Control device and control method

Abstract

To provide a technology that can change a control mode of operation of a mobile body according to an external factor when the external factor from an outside different from the mobile body affects the control of unmanned operation of the mobile body.SOLUTION: A control device that controls the operation of a mobile body that can move through unmanned operation includes an acquisition unit that acquires disturbance information regarding external factors that affect the control of unmanned operation and that come from an outside different from the mobile body, and a control unit that uses the disturbance information to change the control mode of the operation of the mobile body.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] Conventionally, there is known a management system in which an unmanned driving assistance center periodically communicates with an autonomously driving unmanned vehicle to manage the state of the vehicle (Patent Document 1). In this technology, the management system determines whether or not to continue the autonomous driving of the unmanned vehicle based on the communication status between the unmanned driving assistance center and the unmanned vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-71753 Summary of the Invention [Problem to be solved by the invention]

[0004] When a moving body such as a vehicle is operating in an unmanned manner, if a communication problem occurs between the moving body and the outside, it may be difficult to continue the unmanned operation of the moving body. In addition, in order to operate the moving body in an unmanned manner, the position, etc. of the moving body may be calculated using sensor information acquired by detecting the moving body from the outside with a sensor. When calculating the position, etc. of the moving body using the sensor information, the moving body may be detected from the sensor information in the process of calculating the position, etc. of the moving body. However, when the sensor information is acquired, if an object other than the moving body to be calculated overlaps with the moving body to be calculated, there is a risk that the detection accuracy when detecting the moving body from the sensor information will decrease. In this way, an external factor from the outside other than the moving body may affect the control of the unmanned operation of the moving body. [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. The control device controls the operation of a mobile body that can move by unmanned driving, and includes an acquisition unit that acquires disturbance information related to an external factor that affects the control of the unmanned driving and is from an outside different from the mobile body, and a control unit that changes a control mode of the operation of the mobile body using the disturbance information. According to this aspect, the control device can change the control mode of the operation of the mobile body using the disturbance information, and can change to an appropriate control mode depending on the external factor. (2) In the above embodiment, when the presence of the external factor is detected using the disturbance information during a period in which the moving body is performing control of an external data mode in which the moving body moves in the unmanned driving mode by using communication with the outside of the moving body, the control unit may change the control mode to either an internal data mode in which the moving body moves in the unmanned driving mode without using communication with the outside, or a separate communication mode in which the moving body moves in the unmanned driving mode by communicating with the outside using a second communication mode different from the first communication mode used in the external data mode. According to this embodiment, when the presence of an external factor is detected using disturbance information during a period in which the control of the external data mode is performed, the control device can change the control mode to either the internal data mode or the separate communication mode. In this way, when a communication between the moving body and the outside of the moving body is disturbed, the moving body can continue traveling in the unmanned driving mode without using communication with the outside by performing control of the internal data mode. Also, when a communication between the moving body and the outside of the moving body is disturbed, the control unit can communicate with the outside by using a communication mode different from the external data mode by performing control of the separate communication mode. This allows the moving body to continue traveling in an unmanned manner. In other words, the control device changes the control mode of the moving body using the disturbance information, so that the moving body can control its operation in a state where the influence of external factors is reduced. (3) In the above embodiment, the disturbance information may include at least one of communication information related to at least one of a communication state between the moving body and the outside and a communication state between a plurality of external devices that are external devices used to control the operation of the moving body and are provided in locations different from the moving body, and detection information related to a detection state when the moving body is detected by a sensor. According to this embodiment, the control device can change the control mode of the operation of the moving body in accordance with at least one of a communication state between the moving body and the outside of the moving body and a communication state between a plurality of external devices, and a detection state when the moving body is detected by a sensor. (4) In the above aspect, when a degree of influence indicating the magnitude of the influence of the external factor on the control of the unmanned driving is compared with a predetermined threshold, if the degree of influence is equal to or greater than the threshold, the control unit may cause the moving body to perform the operation different from that performed when the degree of influence is less than the threshold. According to this aspect, the control device can change a control mode of the operation of the moving body depending on the magnitude of the influence of the external factor on the control of the unmanned driving. (5) According to a second aspect of the present disclosure, a control method is provided. The control method for controlling the operation of a moving body capable of moving by unmanned driving includes an acquisition step of acquiring disturbance information related to an external factor that affects the control of the unmanned driving of the moving body and is an external factor from an outside different from the moving body, and a control step of changing a control mode of the operation of the moving body using the disturbance information. According to this aspect, by executing the control method, the control mode of the operation of the moving body can be changed using the disturbance information, so that it is possible to change to an appropriate control mode depending on the external factor. (6) According to a third aspect of the present disclosure, a control system is provided. The control system for controlling the operation of a mobile body that can move by unmanned driving includes one or more mobile bodies, an acquisition unit that acquires disturbance information related to an external factor that affects the control of the unmanned driving of the mobile body and is from an outside different from the mobile body, a detection unit that detects the presence of the external factor using the disturbance information, and a control unit that changes the control mode of the operation of the mobile body using the disturbance information when the detection unit detects the presence of the external factor. According to this aspect, the control system can detect the presence of an external factor using the disturbance information. Then, when the control system detects the presence of the external factor, it can change the control mode of the operation of the mobile body. This allows the control system to change to an appropriate control mode depending on the external factor. (7) In the above embodiment, the control unit may change the control mode in at least one of the first, second, third, and fourth cases, and the first case may be a case where an external device used to control the operation of the moving body and installed at a location different from the moving body cannot realize a predetermined function due to the external factor, the second case may be a case where a communication between a plurality of the external devices is hindered due to the external factor, the third case may be a case where an external sensor installed at a location different from the moving body cannot realize a predetermined function due to the external factor, and the fourth case may be a case where a communication between the moving body and the external device is hindered due to the external factor. According to this embodiment, the control mode of the operation of the moving body may be changed in at least one of the first, second, third, and fourth cases. (8) In the above aspect, the moving body may further include a moving body control device mounted on the moving body and controlling an operation of the moving body, and the moving body control device may include a generating unit that generates either a control signal that specifies the operation of the moving body or a movement path of the moving body during a period in which control of either the internal data mode or the separate communication mode is being executed. According to this aspect, during a period in which control of either the internal data mode or the separate communication mode is being executed, the moving body control device can generate either the control signal or the movement path to control the operation of the moving body. (9) In the above embodiment, the mobile body control device may further include an estimation unit that estimates a position of the mobile body, and the generation unit may generate the control signal by acquiring a target control value corresponding to the estimated position using internal data previously stored in a storage unit of the mobile body control device, the internal data associating the estimated position of the mobile body with a target control value that is a target value for each parameter included in the control signal. According to this embodiment, during a period in which control is being performed in either the internal data mode or the separate communication mode, the mobile body control device can estimate the position of the mobile body. Then, the mobile body control device can generate the control signal by acquiring a target control value corresponding to the estimated position of the mobile body using the internal data. (10) In the above embodiment, the mobile body control device may further include an estimation unit that estimates a position of the mobile body, and the generation unit may generate at least a portion of the travel route from the estimated position to the destination using internal data that is pre-stored in a storage unit of the mobile body control device and indicates a destination of the mobile body. According to this embodiment, the mobile body control device can estimate the position of the mobile body during a period in which control is being performed in either the internal data mode or the separate communication mode. Then, the mobile body control device can generate at least a portion of the travel route from the estimated position of the mobile body to the destination using the internal data. (11) In the above aspect, during a period in which control of the internal data mode is being executed, the estimation unit may estimate the position of the moving body using surrounding detection sensor information output from a surrounding detection sensor that is a sensor mounted on the moving body and is a sensor capable of acquiring information on a surrounding area of ​​the moving body. According to this aspect, during a period in which control of the internal data mode is being executed, the moving body control device can estimate the position of the moving body using the surrounding detection sensor information. (12) In the above aspect, during a period in which control of the internal data mode is being executed, the estimation unit may estimate the position of the moving body using position detection sensor information output from a position detection sensor that is mounted on the moving body and is a sensor capable of acquiring the position of the moving body. According to this aspect, during a period in which control of the internal data mode is being executed, the moving body control device can estimate the position of the moving body using the position detection sensor information. (13) In the above embodiment, during a period in which control of the internal data mode is being executed, the estimation unit may acquire time information relating to at least any one of a time elapsed from a predetermined time point, a current time, and a non-reception time which is a time when information was scheduled to be received but the information was not received, and estimate the position of the moving body by acquiring the position of the moving body corresponding to the time information using management information pre-stored in a storage unit of the moving body control device and indicating a position where the moving body is scheduled to be located at the predetermined time point. According to this embodiment, during a period in which control of the internal data mode is being executed, the mobile body control device can estimate the position of the moving body by acquiring the position of the moving body corresponding to the time information using management information. (14) In the above embodiment, during the period when the control of the different communication mode is being executed, the estimation unit may acquire time information related to at least one of an elapsed time from a predetermined time point, a current time, and a non-reception time that is a time when information was scheduled to be received but the information was not received, and estimate the position of the moving body by acquiring the position of the moving body corresponding to the time information using management information acquired from outside using the second communication mode and indicating a position where the moving body is scheduled to be located at the predetermined time point. According to this embodiment, during the period when the control of the different communication mode is being executed, the mobile body control device can acquire management information from outside using the second communication mode. Then, the mobile body control device can estimate the position of the moving body by acquiring the position of the moving body corresponding to the time information using the management information. (15) In the above embodiment, during the period when the control of the different communication mode is being executed, the estimation unit may estimate the position of the moving body using external sensor information acquired from the outside using the second communication mode, the external sensor information being output from an external sensor that is a sensor installed in a location different from the moving body and capable of detecting the moving body. According to this embodiment, during the period when the control of the different communication mode is being executed, the moving body control device can acquire external sensor information from the outside using the second communication mode. Then, the moving body control device can estimate the position of the moving body using the external sensor information. (16) In the above embodiment, the generation unit may acquire time information related to at least any one of an elapsed time from a predetermined point in time, a current time, and a non-reception time which is a time when information was scheduled to be received but the information was not received, and generate the control signal by acquiring the target control value corresponding to the time information using internal data stored in advance in a storage unit of the mobile body control device, the internal data associating the time information with a target control value which is a target value for each parameter included in the control signal. According to this embodiment, during a period when control is being performed in either the internal data mode or the separate communication mode, the mobile body control device can generate the control signal by acquiring a target control value corresponding to the time information using the internal data. (17) In the above aspect, the generation unit may acquire time information relating to at least any one of an elapsed time from a predetermined point in time, a current time, and a non-reception time which is a time when information was scheduled to be received but the information was not received, and generate the travel route using internal data for generating the travel route according to the time information, which is pre-stored in a storage unit of the mobile body control device. According to this aspect, during a period when control is being executed in either an internal data mode or a separate communication mode, the mobile body control device can generate a travel route according to the time information using the internal data. (18) In the above aspect, the generation unit may generate either the control signal or the travel path using internal data that is pre-stored in a storage unit of the mobile body control device and is for causing the mobile body to execute a predetermined operation. According to this aspect, either the control signal or the travel path can be generated without estimating a position of the mobile body or acquiring time information. (19) In the above embodiment, the generating unit may generate either an emergency evacuation signal including at least one of an evacuation signal for evacuating the moving body to a predetermined evacuation location and a stop signal for stopping the moving body, or a non-emergency evacuation signal for continuing the movement of the moving body, depending on the moving status of the moving body. According to this embodiment, during a period in which control of either the internal data mode or the separate communication mode is being executed, the moving body control device can generate an emergency evacuation signal depending on the moving status of the moving body. This allows the moving body control device to move the moving body to an evacuation location or stop the moving body. In addition, the moving body control device can generate a non-emergency evacuation signal depending on the moving status of the moving body. This allows the moving body control device to continue the movement without moving the moving body to an evacuation location or stopping the moving body. (20) In the above aspect, the control unit may change the control mode in accordance with a manufacturing process performed on the moving body. According to this aspect, it is possible to change the control mode of the moving body's operation in accordance with a manufacturing process performed on the moving body. The present disclosure can be realized in various forms other than the above-mentioned control device and control method, for example, in the form of a control system including a control device and a moving body, a control device, a control system, and a manufacturing method for a moving body, a computer program for realizing the control method for controlling the operation of a moving body, a non-transitory recording medium on which the computer program is recorded, etc. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing a configuration of a traveling system in a first embodiment. [Diagram 2] 4 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. [Diagram 3] 4 is a flowchart showing a processing flow in the first embodiment. [Figure 4] FIG. 13 is a diagram showing the configuration of a traveling system according to a second embodiment. [Diagram 5]10 is a flowchart showing a processing flow in a second embodiment. [Figure 6] FIG. 13 is a diagram showing the configuration of a traveling system according to a third embodiment. [Figure 7] 11 is a flowchart showing a processing procedure for vehicle travel control in a third embodiment. [Figure 8] 13 is a flowchart showing a processing flow in a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A. First embodiment: FIG. 1 is a diagram showing a configuration of a control system 1 in a first embodiment. The control system 1 is a system for moving a moving body without relying on driving operations of a passenger on the moving body. The control system 1 includes one or more moving bodies capable of moving by unmanned driving, a sensor for detecting the moving body from the outside, and a remote control device 6 having a function of a control device 5 for changing a control mode of the moving body's operation using disturbance information and remotely controlling the operation of the moving body from the outside. The disturbance information is information on an external factor that affects the control of unmanned driving of the moving body and is from an outside different from the moving body.

