a second embodiment. [Figure 8] FIG. 11 is an explanatory diagram showing the configuration of an unmanned driving system according to a third embodiment. [Figure 9] FIG. 11 is an explanatory diagram showing the configuration of a vehicle according to a third embodiment. [Figure 10] 13 is a flowchart showing the contents of a confirmation process according to a third embodiment. [Figure 11] 13 is a flowchart showing the contents of a detection process according to a third embodiment. [Figure 12] FIG. 13 is an explanatory diagram showing the configuration of an unmanned driving system according to a fourth embodiment. [Figure 13] FIG. 13 is an explanatory diagram showing the configuration of a vehicle according to a fourth embodiment. [Figure 14] 10 is a flowchart showing a processing procedure for vehicle travel control according to a fourth embodiment. [Figure 15] 13 is a flowchart showing the contents of a confirmation process according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A. First embodiment: FIG. 1 is an explanatory diagram showing the configuration of an unmanned driving system 10 in the first embodiment. FIG. 2 is an explanatory diagram showing the configuration of a vehicle 100 in the first embodiment. The unmanned driving system 10 is used to move a moving object by unmanned driving. In this embodiment, the unmanned driving system 10 is used to move a moving object by unmanned driving in a factory where the moving object is manufactured. Note that the unmanned driving system 10 may be used to move a moving object by unmanned driving not in a factory where the moving object is manufactured, but in, for example, a commercial facility, a university, a park, etc.

[0009] In the present disclosure, a "mobile body" refers to an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (a so-called flying car). The vehicle may be a vehicle that runs on wheels or a vehicle that runs on caterpillar tracks, such as a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, a construction vehicle, etc. The vehicle includes an electric vehicle (BEV: Battery Electric Vehicle), a gasoline-powered vehicle, a hybrid vehicle, and a fuel cell vehicle. When the mobile body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "mobile body", and the expression "running" can be appropriately replaced with "movement".

[0010] The vehicle 100 is configured to be capable of traveling by unmanned driving. "Unmanned driving" means driving without the driving operation of a passenger. Driving operation means at least one of the operations of "running", "turning" and "stopping" of the vehicle 100. Unmanned driving is realized by automatic or manual remote control using a device located outside the vehicle 100, or by autonomous control of the vehicle 100. The vehicle 100 traveling by unmanned driving may have a passenger who does not perform driving operation on board. The passenger who does not perform driving operation includes, for example, a person who simply sits in the seat of the vehicle 100, and a person who performs work other than driving operation, such as assembly, inspection, and operation of switches, while riding on the vehicle 100. Note that driving by a passenger who performs driving operation is sometimes called "manned driving".

[0011] In this specification, "remote control" includes "full remote control" in which all of the operations of the vehicle 100 are completely determined from outside the vehicle 100, and "partial remote control" in which some of the operations of the vehicle 100 are determined from outside the vehicle 100. In addition, "autonomous control" includes "full autonomous control" in which the vehicle 100 autonomously controls its own operations without receiving any information from devices external to the vehicle 100, and "partial autonomous control" in which the vehicle 100 autonomously controls its own operations using information received from devices external to the vehicle 100.

[0012] As shown in Fig. 1, in this embodiment, the unmanned driving system 10 includes at least one vehicle 100, a remote control device 200 that remotely controls the vehicle 100, a notification device 300 that notifies the occurrence of an abnormality in a factory, a process management device 400 that manages the manufacturing process of the vehicle 100 in the factory, and at least one external sensor 500. The remote control device 200 may be simply called a control device. In this embodiment, the remote control device 200 corresponds to the "control device" in this disclosure.

[0013] As shown in Fig. 2, in this embodiment, the vehicle 100 is an electric vehicle configured to be movable by remote control. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, a driving device 120 for accelerating the vehicle 100, a steering device 130 for changing the traveling direction of the vehicle 100, a braking device 140 for decelerating the vehicle 100, a communication device 150 for communicating with the remote control device 200 by wireless communication, and a camera 160 for detecting a mark LM located outside the vehicle 100. The driving device 120 includes a battery, a motor driven by the power of the battery, and a driving wheel rotated by the motor. The camera 160 may be called a detector.

[0014] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected via the internal bus 114 to enable bidirectional communication. The input / output interface 113 is connected to a drive unit 120, a steering unit 130, a braking unit 140, a communication unit 150, and a camera 160. A computer program PG1 is stored in the memory 112.

[0015] The processor 111 executes the computer program PG1 to function as a vehicle control unit 115 and a camera control unit 116. The vehicle control unit 115 controls the driving device 120, the steering device 130, and the braking device 140. When a driver is on board the vehicle 100, the vehicle control unit 115 controls the driving device 120, the steering device 130, and the braking device 140 in response to the driver's operation, thereby allowing the vehicle 100 to travel. Regardless of whether a driver is on board the vehicle 100 or not, the vehicle control unit 115 controls the driving device 120, the steering device 130, and the braking device 140 in response to a remote control command supplied from the remote control device 200, thereby allowing the vehicle 100 to travel. The camera control unit 116 controls the camera 160. The camera control unit 116 executes detection of the mark LM by the camera 160, and transmits the detection result of the mark LM to the remote control device 200.

[0016] As shown in Fig. 1, the remote control device 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to be able to communicate bidirectionally. The input / output interface 203 is connected to a communication device 205 for communicating with the vehicle 100 by wireless communication. In this embodiment, the communication device 205 can also communicate with the notification device 300, the process management device 400, and the external sensor 500 by wired communication or wireless communication. The memory 202 stores a computer program PG2 and a database DB.

[0017] The database DB records information about the mark LM in the factory. In this embodiment, the mark LM is a two-dimensional code attached to equipment in the factory. More specifically, the mark LM is a QR code (registered trademark) attached to equipment in the factory. The database DB records position information of the two-dimensional code and the contents of the two-dimensional code. Note that the mark LM may be, for example, a two-dimensional code other than a QR code, such as DataMatrix or PDF417, or a barcode.