[0009] In the present disclosure, the term "mobile body" refers to an object that can move, such as a vehicle 10 or an electric vertical take-off and landing aircraft (a so-called flying car). In the present embodiment, the mobile body is the vehicle 10. The vehicle 10 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 10 includes an electric vehicle (BEV: Battery Electric Vehicle), a gasoline vehicle, a hybrid vehicle, and a fuel cell vehicle. In addition, when the mobile body is other than the vehicle 10, 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] "Unmanned driving" means driving that is not performed by a passenger. Driving operation means at least one of the operations of "running," "turning," and "stopping" of the vehicle 10. Unmanned driving is realized by automatic or manual remote control using a device located outside the vehicle 10, or by autonomous control of the vehicle 10. The vehicle 10 that is 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 10, and a person who performs work other than driving operation, such as assembly, inspection, and operation of switches, while riding on the vehicle 10. Note that driving by a passenger who performs driving operation is sometimes called "manned driving". In this embodiment, the vehicle 10 travels by unmanned driving in a factory where multiple manufacturing processes are performed to manufacture the vehicle 10. That is, in this embodiment, the vehicle 10 is produced by transporting the vehicle 10 by using the traveling of the vehicle 10 by unmanned driving in the factory.

[0011] In this specification, "remote control" includes "full remote control" in which all of the operations of the vehicle 10 are completely determined from outside the vehicle 10, and "partial remote control" in which some of the operations of the vehicle 10 are determined from outside the vehicle 10. In addition, "autonomous control" includes "full autonomous control" in which the vehicle 10 autonomously controls its own operations without receiving any information from devices external to the vehicle 10, and "partial autonomous control" in which the vehicle 10 autonomously controls its own operations using information received from devices external to the vehicle 10.

[0012] The vehicle 10 includes a driving device 11, a steering device 12, a braking device 13, a communication device 14, and a vehicle control device 15. The driving device 11 accelerates the vehicle 10. The steering device 12 changes the traveling direction of the vehicle 10. The braking device 13 decelerates the vehicle 10. The communication device 14 communicates with an external device using wireless communication or the like. The external device is another device different from the vehicle 10 and another vehicle 10. The communication device 14 is, for example, a wireless communication device.

[0013] The vehicle control device 15 controls the operation of the vehicle 10. The vehicle control device 15 includes a CPU 150, a storage unit 157, and an input / output interface 159. The input / output interface 159 is used to communicate with various devices mounted on the vehicle 10.

[0014] The storage unit 157 of the vehicle control device 15 stores various types of information including various programs P15 for controlling the operation of the vehicle control device 15, management information In, and internal data Di.

[0015] The management information In is used to estimate the position of the vehicle 10. The management information In is, for example, information indicating the travel order of the multiple vehicles 10 traveling in the detection range RG of the external camera 90. That is, in this case, the management information In is information indicating the scheduled time for each vehicle 10 to travel through each position in the factory, and indicates the position where the vehicle 10 is scheduled to be present at a predetermined time. The management information In is created using, for example, vehicle position information, a transmission history of a travel control signal to the vehicle 10, an installation location of the external camera 90, and a manufacturing status of the vehicle 10. The travel control signal is a control signal that specifies the travel operation of the vehicle 10. In this embodiment, the travel control signal includes the acceleration and steering angle of the vehicle 10 as parameters. Note that, in other embodiments, the travel control signal may include the speed of the vehicle 10 as a parameter instead of or in addition to the acceleration of the vehicle 10.

[0016] The internal data Di is data used for the vehicle 10 to travel in an unmanned manner without using communication with the outside. In this embodiment, the internal data Di is data indicating the target acceleration and the target steering angle of the vehicle 10 at each position. In the internal data Di of this embodiment, specific information for identifying a position is associated with driving control information indicating the target acceleration and the target steering angle of the vehicle 10 at the position identified by the specific information. The specific information may be, for example, information on an absolute position indicating the current location of the vehicle 10 such as coordinate values ​​of X, Y, and Z in a global coordinate system of a factory, information on the relative position between the vehicle 10 and another object, or information indicating a feature for identifying the position. The feature may be, for example, information indicating an object installed only in a work area where one manufacturing process is performed, or information indicating the scenery of the road Ro on which the vehicle 10 travels. The specific information may also include information indicating the orientation of the vehicle 10. In this embodiment, the internal data Di is used to move the vehicle 10 to a predetermined evacuation location. The evacuation place is, for example, either a shoulder or a side road provided beside the road Ro. The internal data Di may be a database or may be data including a calculation formula for executing a predetermined calculation process. In another embodiment, the internal data Di may include data indicating a target speed at each position instead of or in addition to the target acceleration at each position.

[0017] The CPU 150 of the vehicle control device 15 functions as an autonomous control unit 153 and an operation control unit 154 by developing various programs P15 stored in the storage unit 157. The operation control unit 154 executes driving control of the vehicle 10 by controlling the operation of actuators that change the acceleration / deceleration and steering angle of the vehicle 10. The "driving control" refers to various controls for driving actuators that perform the three functions of the vehicle 10, namely, "running," "turning," and "stopping," such as adjusting the acceleration, speed, and steering angle of the vehicle 10. In this embodiment, the actuators include the actuators of the drive device 11, the actuators of the steering device 12, and the actuators of the braking device 13.

[0018] The vehicle 10 has an external data mode and an internal data mode as control modes for driving in an unmanned manner. In the external data mode, the vehicle 10 drives in an unmanned manner using communication with the outside. In the internal data mode, the vehicle 10 drives in an unmanned manner without using communication with the outside. In this embodiment, during a period in which control in the external data mode is being performed, the operation control unit 154 controls the operation of the actuator using a driving control signal received from the remote control device 6, thereby performing driving control of the vehicle 10. In the external data mode, the driving control signal is transmitted from the remote control device 6 to the vehicle 10 at a predetermined cycle.

[0019] When an external factor is detected during the period when control of the external data mode is being executed, the vehicle 10 changes the control mode. In this embodiment, the vehicle 10 determines that an external factor is detected when a travel control signal is not received from the remote control device 6 even after a predetermined specified time has elapsed. Then, the vehicle 10 switches the control mode from the external data mode and executes control of the internal data mode.

[0020] During the period when the control of the internal data mode is being executed, the autonomous control unit 153 generates an evacuation signal for moving the vehicle 10 to an evacuation location, using the management information In and the internal data Di pre-stored in the storage unit 157 of the vehicle control device 15. For example, in the case where the vehicle 10 is produced in a factory by transporting the vehicle 10 using the vehicle 10 traveling in an unmanned manner, as in the present embodiment, the evacuation signal is a control signal for causing the vehicle 10 to execute the following operations. In this case, the evacuation signal is, for example, a control signal for removing the vehicle 10 from a production line including a production location where each production process is executed and a route Ro connecting a plurality of production locations, and moving the vehicle 10 out of the production line. In the present embodiment, the evacuation signal includes the acceleration and steering angle of the vehicle 10 as parameters.

[0021] In this embodiment, during the period when the control of the internal data mode is being executed, the autonomous control unit 153 uses the management information In to estimate the position of the vehicle 10 in order to generate an evacuation signal. For example, the autonomous control unit 153 estimates the position of the vehicle 10 by acquiring the position of the vehicle 10 corresponding to the current time using the management information In indicating the scheduled travel time of each position in the factory for each vehicle 10. Then, the autonomous control unit 153 uses the internal data Di to acquire a target acceleration and a target steering angle corresponding to the estimated position of the vehicle 10, thereby generating an evacuation signal including the acceleration and steering angle as parameters. That is, the autonomous control unit 153 has a function of an estimation unit that estimates the position of the vehicle 10 and a function of a generation unit that generates a control signal. As a result, the operation control unit 154 uses the evacuation signal to control the operation of the actuator, thereby moving the vehicle 10 to the evacuation location. At least a part of the function of the autonomous control unit 153 may be realized by a previously prepared application.

[0022] The autonomous control unit 153 may estimate the position of the vehicle 10 by using the management information In to acquire the position of the vehicle 10 corresponding to the non-reception time, which is the time when the traveling control signal was scheduled to be received but was not received, instead of the current time. Furthermore, when the reference route Ip of a first vehicle 10 and the reference route Ip of a second vehicle 10 among the multiple vehicles 10 are different, the autonomous control unit 153 may estimate the position of the vehicle 10 or generate an evacuation signal using vehicle identification information that identifies the vehicle 10 in addition to the current time.

[0023] The configuration of the vehicle 10 is not limited to the above. At least a part of the functions of the vehicle control device 15 may be realized as one function of the remote control device 6, or may be realized as one function of an external sensor such as the external camera 90.

[0024] In this embodiment, the sensor is a camera 90 (hereinafter, external camera 90) as an external sensor provided at a location different from the vehicle 10. The external camera 90 captures an image of a detection range RG including the vehicle 10 from outside the vehicle 10, and outputs the captured image as external sensor information. In order to capture an image of the entire road Ro by one or more external cameras 90, the installation positions and the number of external cameras 90 to be installed are determined taking into consideration the detection range RG (angle of view) of the external cameras 90, etc. The external camera 90 may transmit the captured image to the remote control device 6, for example, every time it acquires the captured image, or may transmit the captured image to the remote control device 6 in response to a request from the remote control device 6.