[0018] The processor 201 executes the computer program PG2 to function as a remote control unit 210, an acquisition unit 220, a determination unit 230, and a judgment unit 240. The remote control unit 210 remotely controls the vehicle 100 to make the vehicle 100 run. The remote control unit 210 remotely controls the vehicle 100 to make the camera 160 detect the landmark LM and transmit the detection result of the landmark LM. The acquisition unit 220 acquires the detection result transmitted from the vehicle 100. The detection result by the camera 160 may be an image output from the camera 160. The image may be a still image or a video. The detection result by the camera 160 may be the contents of a two-dimensional barcode read from the image output from the camera 160. The determination unit 230 determines the landmark LM to be detected by the camera 160. The judgment unit 240 judges whether the landmark LM to be detected by the camera 160 is included in the detection result by the camera 160. When the detection result by the camera 160 is an image, the determination unit 240 analyzes the image to determine whether or not the detection result includes the landmark LM to be detected. When the detection result by the camera 160 is the contents of a two-dimensional barcode, the determination unit 240 compares the contents of the two-dimensional barcode to be detected with the detection result to determine whether or not the detection result includes the landmark LM to be detected. Note that the remote control unit 210 may be simply referred to as the control unit.

[0019] The notification device 300 is a device for notifying the manager of the unmanned operation system 10 and factory workers that an abnormality has occurred in the factory. In the following description, the manager of the unmanned operation system 10 and the factory workers are referred to as the manager, etc. The notification device 300 is, for example, an alarm buzzer provided in the factory or an alarm lamp provided in the factory. The notification device 300 may be a tablet terminal carried by the manager, etc. The notification device 300 is equipped with a communication device (not shown) and can communicate with the remote control device 200 by wired communication or wireless communication.

[0020] The process management device 400 is a device for managing the manufacturing process of the vehicle 100 in a factory. The process management device 400 is configured with a computer. The process management device 400 is equipped with a communication device (not shown) and can communicate with the remote control device 200 and various facilities in the factory by wired communication or wireless communication. The process management device 400 manages, for example, information indicating when, where, who, and which vehicle 100 are to be performed on what work, and information indicating when, where, who, and which vehicle 100 are to be performed on what work.

[0021] The external sensor 500 is a sensor disposed outside the vehicle 100. The external sensor 500 is used to detect the position and orientation of the vehicle 100. In this embodiment, the external sensor 500 is a camera installed in a factory. The external sensor 500 includes a communication device (not shown) and communicates with the remote control device 200 by wired communication or wireless communication.

[0022] FIG. 3A is an explanatory diagram showing a state in which the vehicle 100 moves by remote control in the factory KJ. Five vehicles 100A-100E are illustrated in FIG. 3A. In the following description, when the five vehicles 100A-100E are not particularly distinguished from one another, they are simply referred to as vehicles 100. In this embodiment, the factory KJ includes a first location PL1 for assembling the vehicle 100, a second location PL2 for inspecting the vehicle 100, and a third location PL3 for storing the vehicle 100 that has passed the inspection. The first location PL1, the second location PL2, and the third location PL3 are connected by a travel path SR along which the vehicle 100 can travel.

[0023] A mark LM1 is provided at the first location PL1, and a mark LM2 is provided at the second location PL2. As described above, in this embodiment, each of the marks LM1 and LM2 is a two-dimensional code. The content of the two-dimensional code that is the mark LM1 and the content of the two-dimensional code that is the mark LM2 are different from each other. In the following description, when there is no particular distinction between the marks LM1 and LM2, they will simply be referred to as the marks LM.

[0024] The vehicle 100 assembled at the first location PL1 is equipped with a vehicle control device 110, a driving device 120, a steering device 130, a braking device 140, a communication device 150, and a camera 160. The vehicle 100 assembled at the first location PL1 runs from the first location PL1 to the second location PL2 by being remotely controlled by the remote control device 200. The vehicle 100 that passes the inspection at the second location PL2 runs from the second location PL2 to the third location PL3 by being remotely controlled by the remote control device 200. Thereafter, the vehicle 100 is shipped from the factory KJ.

[0025] A method of moving the vehicle 100 by remote control by the remote control unit 210 will be described. The remote control unit 210 determines a target route for the vehicle 100 to travel to the destination along the travel path SR. The target route here refers to a reference route RR, which will be described later. A plurality of external sensors 500 are installed around the travel path SR. In this embodiment, the external sensors 500 are cameras. The remote control unit 210 can obtain the relative position and orientation of the vehicle 100 with respect to the target route in real time by analyzing the image captured by the camera, which is the external sensor 500. Any position in the factory KJ can be expressed by the X, Y, and Z coordinates of the global coordinate system GC. The position of each external sensor 500 is fixed, and the relative relationship between the global coordinate system GC and the device coordinate system of each external sensor 500 is known, and a coordinate transformation matrix for mutually transforming the coordinates of the global coordinate system GC and the coordinates of the device coordinate system of each external sensor 500 is also known. The remote control unit 210 generates a remote control command for driving the vehicle 100 along a target route, and transmits the remote control command to the vehicle 100. The remote control command here refers to a driving control signal, which will be described later. The vehicle control device 110 mounted on the vehicle 100 drives the vehicle 100 by controlling the driving device 120, the steering device 130, and the braking device 140 according to the received remote control command. Therefore, the vehicle 100 can be moved without using a transport device such as a crane or a conveyor. The remote control command indicates, for example, a target value of the acceleration and a target value of the steering angle of the vehicle 100. Note that the remote control command may indicate a target route of the vehicle 100. In this case, the vehicle control unit 115 may determine the target value of the acceleration and the target value of the steering angle of the vehicle 100 from the target route. The remote control unit 210 can remotely control a plurality of vehicles 100A to 100E. Specifically, the remote control unit 210 generates a remote control command for remotely controlling each of the multiple vehicles 100A to 100E. The remote control unit 210 transmits the remote control command corresponding to each of the multiple vehicles 100A to 100E to each of the multiple vehicles 100A to 100E via the input / output interface 203 and the communication device 205.The remote control unit 210 may remotely control the multiple vehicles 100A-100E one by one in sequence, or may remotely control the multiple vehicles 100A-100E simultaneously in parallel.