[0025] The remote control device 6 is provided at a location different from the vehicle 10. The remote control device 6 is, for example, a server installed in a factory. During a period in which the control of the external data mode is being executed, the remote control device 6 remotely controls the operation of the vehicle 10 from the outside by transmitting a driving control signal to the vehicle 10. Furthermore, during a period in which the control of the external data mode is being executed, the remote control device 6 detects the presence of an external factor by using disturbance information. Then, when the presence of an external factor is detected, the remote control device 6 changes the control mode from the external data mode to the internal data mode.

[0026] The disturbance information includes, for example, communication information. The communication information is information related to a communication state between the vehicle 10 and the outside. The communication information includes, for example, at least one of interference information, weather information, and evaluation information.

[0027] The jamming information is information for determining whether or not communication between the vehicle 10 and the outside is being intentionally jammed. The jamming information includes, for example, a detection result of jamming radio waves within an area in which the vehicle 10 travels. The detection result of jamming radio waves includes, for example, information indicating the detection time and the detection location of jamming radio waves.

[0028] The weather information is information for determining whether or not the weather conditions affect communication between the vehicle 10 and the outside. The weather information includes, for example, information indicating the occurrence of lightning strikes in the area in which the vehicle 10 travels. The information indicating the occurrence of lightning strikes includes, for example, information indicating the time and location of the lightning strike. The weather information may include, for example, the detection result of a lightning surge, or may include information indicating the weather in the area in which the vehicle 10 travels.

[0029] The evaluation information is information for determining the presence or absence of an external factor that affects communication between the vehicle 10 and the outside of the vehicle 10. The evaluation information includes, for example, at least one of communication speed information, outage information, strength information, response information, reception information, and power supply information as an evaluation result when the communication status between the vehicle 10 and the outside of the vehicle 10 is actually evaluated.

[0030] The communication speed information is information related to the communication speed between the vehicle 10 and the outside of the vehicle 10. The communication speed information includes, for example, information indicating a data transfer rate between the vehicle 10 and the outside of the vehicle 10. The communication speed information may include, for example, information indicating whether or not a communication delay occurs in which the communication speed between the vehicle 10 and the outside of the vehicle 10 is less than a predetermined speed.

[0031] The disruption information is information indicating a disruption status of communication between the vehicle 10 and the outside of the vehicle 10. The disruption information includes, for example, information indicating the time when communication between the vehicle 10 and the outside of the vehicle 10 was disrupted. The disruption information may include, for example, information indicating the length of time that communication between the vehicle 10 and the outside of the vehicle 10 was disrupted, or may include information indicating the number of times communication between the vehicle 10 and the outside of the vehicle 10 was disrupted within a predetermined period of time.

[0032] The response information is information indicating that there is no response from the target device. The response information is, for example, information indicating that, when the vehicle 10 communicably connected to the external device transmits a signal to the external device, it has been detected that there is no response from the external device. The external device is a device used to control the operation of the vehicle 10 and is provided in a location different from the vehicle 10. The external device is, for example, a remote control device 6 and an external camera 90 as an external sensor. The response information may be information indicating that, when the external device communicably connected to the vehicle 10 transmits a signal to the vehicle 10, it has been detected that there is no response from the vehicle 10.

[0033] The received information is information indicating that information is not being transmitted from a target device. The received information is, for example, information indicating that the vehicle 10 has detected that information scheduled to be transmitted from an external device to the vehicle 10 has not been transmitted from the external device. In this case, the information scheduled to be transmitted from the external device to the vehicle 10 is, for example, a travel control signal and external sensor information. The received information may be information indicating that the external device has detected that information scheduled to be transmitted from the vehicle 10 to the external device has not been transmitted from the vehicle 10. In this case, the information scheduled to be transmitted from the vehicle 10 to the external device is internal sensor information output from an internal sensor, for example, the travel speed and pinion angle of the vehicle 10.

[0034] The power information is information indicating that the target device is not powered on. For example, the power information is information indicating that the external camera 90 is not powered on. The power information may be information indicating that the remote control device 6 is not powered on.

[0035] The remote control device 6 includes a communication unit 61, a storage unit 63, and a CPU 62. In the remote control device 6, the communication unit 61, the storage unit 63, and the CPU 62 are connected via a bus or the like so as to be able to communicate bidirectionally.

[0036] The communication unit 61 of the remote control device 6 communicably connects the remote control device 6 to devices other than the remote control device 6. The communication unit 61 of the remote control device 6 is, for example, a wireless communication device.

[0037] The storage unit 63 of the remote control device 6 stores various information including various programs P6 for controlling the operation of the remote control device 6, a detection model Md, and a reference path Ip. The detection model Md and the reference path Ip will be described in detail later.

[0038] The CPU 62 of the remote control device 6 deploys various programs P6 stored in the storage unit 63, thereby functioning as a calculation unit 621, an acquisition unit 622, a detection unit 624, and a remote control unit 623.

[0039] The calculation unit 621 acquires vehicle position information by calculating the position and orientation of the vehicle 10. 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 10 in the reference coordinate system of the factory. In this embodiment, the reference coordinate system of the factory is a global coordinate system, and any position in the factory can be expressed by X, Y, and Z coordinates in the global coordinate system. In this embodiment, the external sensor is a camera installed in the factory, and a captured image is output from the external sensor as a detection result. That is, the calculation unit 621 acquires vehicle position information using a captured image acquired from the camera, which is an external sensor. In the following, the camera as the external sensor is called an "external camera 90."

[0040] In detail, the calculation unit 621 detects the outer shape of the vehicle 10 from the captured image, calculates the coordinates of the positioning point of the vehicle 10 in the coordinate system of the captured image, i.e., the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system, thereby acquiring the position of the vehicle 10. The outer shape of the vehicle 10 included in the captured image can be detected, for example, by inputting the captured image to a detection model Md that utilizes artificial intelligence. The detection model Md is prepared, for example, inside or outside the control system 1, and is stored in advance in the storage unit 63 of the remote control device 6. As the detection model Md, for example, a trained machine learning model that has been trained to realize either semantic segmentation or instance segmentation can be used. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset can be used. The training dataset has, for example, a plurality of training images including the vehicle 10 and a correct answer label indicating whether each area in the training image is an area indicating the vehicle 10 or an area indicating something other than the vehicle 10. 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 Md and the correct label. In addition, the calculation unit 621 can obtain the orientation of the vehicle 10 by estimating based on the orientation of the movement vector of the vehicle 10 calculated from the position change of the feature points of the vehicle 10 between frames of the captured image using, for example, an optical flow method. The calculation unit 621 may obtain the orientation of the vehicle 10 by using, for example, the output result of a yaw rate sensor or the like mounted on the vehicle 10.

[0041] The acquisition unit 622 acquires disturbance information. In this embodiment, the acquisition unit 622 acquires interference information, which is a type of communication information, as the disturbance information.

[0042] The detection unit 624 detects the presence of an external factor by using the disturbance information. In this embodiment, the detection unit 624 uses the interference information to determine whether or not communication between the vehicle 10 and the outside of the vehicle 10 is being interfered with. Then, when the detection unit 624 determines that communication between the vehicle 10 and the outside of the vehicle 10 is being interfered with, it detects the presence of an external factor.

[0043] The remote control unit 623 causes the vehicle 10 to perform different operations depending on the presence or absence of an external factor. When the detection unit 624 detects the presence of an external factor, the remote control unit 623 causes the vehicle 10 to continue traveling without changing the control mode of the operation of the vehicle 10. In this embodiment, when the detection unit 624 determines that communication between the vehicle 10 and the outside of the vehicle 10 is not being disrupted, the remote control unit 623 continues control in the external data mode.