[0026] FIG. 3B is a flowchart showing a processing procedure of the driving control of the vehicle 100 in the first embodiment. Steps S1 to S4 are repeatedly executed by the processor 201 of the remote control device 200, and steps S5 to S6 are repeatedly executed by the processor 111 of the vehicle control device 110. In step S1, the remote control device 200 acquires vehicle position information using a detection result output from the external sensor 500. The vehicle position information is position information that is the basis for generating a driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the reference coordinate system of the factory KJ. In this embodiment, the reference coordinate system of the factory KJ is the global coordinate system GC, and any position in the factory KJ is expressed by X, Y, and Z coordinates in the global coordinate system GC. In this embodiment, the external sensor 500 is a camera, and a captured image is output from the external sensor 500 as a detection result. That is, in step S1, the remote control device 200 acquires vehicle position information using a captured image acquired from the camera that is the external sensor 500.

[0027] In detail, in step S1, the remote control device 200, for example, detects the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the positioning point of the vehicle 100 in the camera coordinate system, i.e., the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby acquiring the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the unmanned driving system 10, and is stored in advance in the memory 202 of the remote control device 200. As the detection model DM, for example, a trained machine learning model that has been trained to realize either semantic segmentation or instance segmentation can be mentioned. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a learning dataset can be used. The learning data set includes, for example, a plurality of training images including the vehicle 100, and a label indicating whether each region in the training image is a region indicating the vehicle 100 or a region indicating something other than the vehicle 100. During CNN learning, it is preferable to update the parameters of the CNN by backpropagation (error backpropagation method) so as to reduce the error between the output result of the detection model DM and the label. In addition, the remote control device 200 can acquire the orientation of the vehicle 100 by estimating based on the orientation of the movement vector of the vehicle 100 calculated from the positional change of the feature points of the vehicle 100 between frames of the captured image using, for example, an optical flow method.

[0028] In step S2, the remote control device 200 determines a target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in the global coordinate system GC. A reference route RR, which is a route along which the vehicle 100 should travel, is stored in advance in the memory 202 of the remote control device 200. The route is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting the nodes. The remote control device 200 uses the vehicle position information and the reference route RR to determine a target position to which the vehicle 100 should next head. The remote control device 200 determines a target position on the reference route RR that is ahead of the current location of the vehicle 100.

[0029] In step S3, the remote control device 200 generates a travel control signal for driving the vehicle 100 toward the determined target position. In this embodiment, the travel control signal includes the acceleration and steering angle of the vehicle 100 as parameters. The remote control device 200 calculates the travel speed of the vehicle 100 from the transition of the position of the vehicle 100, and compares the calculated travel speed with the target speed. When the travel speed is lower than the target speed as a whole, the remote control device 200 determines the acceleration so that the vehicle 100 accelerates, and when the travel speed is higher than the target speed, the remote control device 200 determines the acceleration so that the vehicle 100 decelerates. In addition, when the vehicle 100 is located on the reference route RR, the remote control device 200 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the reference route RR, and when the vehicle 100 is not located on the reference route RR, in other words, when the vehicle 100 deviates from the reference route RR, the remote control device 200 determines the steering angle and acceleration so that the vehicle 100 returns to the reference route RR.

[0030] In step S4, the remote control device 200 transmits the generated driving control signal to the vehicle 100. The remote control device 200 repeats, at a predetermined cycle, obtaining the position of the vehicle 100, determining the target position, generating the driving control signal, and transmitting the driving control signal.

[0031] In step S5, the vehicle control device 110 receives the traveling control signal transmitted from the remote control device 200. In step S6, the vehicle control device 110 uses the received traveling control signal to control the drive device 120, the steering device 130, and the braking device 140 to make the vehicle 100 travel at the acceleration and steering angle represented by the traveling control signal. The vehicle control device 110 repeats receiving the traveling control signal and controlling the various devices 120 to 140 at a predetermined cycle.

[0032] Fig. 4 is a flowchart showing the contents of the confirmation process executed in the remote control device 200. Fig. 5 is a flowchart showing the contents of the detection process executed in the vehicle 100. A control method for the vehicle 100 executed in the unmanned driving system 10 will be described with reference to Figs. 4 and 5.

[0033] The confirmation process shown in FIG. 4 is repeatedly executed in the remote control device 200. When the confirmation process is started, in step S110, the remote control unit 210 determines whether or not there is a vehicle 100 that is scheduled to start moving by remote control. In the following description, the vehicle 100 that is scheduled to start moving by remote control is called the target vehicle 100. In this embodiment, the target vehicle 100 is placed in a predetermined position and orientation at a start point provided in a first place PL1 of the factory KJ or a start point provided in a second place PL2 of the factory KJ. When the remote control unit 210 receives information indicating that the vehicle 100 is located at the start point provided in the first place PL1 or information indicating that the vehicle 100 is located at the start point provided in the second place PL2 from the process management device 400, the remote control unit 210 determines that the target vehicle 100 is present. When it is determined in step S110 that there is no target vehicle 100, the remote control unit 210 skips the process after step S110 and ends the confirmation process.

[0034] If it is determined in step S110 that a target vehicle 100 is present, then in step S120, the remote control unit 210 transmits to the target vehicle 100 a remote control command for causing the target vehicle 100 to detect the landmark LM using the camera 160. In the following description, the remote control command for causing the target vehicle 100 to detect the landmark LM is referred to as a detection command.

[0035] In step S130, the determination unit 230 determines the landmark LM to be detected by the camera 160 of the target vehicle 100. In this embodiment, the database DB stored in the memory 202 records position information of the start point of each of the locations PL1 and PL2, position information of the landmark LM provided at each of the locations PL1 and PL2, and the contents of the landmark LM provided at each of the locations PL1 and PL2. The determination unit 230 uses the database DB to determine the landmark LM to be detected by the camera 160 of the target vehicle 100. The process of step S130 may be executed before step S120 or after step S140.

[0036] In step S140, the acquisition unit 220 acquires the detection result by the camera 160 from the target vehicle 100. In step S150, the determination unit 240 determines whether or not the detection result includes the landmark LM to be detected that is determined by the determination unit 230. The determination unit 240 can use the database DB to determine whether or not the detection result includes the landmark LM to be detected.

[0037] If it is determined in step S150 that the landmark LM to be detected is included in the detection result, the remote control unit 210 starts moving the target vehicle 100 by remote control in step S160. After that, the remote control device 200 ends the confirmation process.

[0038] If it is determined in step S150 that the landmark LM to be detected is not included in the detection result, the remote control unit 210 stops the movement of the target vehicle 100 by remote control in step S165. In step S168, the remote control unit 210 uses the notification device 300 to execute notification that an abnormality has occurred. Thereafter, the remote control device 200 ends the confirmation process.

[0039] 5 is repeatedly executed by the camera control unit 116 of the target vehicle 100. When the detection process is started, in step S210, the camera control unit 116 determines whether or not a detection command has been received from the remote control device 200. If it is not determined in step S210 that a detection command has been received from the remote control device 200, the camera control unit 116 skips the process after step S210 and ends the detection process.

[0040] When it is determined in step S210 that a detection command has been received from the remote control device 200, in step S220, the camera control unit 116 executes detection of the mark LM by the camera 160. In step S230, the camera control unit 116 transmits the detection result by the camera 160 to the remote control device 200. Thereafter, the camera control unit 116 ends the detection process.

[0041] FIG. 6 is an explanatory diagram showing a state in which it is confirmed whether or not the intended target is being remotely controlled. When the remote control device 200 is about to move the vehicle 100A located at the first place PL1 by remote control, in the confirmation process, the remote control device 200 transmits a detection command SS to the vehicle 100A. Since the remote control device 200 recognizes that the vehicle 100A is located at the first place PL1, it determines that the mark LM1 provided at the first place PL1 should be detected in the detection result RT returned from the destination of the detection command SS. By the detection process in the vehicle 100A, which is the destination of the detection command SS, the vehicle 100A transmits the detection result RT indicating that the mark LM1 has been detected to the remote control device 200. Therefore, when the intended target is being remotely controlled, the mark LM1 to be detected is included in the detection result RT.

[0042] On the other hand, when the remote control device 200 is trying to move the vehicle 100A located at the first place PL1 by remote control, but the remote control device 200 mistakenly remotely controls the vehicle 100B located at the second place PL2, the detection command SS is transmitted to the vehicle 100B instead of the vehicle 100A in the confirmation process. In this case, the detection result RT indicating that the mark LM2 has been detected is transmitted from the vehicle 100B to the remote control device 200 by the detection process in the vehicle 100B to which the detection command SS is transmitted. When the remote control device 200 is trying to move the vehicle 100A located at the first place PL1 by remote control, but the remote control device 200 mistakenly remotely controls the vehicle 100B located at the second place PL2, the detection command SS is transmitted to the vehicle 100C instead of the vehicle 100A in the confirmation process. In this case, the detection result RT indicating that the mark LM has not been detected is transmitted from the vehicle 100C to the remote control device 200 by the detection process in the vehicle 100C to which the detection command SS is transmitted. Therefore, when an unintended object is being remotely controlled, the landmark LM1 that should be detected is not included in the detection result RT.

[0043] According to the unmanned driving system 10 in this embodiment described above, when it is determined that the landmark LM to be detected is included in the detection result RT, the remote control device 200 starts moving the target vehicle 100 by remote control, and when it is determined that the landmark LM to be detected is not included in the detection result RT, it stops moving the target vehicle 100 by remote control. That is, the remote control device 200 starts moving the target vehicle 100 by remote control after confirming whether or not the intended vehicle 100 is being remotely controlled. Therefore, it is possible to prevent an unintended vehicle 100 from moving by remote control.

[0044] In addition, in this embodiment, when it is determined that the mark LM to be detected is not included in the detection result RT, the remote control device 200 notifies the manager or the like that an abnormality has occurred by using the notification device 300. Therefore, the manager or the like can quickly grasp that an abnormality has occurred and take measures.

[0045] Furthermore, when the remote control device 200 remotely controls a plurality of vehicles 100, a control command may be transmitted from the communication device 205 to a vehicle 100 that does not correspond to the control command. Here, transmitting a control command from the communication device 205 to a vehicle 100 that does not correspond to the control command means that a control command generated for remotely controlling one vehicle 100 among the plurality of vehicles 100 is transmitted from the communication device 205 to another vehicle 100 other than the one vehicle 100. Such an event may be called a mistake in the vehicle 100 to be remotely controlled. When the remote control device 200 remotely controls a plurality of vehicles 100, a mistake in the vehicle 100 to be remotely controlled may occur due to a malfunction of the unmanned driving system 10 or a human error of a factory worker. For example, as shown in FIG. 3, when the remote control device 200 remotely controls five vehicles 100A to 100E in the order of vehicle 100E, vehicle 100D, vehicle 100C, vehicle 100B, and vehicle 100A, a control command may be transmitted from the communication device 205 to a vehicle 100 that does not correspond to the control command. Specifically, after the remote control of the vehicle 100C by the remote control device 200 is completed, if the communication device 150 removed from the vehicle 100C is mistakenly attached to the vehicle 100A despite the fact that the communication device 150 was intended to be attached to the vehicle 100B, the control command generated to remotely control the vehicle 100B is transmitted to the vehicle 100A. Even in such a case, in this embodiment, it is possible to detect that the control command has been transmitted from the communication device 205 to a vehicle 100 that does not correspond to the control command by determining whether or not the mark LM that should be detected by the camera 160 mounted on the vehicle 100B has been detected. Therefore, it becomes possible to detach the communication device 150 that is mistakenly installed in the vehicle 100A from the vehicle 100A and install it in the vehicle 100B, thereby starting remote control of the vehicle 100B.