[0044] In the external data mode, the remote control unit 623 generates a travel control signal and transmits it to the vehicle 10. In order to generate the travel control signal, the remote control unit 623 first determines a target position to which the vehicle 10 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in a global coordinate system. The storage unit 63 of the remote control device 6 prestores a reference route Ip, which is a route along which the vehicle 10 should travel. The route is represented by a node indicating a departure point, a node indicating a passing point, a node indicating a destination, and links connecting the nodes. The remote control unit 623 uses the vehicle position information and the reference route Ip to determine a target position to which the vehicle 10 should next head. The remote control unit 623 determines a target position on the reference route Ip ahead of the current position of the vehicle 10. The remote control unit 623 generates a travel control signal for driving the vehicle 10 toward the determined target position. The remote control unit 623 calculates the travel speed of the vehicle 10 from the transition of the position of the vehicle 10, and compares the calculated travel speed with the target speed. The remote control unit 623 determines the acceleration so that the vehicle 10 accelerates when the traveling speed is lower than the target speed as a whole, and determines the acceleration so that the vehicle 10 decelerates when the traveling speed is higher than the target speed. Furthermore, when the vehicle 10 is located on the reference route Ip, the remote control unit 623 determines the steering angle and acceleration so that the vehicle 10 does not deviate from the reference route Ip, and when the vehicle 10 is not located on the reference route Ip, in other words, when the vehicle 10 deviates from the reference route Ip, the remote control unit 623 determines the steering angle and acceleration so that the vehicle 10 returns to the reference route Ip. In this way, the remote control unit 623 generates a traveling control signal including the acceleration and steering angle of the vehicle 10 as parameters.

[0045] On the other hand, when the detection unit 624 detects the presence of an external factor, the remote control unit 623 uses the disturbance information to change the control mode of the operation of the vehicle 10. In this embodiment, when the detection unit 624 determines that communication between the vehicle 10 and the outside is being disturbed, the remote control unit 623 changes the control mode from the external data mode to the internal data mode. At this time, the remote control unit 623 stops transmitting a driving control signal to the vehicle 10, thereby changing the control mode of the operation of the vehicle 10 from the external data mode to the internal data mode.

[0046] The configuration of the remote control device 6 is not limited to the above. Each unit of the remote control device 6 may be configured separately from multiple devices. Each unit of the remote control device 6 may be realized by cloud computing configured by one or more computers. At least some of the functions of the remote control device 6 may be realized as one function of the vehicle control device 15, or as one function of an external sensor such as the external camera 90.

[0047] FIG. 2 is a flowchart showing a processing procedure of the driving control of the vehicle 10 in the first embodiment. FIG. 2 shows a processing procedure during the period when the control of the external data mode is being executed. In step S1, the calculation unit 621 acquires vehicle position information using a detection result output from an external sensor that is a sensor located outside the vehicle 10. In this embodiment, the calculation unit 621 acquires vehicle position information using a captured image acquired from the external camera 90. In step S2, the remote control unit 623 determines a target position to which the vehicle 10 should next head using the vehicle position information and the reference route Ip. In step S3, the remote control unit 623 generates a driving control signal for driving the vehicle 10 toward the determined target position. In step S4, the remote control unit 623 transmits the generated driving control signal to the vehicle 10. During the period when the control of the external data mode is being executed, the remote control device 6 repeats the acquisition of vehicle position information, the determination of a target position, the generation of a driving control signal, and the transmission of the driving control signal at a predetermined cycle. In step S5, the operation control unit 154 of the vehicle control device 15 mounted on the vehicle 10 receives the driving control signal transmitted from the remote control device 6. In step S6, the vehicle 10 uses the received driving control signal to control the actuators of the vehicle 10, thereby causing the vehicle 10 to drive at the acceleration and steering angle represented by the driving control signal. During the period in which control in the external data mode is being executed, the vehicle 10 repeats receiving the driving control signal and controlling the actuators of the vehicle 10 at a predetermined cycle.

[0048] Fig. 3 is a flowchart showing a processing flow in the first embodiment. The processing flow shown in Fig. 3 is repeatedly executed at predetermined time intervals, for example, during a period from a start point to at least one of a change point and an end point. The start point is a point at which the vehicle 10 to be controlled starts traveling by remote control. The change point is a point at which the control mode of the operation of the vehicle 10 is changed from the external data mode to the internal data mode. The end point is a point at which the vehicle 10 to be controlled arrives at a destination located at the end of the reference route Ip.

[0049] In step S101, the calculation unit 621 calculates the position of the vehicle 10 using the captured image. In step S102, the acquisition unit 622 acquires interference information. In step S103, the detection unit 624 uses the interference information to determine whether or not communication between the vehicle 10 and the remote control device 6 is being interfered with, and detects the presence of an external factor.

[0050] When it is determined that the communication between the vehicle 10 and the remote control device 6 is not disturbed, that is, when the detection unit 624 does not detect the presence of an external factor (step S103: No), the remote control unit 623 executes step S104. In step S104, the remote control unit 623 uses the vehicle position information and the reference route Ip to determine a target position to which the vehicle 10 should next head. In step S105, the remote control unit 623 generates a travel control signal for driving the vehicle 10 toward the determined target position. In step S106, the remote control unit 623 transmits the travel control signal to the vehicle 10. On the other hand, when it is determined that the communication between the vehicle 10 and the remote control device 6 is disturbed, that is, when the detection unit 624 detects the presence of an external factor (step S103: Yes), the remote control unit 623 ends the processing flow without transmitting the travel control signal to the vehicle 10.

[0051] When a predetermined specified time has elapsed (step S107: Yes), and when a traveling control signal has not been received from the remote control device 6 (step S108: No), step S109 is executed. In step S109, the autonomous control unit 153 of the vehicle control device 15 mounted on the vehicle 10 estimates the position of the vehicle 10 using the management information In. In step S110, the autonomous control unit 153 acquires a target acceleration and a target steering angle corresponding to the estimated position of the vehicle 10 from the internal data Di, and generates an evacuation signal including the acceleration and steering angle as parameters.

[0052] In step S111, the operation control unit 154 controls the actuator using the control signal. Specifically, when a specified time has elapsed (step S107: Yes) and when a travel control signal has been received from the remote control device 6 (step S108: Yes), the operation control unit 154 controls the actuator using the travel control signal received from the remote control device 6. This causes the vehicle 10 to travel at the acceleration and steering angle indicated in the travel control signal. On the other hand, when a specified time has elapsed (step S107: Yes) and when a travel control signal has not been received (step S108: No), the operation control unit 154 controls the actuator using the evacuation signal generated by the autonomous control unit 153. This causes the vehicle 10 to move to a evacuation location by causing the vehicle 10 to travel at the acceleration and steering angle indicated in the evacuation signal.

[0053] According to the first embodiment, the remote control device 6 can change the control mode of the operation of the vehicle 10 by using the disturbance information, and can change to an appropriate control mode depending on the external factor. Specifically, the remote control device 6 can detect the presence of an external factor by determining whether or not the communication between the vehicle 10 and the remote control device 6 is disturbed by acquiring the disturbance information. Then, when the remote control device 6 determines that the communication between the vehicle 10 and the remote control device 6 is disturbed, that is, when it detects the presence of an external factor, it can change the control mode of the operation of the vehicle 10 by stopping the transmission of a travel control signal to the vehicle 10, and move the vehicle 10 to an evacuation site. In other words, when an external factor from outside the vehicle 10, such as jamming radio waves, is affecting the control of the unmanned operation, the remote control device 6 can determine whether or not to continue the control of the unmanned operation depending on the type of the external factor, or can change to an appropriate control mode depending on the external factor.

[0054] Furthermore, according to the first embodiment, the remote control device 6 can change the control mode from the external data mode to the internal data mode when it is determined that there is an external factor using the disturbance information. In this way, when an external factor such as jamming radio waves causes a problem in communication between the vehicle 10 and the outside of the vehicle 10, the vehicle 10 can run in an unmanned driving mode without using communication with the outside. In other words, the remote control device 6 changes the control mode of the vehicle 10 using the disturbance information, so that the vehicle 10 can control its operation in a state where the influence of the external factor is reduced.

[0055] Furthermore, according to the first embodiment, the remote control device 6 can change the control mode of the operation of the vehicle 10 depending on the communication conditions between the vehicle 10 and the remote control device 6 by using interference information, which is a type of communication information.

[0056] According to the first embodiment, the control system 1 can remotely control the vehicle 10 to travel within the factory. Therefore, the control system 1 can move the vehicle 10 within the factory without using transportation equipment such as a crane or a conveyor. The vehicle 10 may travel unmanned outside the factory.

[0057] According to the first embodiment, during the period when the control of the internal data mode is being performed, the vehicle control device 15 can estimate the position of the vehicle 10 by acquiring the position of the vehicle 10 corresponding to the current time using the management information In indicating the scheduled travel time of each position for each vehicle 10. The vehicle control device 15 can generate an evacuation signal including the acceleration and steering angle as parameters by acquiring the target acceleration and target steering angle corresponding to the estimated position of the vehicle 10 using the internal data Di indicating the target acceleration and target steering angle of the vehicle 10 at each position. As a result, the vehicle control device 15 can continue driving by unmanned driving without using communication with the outside by controlling the actuator using the generated evacuation signal.

[0058] B. Second embodiment: 4 is a diagram showing the configuration of a control system 1a in the second embodiment. The control system 1a includes one or more vehicles 10a, an external camera 90 as a sensor for detecting the vehicle 10a from the outside, and a remote control device 6a as a control device 5a for changing the control mode of the operation of the vehicle 10a using disturbance information. In this embodiment, the type of disturbance information acquired by the remote control device 6a and a part of the control method of the operation of the vehicle 10a are different from those in the first embodiment. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof will be omitted.

[0059] The remote control device 6a includes a communication unit 61, a storage unit 63a, and a CPU 62a. The storage unit 63a of the remote control device 6a stores various information including various programs P6a for controlling the operation of the remote control device 6a, a detection model Md, and a reference path Ip. The CPU 62a of the remote control device 6a deploys the various programs P6a stored in the storage unit 63a to function as an acquisition unit 622a, a calculation unit 621a, a detection unit 624a, and a remote control unit 623a.

[0060] The acquisition unit 622a acquires the detection information as the disturbance information. In this embodiment, the detection information is information on the detection situation when the vehicle 10a is detected by the external camera 90. In this embodiment, the detection information is information indicating the overlapping degree when another object (hereinafter, an obstacle) different from the vehicle 10a to be detected is overlapped on the vehicle 10a to be detected in the captured image. The overlapping degree is information indicating the overlapping degree of the vehicle 10a to be detected and the obstacle in the captured image as a numerical value. The overlapping degree is, for example, the ratio of the number of pixels in which the vehicle 10a to be detected and the obstacle overlap with the number of pixels representing the vehicle 10a to be detected in the captured image. Note that the obstacle may be a moving object or a stationary object. The moving object is an object that can approach the vehicle 10a by moving. The moving object is, for example, a living thing such as a human being or an animal, another vehicle 10a different from the vehicle 10a to be detected, and an automated guided vehicle (AGV). The stationary object is an object that is placed on the road Ro naturally or artificially. Stationary objects include, for example, manufacturing equipment whose position can be changed as appropriate, equipment such as road cones and signs placed on the runway Ro, flying objects such as fallen leaves that fly onto the runway Ro, and plants such as trees whose size changes due to growth, etc.

[0061] The detection unit 624a detects the presence of an external factor using the detection information. In this embodiment, the detection unit 624a detects the presence of an external factor using the degree of influence calculated based on the detection information. The degree of influence indicates the extent to which the external factor affects the control of unmanned driving. In this embodiment, the degree of influence is determined by the degree of overlap as the detection information. The greater the degree of overlap, the greater the degree of influence, and the smaller the degree of overlap, the smaller the degree of influence. When the degree of influence determined by the degree of overlap (hereinafter, overlap influence) is equal to or greater than a predetermined threshold (hereinafter, overlap threshold), the detection unit 624a detects the presence of an external factor.

[0062] When the detection unit 624a does not detect the presence of an external factor, the calculation unit 621a calculates the position of the vehicle 10a using the captured image. On the other hand, when the detection unit 624a detects the presence of an external factor, the calculation unit 621a ends the process related to the position calculation of the vehicle 10a without calculating the position of the vehicle 10a. In this embodiment, when the overlap degree is less than the overlap threshold, the calculation unit 621a calculates the position of the vehicle 10a using the captured image. On the other hand, when the overlap degree is equal to or greater than the overlap threshold, the calculation unit 621a ends the process related to the position calculation of the vehicle 10a without calculating the position of the vehicle 10a.

[0063] The remote control unit 623a causes the vehicle 10a to perform different operations depending on the degree of influence. In this embodiment, when the overlap influence degree is less than the overlap threshold, the remote control unit 623a determines that the detection accuracy when detecting the vehicle 10a from the captured image has not decreased, and causes the vehicle 10a to continue traveling. On the other hand, when the overlap influence degree is equal to or greater than the overlap threshold, the remote control unit 623a determines that the detection accuracy when detecting the vehicle 10a from the captured image has decreased, and transmits a stop instruction to the vehicle 10a. As a result, the remote control device 6a stops the vehicle 10a.

[0064] The vehicle control device 15a mounted on the vehicle 10a includes an input / output interface 159, a storage unit 157a, and a CPU 150a. The storage unit 157a of the vehicle control device 15a stores various information including various programs P15a that control the operation of the vehicle control device 15a. The CPU 150a of the vehicle control device 15a functions as an autonomous control unit 153a and an operation control unit 154a by developing the various programs P15a stored in the storage unit 157a. When the autonomous control unit 153a receives a stop instruction from the remote control device 6a, it generates a stop signal for stopping the vehicle 10a. In this embodiment, the autonomous control unit 153a generates a stop signal including the acceleration as a parameter by determining the acceleration so that the traveling speed of the vehicle 10a is decelerated. As a result, the operation control unit 154a uses the stop signal to control the operation of the actuator to stop the vehicle 10a. Note that the stop signal may include the steering angle of the vehicle 10a as a parameter in order to stop the vehicle 10a at a desired location. The stop signal may also be generated in the remote control device 6a and transmitted to the vehicle 10a.

[0065] Fig. 5 is a flowchart showing a process flow in the second embodiment. The process flow shown in Fig. 5 is repeatedly executed at predetermined time intervals from a start point to at least one of an instruction point and an end point. The instruction point is a point in time when a stop instruction is transmitted from the remote control device 6a to the vehicle 10a, thereby changing the control mode of the vehicle 10a.

[0066] In step S201, the acquisition unit 622a of the remote control device 6a acquires the overlap degree. In step S202, the detection unit 624a detects the presence of an external factor by comparing the overlap influence degree with the overlap threshold. If the overlap influence degree is less than the overlap threshold, that is, if the detection unit 624a does not detect the presence of an external factor (step S202: No), in step S203, the calculation unit 621a calculates the position of the vehicle 10a using the captured image. In step S204, the remote control unit 623a determines the target position to which the vehicle 10a should next head, using the vehicle position information and the reference route Ip. In step S205, the remote control unit 623a generates a driving control signal for driving the vehicle 10a toward the determined target position. In step S206, the remote control unit 623a transmits the driving control signal to the vehicle 10a. On the other hand, if the overlap influence degree is equal to or greater than the overlap threshold, that is, if the detection unit 624a detects the presence of an external factor (step S202: Yes), the remote control unit 623a transmits a stop instruction to the vehicle 10a in step S207.