[0046] B. Second embodiment: 7 is an explanatory diagram showing the configuration of an unmanned driving system 10b in the second embodiment. The unmanned driving system 10b in the second embodiment differs from the first embodiment in that it is equipped with a projection device 600 for projecting an image of a two-dimensional code used as a mark LM. The other configurations are the same as those in the first embodiment unless otherwise specified. In this embodiment, the remote control device 200 corresponds to the "control device" in this disclosure.

[0047] The projection device 600 is fixed to, for example, a wall or ceiling surface of the factory KJ, and projects an image of a two-dimensional code onto the wall or floor surface of the factory KJ. In this embodiment, the projection device 600 is provided at a first location PL1 and a second location PL2. The projection device 600 provided at the first location PL1 projects an image of a two-dimensional code used as a mark LM1, and the projection device 600 provided at the second location PL2 projects an image of a two-dimensional code used as a mark LM2. The image projected by the projection device 600 may be referred to as a projected image.

[0048] In this embodiment, the processor 201 of the remote control device 200 executes a computer program PG2 pre-stored in the memory 202, thereby functioning as a remote control unit 210, an acquisition unit 220, a decision unit 230, and a judgment unit 240, and further functions as a projection control unit 250. The projection control unit 250 controls the projection device 600. While the detection process in the target vehicle 100 is being executed, the projection control unit 250 causes the projection device 600 to project an image of a two-dimensional code.

[0049] According to the unmanned operation system 10b in this embodiment described above, it is possible to display a two-dimensional code as a mark LM on the wall or floor of the factory KJ without attaching the two-dimensional code as a mark LM to the wall or floor of the factory KJ. Therefore, it is possible to display a two-dimensional code even in a place where it is difficult to attach a two-dimensional code.

[0050] C. Third embodiment: Fig. 8 is an explanatory diagram showing the configuration of an unmanned driving system 10c in the third embodiment. Fig. 9 is an explanatory diagram showing the configuration of a vehicle 100 in the third embodiment. The unmanned driving system 10c in the third embodiment differs from the first embodiment in that a determination as to whether or not a landmark LM to be detected is included in the detection result is performed on the vehicle 100. The other configurations are the same as those in the first embodiment unless otherwise specified. In this embodiment, the remote control device 200 corresponds to the "control device" in this disclosure.

[0051] 8, in this embodiment, the processor 201 of the remote control device 200 executes a computer program PG2 pre-stored in the memory 202 to function as a remote control unit 210 and a determination unit 230. In this embodiment, the remote control device 200 does not include an acquisition unit 220 and a determination unit 240.

[0052] 9, in this embodiment, the processor 111 of the vehicle control device 110 executes a computer program PG2 pre-stored in the memory 112, thereby functioning as a vehicle control unit 115 and a camera control unit 116, and further functioning as an acquisition unit 117 and a determination unit 119. The acquisition unit 117 acquires information on a landmark LM to be detected from the remote control device 200. The determination unit 119 determines whether or not the landmark LM to be detected by the camera 160 is included in the detection result by the camera 160.

[0053] Fig. 10 is a flowchart showing the contents of the confirmation process in the third embodiment. Fig. 11 is a flowchart showing the contents of the detection process in the third embodiment. The confirmation process shown in Fig. 10 is repeatedly executed in the remote control device 200. When the confirmation process is started, in step S310, the remote control unit 210 determines whether or not there is a vehicle 100 that is scheduled to start moving by remote control, in other words, a target vehicle 100. If it is determined in step S310 that there is no target vehicle 100, the remote control unit 210 skips the process after step S310 and ends the confirmation process.

[0054] If it is determined in step S310 that a target vehicle 100 is present, in step S320, the determination unit 230 determines a landmark LM to be detected by the camera 160 of the target vehicle 100, similar to the first embodiment. In step S330, the remote control unit 210 transmits a detection command and information regarding the landmark LM to be detected to the target vehicle 100. Thereafter, the remote control device 200 ends the confirmation process.

[0055] 11 is repeatedly executed in the vehicle control device 110. When the detection process is started, in step S410, the acquisition unit 117 determines whether or not a detection command and information on the landmark LM to be detected have been received from the remote control device 200. If it is not determined in step S410 that a detection command has been received from the remote control device 200, the camera control unit 116 skips the process after step S410 and ends the detection process.

[0056] When it is determined in step S410 that a detection command has been received from the remote control device 200, in step S420, the camera control unit 116 executes detection of the landmark LM by the camera 160. In step S430, the determination unit 119 uses the information regarding the landmark LM to be detected received from the remote control device 200 to determine whether or not the detection result of the landmark LM by the camera 160 includes the landmark LM to be detected.

[0057] If it is determined in step S430 that the landmark LM to be detected is included in the detection result, the vehicle control unit 115 starts moving the vehicle 100 by remote control in step S440. If it is determined in step S430 that the landmark LM to be detected is not included in the detection result, the vehicle control unit 115 stops moving the vehicle 100 by remote control in step S445. The vehicle control unit 115 stops moving by remote control, for example, by disconnecting communication with the remote control device 200. In step S448, the vehicle control unit 115 uses the notification device 300 to notify that an abnormality has occurred. After step S440 or step S448, the vehicle control device 110 ends the detection process.

[0058] According to the unmanned driving system 10c in this embodiment described above, it is possible to confirm, not on the remote control device 200 but on the vehicle 100, whether the remote control device 200 is remotely controlling the intended vehicle 100.

[0059] D. Fourth embodiment: Fig. 12 is an explanatory diagram showing the configuration of an unmanned driving system 10d in the fourth embodiment. The fourth embodiment differs from the first embodiment in that the unmanned driving system 10d does not include a remote control device 200, and the vehicle 100 runs by autonomous control rather than remote control. The other configurations are the same as those in the first embodiment unless otherwise specified. In this embodiment, the vehicle control device 110 corresponds to the "control device" in this disclosure.

[0060] In this embodiment, the vehicle 100 is configured to be capable of traveling under autonomous control. The vehicle 100 can communicate with a notification device 300, a process management device 400, and an external sensor 500 through wireless communication using a communication device 150.

[0061] The processor 111 of the vehicle control device 110 executes a computer program PG1 pre-stored in the memory 112 to function as a vehicle control unit 115 and a camera control unit 116, and further functions as an acquisition unit 117, a determination unit 118, and a judgment unit 119. The acquisition unit 117 acquires a detection result of a landmark LM by the camera 160. The determination unit 118 determines a landmark LM to be detected by the camera 160. The judgment unit 119 judges whether or not the landmark LM to be detected by the camera 160 is included in the detection result acquired by the acquisition unit 117. In this embodiment, a database DB, a reference route RR, and a detection model DM are pre-stored in the memory 112. The vehicle control unit 115 may be simply referred to as a control unit.

[0062] FIG. 14 is a flowchart showing a processing procedure of the traveling control of the vehicle 100 in this embodiment. In step S11, the vehicle control unit 115 acquires vehicle position information using a detection result output from a camera, which is the external sensor 500. In step S21, the vehicle control unit 115 determines a target position to which the vehicle 100 should next move. In step S31, the vehicle control unit 115 generates a traveling control signal for causing the vehicle 100 to travel toward the determined target position. In step S41, the vehicle control unit 115 uses the generated traveling control signal to control various devices including the drive device 120, the steering device 130, and the braking device 140, thereby causing the vehicle 100 to travel according to parameters represented in the traveling control signal. The vehicle control unit 115 repeats the acquisition of vehicle position information, the determination of a target position, the generation of a traveling control signal, and the control of the various devices 120 to 140 at a predetermined cycle.

[0063] FIG. 15 is a flowchart showing the contents of the confirmation process in this embodiment. The confirmation process shown in FIG. 15 is executed by the vehicle control device 110 before the vehicle 100 starts moving by autonomous control. When the confirmation process is started, in step S510, the vehicle control unit 115 judges whether or not to start moving by autonomous control. For example, when the vehicle control unit 115 receives information from the process management device 400 indicating that the vehicle is located at the start point of the first location PL1 or the start point of the second location PL2, the vehicle control unit 115 judges to start moving by autonomous control. When it is judged not to start moving by autonomous control in step S510, the vehicle control unit 115 skips the process after step S510 and ends the confirmation process.

[0064] When it is determined in step S510 that the movement by the autonomous control is to be started, the determination unit 118 determines the mark LM to be detected by the camera 160 of the vehicle in step S520. In this embodiment, the database DB stored in the memory 112 records the position information of the start point of each of the places PL1 and PL2, the position information of the mark LM provided in each of the places PL1 and PL2, and the contents of the mark LM provided in each of the places PL1 and PL2. The determination unit 118 uses the database DB to determine the mark LM to be detected by the camera 160 of the vehicle. The determination unit 118 may determine the mark LM to be detected by the camera 160 by using the database DB and the position information of the vehicle acquired by the vehicle control unit 115 using the external sensor 500.

[0065] In step S530, the camera control unit 116 executes detection of the mark LM by the camera 160, and the acquisition unit 117 acquires the detection result of the mark LM by the camera 160. In step S540, the judgment unit 119 judges whether or not the mark LM determined by the determination unit 118, in other words, the mark LM to be detected, is detected by the camera 160. If it is determined in step S540 that the mark LM to be detected is detected, the vehicle control unit 115 starts the movement of the vehicle 100 by the autonomous control in step S550. On the other hand, if it is determined in step S540 that the mark LM to be detected is not detected, the vehicle control unit 115 stops the movement of the vehicle 100 by the autonomous control in step S555. In step S558, the vehicle control unit 115 uses the notification device 300 to notify that an abnormality has occurred. After step S550 or step S558, the vehicle control device 110 ends the confirmation process.

[0066] According to the unmanned driving system 10d in this embodiment described above, the vehicle 100 can be driven by the autonomous control of the vehicle 100 without remotely controlling the vehicle 100 from the outside. Also, in this embodiment, the vehicle 100 can check whether the position information of the vehicle acquired from outside the vehicle is correct by checking whether the mark LM that should be detected by the camera 160 mounted on the vehicle is detected.

[0067] E. Other embodiments: (E1) In the unmanned driving systems 10 to 10d of the first to fourth embodiments described above, the confirmation process is executed before the vehicle 100 starts moving by unmanned driving. In contrast, in another embodiment E1, the confirmation process may be executed while the vehicle 100 is moving by unmanned driving. In this case, stopping the movement by unmanned driving may include braking the vehicle 100 by unmanned driving and stopping the vehicle 100. In the confirmation process executed while the vehicle 100 is moving by unmanned driving, if it is determined that the landmark LM that should be detected is not included in the detection result, the vehicle 100 may be decelerated within a range where the vehicle 100 does not stop without canceling the movement by unmanned driving, or the upper limit value of the movement speed of the vehicle 100 may be lowered without decelerating the vehicle 100.

[0068] (E2) In the unmanned driving systems 10 to 10d of the first to fourth embodiments described above, the vehicle 100 is equipped with a camera 160, and the camera 160 is used to detect the mark LM. In contrast, in another embodiment E2, the vehicle 100 may be equipped with a detector such as LiDAR (Light Detection and Ranging) that detects the shape of the mark LM and the distance from the mark LM. In this case, the mark LM can be identified using the shape of the mark LM and the distance from the mark LM. The vehicle 100 may also be equipped with a detector such as millimeter wave radar or ultrasonic sonar that detects the distance from the mark LM. In this case, the mark LM can be identified using the distance from the mark LM.