[0067] When the vehicle 10a receives a stop command (step S208: Yes), in step S209, the autonomous control unit 153a of the vehicle control device 15a mounted on the vehicle 10a generates a stop signal. In step S210, the operation control unit 154a controls the actuator using the control signal. Specifically, when the stop command is not received (step S208: No), the operation control unit 154a uses the received traveling control signal to control the actuator, thereby causing the vehicle 10a to travel at the acceleration and steering angle represented by the traveling control signal. On the other hand, when the stop command is received (step S208: Yes), the operation control unit 154a uses the stop signal to control the actuator, thereby causing the vehicle 10a to stop.

[0068] According to the second embodiment, the remote control device 6a can acquire the overlap degree, which is a kind of detection information, as disturbance information. The remote control device 6a can detect the presence of an external factor by determining whether or not the detection accuracy when detecting the vehicle 10a from the captured image has decreased by comparing the overlap influence degree determined by the overlap degree with the overlap threshold. In other words, when an obstacle overlaps in the captured image so as to cover the vehicle 10a to be detected over a predetermined range or more, the remote control device 6a can determine that the detection accuracy when detecting the vehicle 10a from the captured image has decreased and detect the presence of an external factor. When the remote control device 6a determines that the detection accuracy when detecting the vehicle 10a from the captured image has decreased, that is, when it detects that there is an external factor, it can change the control mode of the operation of the vehicle 10a to stop the vehicle 10a. In other words, the remote control device 6a can change the control mode of the operation of the vehicle 10a depending on the magnitude of the influence of the obstacle as an external factor on the control of the unmanned driving.

[0069] Furthermore, according to the second embodiment, the remote control device 6a can change the control mode of the operation of the vehicle 10a according to the detection situation when the vehicle 10a is detected by the external camera 90, by using the detection information.

[0070] The calculation unit 621a may calculate the position of the vehicle 10a using the captured image even when the overlapping degree is equal to or greater than the overlapping threshold. In this case, the remote control unit 623a may, for example, determine that there is a possibility that the detection accuracy when detecting the vehicle 10a from the captured image has decreased, detect the presence of an external factor, and transmit a stop instruction to the vehicle 10a without generating a travel control signal using the vehicle position information. Even in this form, the remote control device 6a can determine whether or not the detection accuracy when detecting the vehicle 10a from the captured image has decreased, and change the control mode of the operation of the vehicle 10a according to the detection accuracy when detecting the vehicle 10a from the captured image.

[0071] The detection information may be, for example, information indicating whether or not an obstacle exists on the vehicle 10a to be detected in the external sensor information. In this case, for example, when an obstacle exists on the vehicle 10a to be detected in the external sensor information, the remote control device 6a determines that the detection accuracy when detecting the vehicle 10a from the captured image has decreased, and detects the presence of an external factor. On the other hand, when an obstacle does not exist on the vehicle 10a to be detected in the external sensor information, the remote control device 6a determines that the detection accuracy when detecting the vehicle 10a from the captured image has not decreased. Even in such a form, the remote control device 6a can determine whether or not the detection accuracy when detecting the vehicle 10a from the captured image has decreased, and change the control mode of the operation of the vehicle 10a according to the detection accuracy when detecting the vehicle 10a from the captured image.

[0072] C. Third embodiment: 6 is a diagram showing the configuration of a control system 1b in the third embodiment. The control system 1b includes one or more vehicles 10b equipped with a vehicle control device 15b as a control device 5b that changes the control mode of the operation of the vehicle 10b using disturbance information, and an external camera 90 as a sensor that detects the vehicle 10b from the outside. In this embodiment, the vehicle control device 15b changes the control mode of the operation of the vehicle 10 using the disturbance information. The same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0073] The vehicle control device 15b includes a CPU 150b, a storage unit 157b, and an input / output interface 159. The storage unit 157b of the vehicle control device 15b stores various information including various programs P15b for controlling the operation of the vehicle control device 15b, a detection model Md, a reference route Ip, and a map Mp. The map Mp is internal data Di indicating the position of an evacuation site in the factory. In the map Mp, the position of the evacuation site in the factory is represented by X, Y, and Z coordinates in the global coordinate system of the factory.

[0074] The CPU 150b of the vehicle control device 15b deploys various programs P15b stored in the storage unit 157b, thereby functioning as a calculation unit 151, an acquisition unit 152, a detection unit 155, an autonomous control unit 153b, and an operation control unit 154b.

[0075] The calculation unit 151 uses the captured image acquired by the external camera 90 to calculate the position of the vehicle 10b.

[0076] The acquisition unit 152 acquires disturbance information. In this embodiment, the acquisition unit 152 acquires communication speed information indicating the communication speed between the vehicle 10b and the external camera 90 as the disturbance information.

[0077] The detection unit 155 detects the presence of an external factor by using the communication speed information. In this embodiment, the detection unit 155 detects the presence of an external factor by determining whether or not a problem occurs in the communication between the vehicle 10b and the external camera 90 by using the influence degree calculated based on the communication speed information. In this embodiment, the influence degree is a communication speed specified by the communication speed information and is determined by the communication speed between the vehicle 10 and the external camera 90. The faster the communication speed between the vehicle 10 and the external camera 90, the smaller the influence degree, and the slower the communication speed between the vehicle 10b and the external camera 90, the larger the influence degree. When the influence degree determined by the communication speed (hereinafter, speed influence degree) is equal to or greater than a predetermined threshold value (hereinafter, speed threshold value), the detection unit 155 determines that a problem occurs in the communication between the vehicle 10b and the external camera 90, and detects the presence of an external factor.

[0078] The autonomous control unit 153b causes the vehicle 10b to perform different operations depending on the degree of influence. In this embodiment, when the speed influence degree is less than the speed threshold, the autonomous control unit 153b determines that there is no problem in communication between the vehicle 10b and the outside, and continues control in the external data mode. On the other hand, when the speed influence degree is equal to or greater than the speed threshold, the autonomous control unit 153b determines that there is a problem in communication between the vehicle 10b and the outside, and changes the control mode from the external data mode to the internal data mode. In this embodiment as well, during the period when the control in the internal data mode is being executed, the autonomous control unit 153b generates an evacuation signal including acceleration and steering angle as parameters.

[0079] During the period when the control of the internal data mode is being executed, the autonomous control unit 153b first acquires the position of the vehicle 10b corresponding to the current time by using the management information In indicating the scheduled travel time of each position in the factory for each vehicle 10b. In this way, the autonomous control unit 153b estimates the position of the vehicle 10b. Next, the autonomous control unit 153 acquires the position of the evacuation site that is the destination by using the estimated position of the vehicle 10b and the map Mp stored in the storage unit 157b. When there are multiple evacuation sites in the factory, the autonomous control unit 153b selects, for example, the position of the evacuation site closest to the position of the vehicle 10b estimated as the current position of the vehicle 10b as the destination. Next, the autonomous control unit 153 generates an evacuation route from the estimated position of the vehicle 10b to the position of the evacuation site selected as the destination. Next, the autonomous control unit 153b determines an arbitrary position on the generated evacuation route as the target position. The autonomous control unit 153b generates an evacuation signal for moving the vehicle 10b toward the determined target position. That is, the autonomous control unit 153b has a function of an estimation unit and a function of a generation unit that generates a travel route. Note that the autonomous control unit 153b may generate a partial route to a target position between the estimated position of the vehicle 10b and the position of the evacuation place selected as the destination, instead of the evacuation route.