[0069] (E3) In the unmanned driving systems 10 to 10d of the first to fourth embodiments, the determination unit 240, 119 determines whether or not the landmark LM to be detected is included in the detection result in the confirmation process, and the remote control unit 210 or the vehicle control unit 115 changes the content of the subsequent process depending on the determination result of the determination unit 240, 119. In contrast, in another embodiment E3, the determination unit 240, 119 determines whether or not the landmark LM to be detected is included in the detection result and the landmark LM to be detected is detected in the direction in which it should be detected, and the remote control unit 210 or the vehicle control unit 115 may change the content of the subsequent process depending on the determination result of the determination unit 240, 119. In this case, it can be accurately determined whether or not the intended vehicle 100 is being controlled.

[0070] (E4) In the unmanned driving systems 10 to 10d of the first to fourth embodiments, the remote control unit 210 and the vehicle control unit 115 notify the occurrence of an abnormality using the notification device 300 located outside the vehicle 100. In contrast, in another embodiment E4, the remote control unit 210 may notify the occurrence of an abnormality by sounding the horn of the vehicle 100 by remote control, or may notify the occurrence of an abnormality by flashing the headlights of the vehicle 100 by remote control. In another embodiment E4, the vehicle control unit 115 may notify the occurrence of an abnormality by sounding the horn of the vehicle itself, or may notify the occurrence of an abnormality by flashing the headlights of the vehicle itself.

[0071] (E5) In another embodiment E5, the camera 160 mounted on the vehicle 100 of the above-described fourth embodiment may detect the mark LM projected by the projection device 600. In this case, the vehicle control device 110 may be provided with a projection control unit that controls the projection device 600 by wireless communication.

[0072] (E6) In the above first to fourth embodiments, the external sensor 500 is a camera. In contrast, in another embodiment E6, the external sensor 500 does not have to be a camera, and may be, for example, a LiDAR (Light Detection And Ranging). In this case, the detection result output from the external sensor 500 may be three-dimensional point cloud data representing the vehicle 100. In this case, the remote control device 200 or the vehicle control device 110 may acquire vehicle position information by template matching using the three-dimensional point cloud data as the detection result and reference point cloud data prepared in advance.

[0073] (E7) In the above first to third embodiments, the processes from obtaining vehicle position information to generating a driving control signal are executed by the remote control device 200. In contrast, in another embodiment E7, at least a part of the processes from obtaining vehicle position information to generating a driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be used.

[0074] (1) The remote control device 200 may acquire vehicle position information, determine a target position to which the vehicle 100 should next head, and generate a route from the current location of the vehicle 100 represented in the acquired vehicle position information to the target position. The remote control device 200 may generate a route to a target position between the current location and the destination, or may generate a route to the destination. The remote control device 200 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a travel control signal so that the vehicle 100 travels on the route received from the remote control device 200, and use the generated travel control signal to control the drive device 120, the steering device 130, and the braking device 140.

[0075] (2) The remote control device 200 may acquire vehicle position information and transmit the acquired vehicle position information to the vehicle 100. The vehicle 100 may determine a target position to which the vehicle 100 should next head, generate a route from the current location of the vehicle 100 represented in the received vehicle position information to the target position, generate a travel control signal so that the vehicle 100 travels on the generated route, and control the drive device 120, the steering device 130, and the braking device 140 using the generated travel control signal.

[0076] (3) In the above-mentioned embodiments (1) and (2), an internal sensor may be mounted on the vehicle 100, and a detection result output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. The internal sensor is a sensor mounted on 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 operating state of each part of the vehicle 100, and a sensor for detecting the environment around the vehicle 100. Specifically, the internal sensor may include, for example, a camera, a LiDAR, a millimeter wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyro sensor, and the like. For example, in the above-mentioned embodiment (1), the remote control device 200 may acquire the detection result of the internal sensor, and when generating a route, may reflect the detection result of the internal sensor on the route. In the above-mentioned embodiment (1), the vehicle 100 may acquire the detection result of the internal sensor, and when generating a driving control signal, may reflect the detection result of the internal sensor on the driving control signal. In the above-mentioned embodiment (2), the vehicle 100 may acquire the detection result of the internal sensor, and when generating a route, may reflect the detection result of the internal sensor on the route. In the above embodiment (2), the vehicle 100 may acquire a detection result of the internal sensor, and may reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal.

[0077] (E8) In the above fourth embodiment, an internal sensor may be mounted on the vehicle 100, and a detection result output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. For example, in another embodiment E8, the vehicle 100 may acquire a detection result from the internal sensor, and when generating a route, may reflect the detection result from the internal sensor in the route. The vehicle 100 may acquire a detection result from the internal sensor, and when generating a driving control signal, may reflect the detection result from the internal sensor in the driving control signal.

[0078] (E9) In the above fourth embodiment, the vehicle 100 acquires vehicle position information using the detection result of the camera, which is the external sensor 500. In contrast, in another embodiment E9, the vehicle 100 is equipped with an internal sensor, and the vehicle 100 acquires vehicle position information using the detection result of the internal sensor, determines a target position to which the vehicle 100 should next head, generates a route from the current location of the vehicle 100 represented in the acquired vehicle position information to the target position, generates a travel control signal for traveling the generated route, and controls the drive device 120, the steering device 130, and the braking device 140 using the generated travel control signal. In this case, the vehicle 100 can travel without using any detection result of the external sensor 500. Note that the vehicle 100 may acquire a target arrival time or traffic congestion information from outside the vehicle 100, and reflect the target arrival time or traffic congestion information in at least one of the route and the travel control signal.

[0079] (E10) In the above first to third embodiments, the remote control device 200 automatically generates a driving control signal to be transmitted to the vehicle 100. In contrast, in another embodiment E10, the remote control device 200 may generate a driving control signal to be transmitted to the vehicle 100 according to the operation of an external operator located outside the vehicle 100. For example, an external operator may operate a steering device including a display for displaying an image output from a camera that is the external sensor 500, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the remote control device 200 by wired communication or wireless communication, and the remote control device 200 may generate a driving control signal according to the operation applied to the steering device. In this embodiment, an image of the landmark LM captured by the camera 160 mounted on the vehicle 100 may be displayed on the display of the steering device, and the landmark LM may be confirmed by the operator.

[0080] (E11) In the above-mentioned first to fourth embodiments and other embodiments E1 to E10, the vehicle 100 may have a configuration capable of moving by unmanned driving, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 100 may have at least the vehicle control device 110, the drive device 120, the steering device 130, and the brake device 140 to perform the three functions of "running", "turning", and "stopping" by unmanned driving. When the vehicle 100 acquires information from the outside for unmanned driving, the vehicle 100 may further have a communication device 150. That is, the vehicle 100 capable of moving by unmanned driving may not be equipped with at least a part of interior parts such as a driver's seat and a dashboard, may not be equipped with at least a part of exterior parts such as a bumper and a fender, and may not be equipped with a body shell. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory KJ, or the remaining parts such as the body shell may be attached to the vehicle 100 after the vehicle 100 is shipped from the factory KJ without the remaining parts such as the body shell being attached to the vehicle 100. Each part may be attached from any direction such as the upper side, lower side, front side, rear side, right side, or left side of the vehicle 100, and may be attached from the same direction or from different directions. Note that the position of the platform configuration may also be determined in the same manner as for the vehicle 100 in the first embodiment.

[0081] (E12) The vehicle 100 may be manufactured by combining a plurality of modules. A module means a unit composed of a plurality of parts grouped according to the location or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the central part of the platform, and a rear module that constitutes the rear part of the platform. The number of modules that constitute the platform is not limited to three, and may be two or less, or four or more. In addition to or instead of the parts that constitute the platform, parts that constitute parts of the vehicle 100 that are different from the platform may be modularized. The various modules may include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. In addition, not limited to the vehicle 100, any type of moving body may be manufactured by combining a plurality of modules. Such a module may be manufactured, for example, by joining a plurality of parts by welding or a fastener, or may be manufactured by integrally molding at least a part of the parts that constitute the module as one part by casting. The molding method for integrally molding a single component, particularly a relatively large component, is also called gigacast or megacast. For example, the front module, the center module, and the rear module may be manufactured using gigacast.

[0082] (E13) Transporting the vehicle 100 by using the driving of the vehicle 100 through unmanned driving is also called "self-propelled transport." Also, the configuration for realizing self-propelled transport is also called a "vehicle remote-controlled autonomous driving transport system." Also, the production method for producing the vehicle 100 by using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at the factory KJ where the vehicle 100 is manufactured, at least a part of the transportation of the vehicle 100 is realized by self-propelled transport.

[0083] (E14) In each of the above embodiments, some or all of the functions and processes implemented by software may be implemented by hardware. Also, some or all of the functions and processes implemented by hardware may be implemented by software. As hardware for implementing the various functions in each of the above embodiments, various circuits such as integrated circuits and discrete circuits may be used.

[0084] The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention column can be appropriately replaced or combined to solve some or all of the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0085] 10 to 10d... unmanned driving system, 100... vehicle, 110... vehicle control device, 111... processor, 112... memory, 113... input / output interface, 114... internal bus, 115... vehicle control unit, 116... camera control unit, 117... acquisition unit, 118... decision unit, 119... judgment unit, 120... drive unit, 130... steering device, 140... braking device, 150... communication device, 160... camera, 200... remote control device, 201... processor, 202... memory, 203... input / output interface, 204... internal bus, 205... communication device, 210... remote control unit, 220... acquisition unit, 230... decision unit, 240... judgment unit, 250... projection control unit, 300... alarm device, 400... process management device, 500... external sensor, 600... projection device

Claims

1. A control device, an acquisition unit that acquires a detection result of a detector that is mounted on a mobile body that can move by unmanned operation and detects a mark located outside the mobile body; a determination unit for determining a landmark to be detected by the detector; a control unit that moves the moving body in an unmanned manner, the control unit differently performing a process related to the movement of the moving body depending on whether a landmark that should be detected by the detector is included in the detection result or not; A control device comprising:

2. The control device according to claim 1 , The control unit executes at least one of the following processes when the detection result does not include a landmark that should be detected by the detector: notifying that an abnormality has occurred; changing the speed of the moving body; and stopping control of the moving body.

3. The control device according to claim 1 , the detector is a camera; The control device, wherein the mark is a two-dimensional code.

4. The control device according to claim 1 , A control device in which the determination unit determines a landmark to be detected by the detector using position information used as information indicating the position of the moving body and position information indicating the position of the landmark.

5. The control device according to claim 1 , the mark is a projected image projected by a projection device located outside the moving object, The control device further includes a projection control unit that controls the projection device.

6. The control device according to claim 1 , The determination unit determines a landmark to be detected by the detector and a direction in which the landmark should be detected with respect to the moving object; The control unit is a control device that differs in processing related to the movement of the moving body depending on whether a landmark to be detected by the detector is included in the detection result and whether the landmark to be detected by the detector is located in a direction in which it should be detected.

7. A mobile body capable of moving by unmanned operation, A detector for detecting a landmark located outside the moving body; an acquisition unit that acquires information on a landmark to be detected by the detector, the information being determined by a control device that controls the moving body from outside the moving body; a control unit that moves the moving body in response to a command transmitted from the control device, the control unit performing different processes related to the movement of the moving body depending on whether a landmark that should be detected by the detector is included in the detection result of the detector or not; A mobile body comprising:

8. A mobile body capable of moving by unmanned operation, A detector for detecting a landmark located outside the moving body; a determination unit for determining a landmark to be detected by the detector; a control unit that moves the moving body in an unmanned manner, the control unit differently performing a process related to the movement of the moving body depending on whether a landmark that should be detected by the detector is included in the detection result of the detector or not; A mobile body comprising:

9. 1. A control method comprising: Acquiring a detection result from a detector mounted on a mobile body capable of moving by unmanned operation and detecting a mark located outside the mobile body; determining a landmark to be detected by the detector; performing different processing related to the movement of the moving object depending on whether the landmark to be detected by the detector is included in the detection result or not; Control methods.

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