[0080] FIG. 7 is a flowchart showing a processing procedure of the driving control of the vehicle 10b in the third embodiment. FIG. 7 shows a processing procedure during the period when the control of the external data mode is being executed. In step S901, the calculation unit 151 of the vehicle control device 15b mounted on the vehicle 10b acquires vehicle position information using the detection result output from the external camera 90. In step S902, the autonomous control unit 153b determines a target position to which the vehicle 10b should next head. In step S903, the autonomous control unit 153b generates a driving control signal for driving the vehicle 10b toward the determined target position. In step S904, the operation control unit 154b drives the vehicle 10b according to the acceleration and steering angle represented in the generated driving control signal. During the period when the control of the external data mode is being executed, the vehicle 10b repeats the acquisition of vehicle position information, the determination of the target position, the generation of the driving control signal, and the control of the actuator at a predetermined cycle.

[0081] Fig. 8 is a flowchart showing a processing flow in the third embodiment. The processing flow shown in Fig. 8 is repeatedly executed at predetermined time intervals, for example, during a period from a start point to at least one of a change point and an end point.

[0082] In step S301, the acquisition unit 152 acquires communication speed information as disturbance information. In step S302, the detection unit 155 detects the presence of an external factor by comparing the speed influence degree with the speed threshold. If the speed influence degree is less than the speed threshold, that is, if the detection unit 155 does not detect the presence of an external factor (step S302: No), in step S303, the calculation unit 151 calculates the position of the vehicle 10b using the captured image. In step S304, the autonomous control unit 153b uses the vehicle position information and the reference route Ip to determine a target position to which the vehicle 10b should next head. In step S305, the autonomous control unit 153b generates a driving control signal for driving the vehicle 10b toward the determined target position.

[0083] On the other hand, when the speed influence degree is equal to or greater than the speed threshold, that is, when the detection unit 155 detects that there is an external factor (step S302: Yes), the autonomous control unit 153b executes step S306. In step S306, the autonomous control unit 153b estimates the position of the vehicle 10b using the management information In. In step S307, the autonomous control unit 153b acquires the position of the evacuation place using the estimated position of the vehicle 10b and the map Mp. Then, the autonomous control unit 153b generates an evacuation route from the estimated position of the vehicle 10 to the position of the evacuation place. In step S308, the autonomous control unit 153b determines a target position on the generated evacuation route. In step S309, the autonomous control unit 153b generates an evacuation signal for moving the vehicle 10b toward the determined target position. In step S310, the operation control unit 154b controls the actuator according to the control signal generated by the autonomous control unit 153b. Specifically, when the autonomous control unit 153b generates a driving control signal, the operation control unit 154b uses the driving control signal to control the actuator, thereby causing the vehicle 10b to drive at the acceleration and steering angle represented in the driving control signal. On the other hand, when the autonomous control unit 153b generates an evacuation signal, the operation control unit 154b uses the evacuation signal to control the actuator. As a result, the operation control unit 154b moves the vehicle 10b to a evacuation location by causing the vehicle 10b to drive at the acceleration and steering angle represented in the evacuation signal.

[0084] According to the third embodiment, the vehicle control device 15b can acquire communication speed information, which is a type of communication information, as disturbance information. The vehicle control device 15b can detect the presence of an external factor by determining whether or not communication between the vehicle 10b and the outside is impaired by comparing the speed influence degree determined by the communication speed between the vehicle 10b and the external camera 90 with a speed threshold. When the vehicle control device 15b determines that communication between the vehicle 10b and the outside is impaired, that is, when it detects that there is an external factor, it can change the control mode of the operation of the vehicle 10b by generating an evacuation signal and traveling using the evacuation signal, thereby moving the vehicle 10b to an evacuation place. That is, the vehicle control device 15b can change the control mode of the operation of the vehicle 10b according to the influence degree by itself.

[0085] Furthermore, according to the third embodiment, the vehicle control device 15b can change the control mode of the operation of the vehicle 10b in accordance with the communication speed between the vehicle 10b and the external camera 90 by using the communication speed information.

[0086] According to the third embodiment, during the period when the control of the internal data mode is being executed, the vehicle control device 15 can estimate the position of the vehicle 10b and acquire the evacuation site as the destination by using the estimated position of the vehicle 10b and the map Mp. Then, the vehicle control device 15b can generate an evacuation route from the estimated position of the vehicle 10b to the position of the evacuation site. Then, the vehicle control device 15b can determine a target position on the generated evacuation route and generate an evacuation signal for moving the vehicle 10b toward the determined target position. As a result, the vehicle control device 15b can continue the unmanned driving without using communication with the outside by controlling the actuator using the generated evacuation signal.

[0087] Furthermore, according to the third embodiment, the control system 1b can cause the vehicle 10b to run by autonomous control without remotely controlling the vehicle 10b using the remote control devices 6, 6a.

[0088] D. Other embodiments: D-1. Other embodiment 1: The control system 1, 1a, 1b may acquire both communication information and detection information as disturbance information. The control system 1, 1a, 1b may acquire two or more pieces of communication information among interference information, weather information, and evaluation information. In this form, the control system 1, 1a, 1b can use multiple pieces of information to detect external factors and determine the extent of the influence of the external factors on the control of unmanned driving, thereby changing the control mode of the operation of the vehicle 10, 10a, 10b.

[0089] D-2. Other embodiment 2: The control system 1, 1a, 1b may acquire information other than the communication information and the detection information as the disturbance information. When the vehicle 10, 10a, 10b is in the middle of being manufactured in a factory, the control system 1, 1a, 1b acquires, for example, manufacturing process information as the disturbance information. The manufacturing process information is information about one manufacturing process being performed on the vehicle 10, 10a, 10b. The manufacturing process information includes, for example, information about the work status in one manufacturing process (hereinafter, work information). The work information is, for example, information indicating whether or not inter-vehicle work is being performed in which a worker or the like enters the area between the front vehicle 10, 10a, 10b and the rear vehicle 10, 10a, 10b and works therebetween. In this form, the control system 1, 1a, 1b can use disturbance information other than the communication information and the detection information to detect external factors and determine the magnitude of the influence of the external factors on the control of unmanned driving, thereby changing the control mode of the operation of the vehicle 10, 10a, 10b.

[0090] D-3. Other embodiment 3: When the presence of an external factor is detected using disturbance information during the period when the control of the external data mode is being executed, the control system 1, 1a, 1b may change the control mode from the external data mode to the separate communication mode. In the separate communication mode, the vehicles 10, 10a, 10b communicate with the outside using a second communication mode different from the first communication mode used in the external data mode, and travel in an unmanned driving manner. The second communication mode is, for example, at least one of a separate line mode and a separate band mode. In the separate line mode, the vehicles 10, 10a, 10b acquire information using a communication line different from the communication line used in the external data mode, in which the degree of influence due to an external factor is equal to or lower than a predetermined threshold. In the separate band mode, the vehicles 10, 10a, 10b acquire information using a communication band different from the communication band used in the external data mode, in which the degree of influence due to an external factor is equal to or lower than a predetermined threshold, in the same communication line as the communication line used in the external data mode. In this embodiment, the control system 1, 1a, 1b can use the disturbance information to perform the following when detecting the presence of an external factor affecting communication between the vehicle 10, 10a, 10b and the outside and communication between a plurality of external devices. In this case, the control system 1, 1a, 1b can use a communication mode different from the external data mode to cause the vehicle 10, 10a, 10b to communicate with the outside of the vehicle 10, 10a, 10b. In this way, the vehicle 10, 10a, 10b can receive and acquire various information such as the internal data Di, the management information In, the reference route Ip, and the map Mp from the outside. As a result, the vehicle 10, 10a, 10b can run in an unmanned driving mode by autonomous control when the presence of an external factor is detected.

[0091] D-4. Other embodiment 4: The control system 1, 1a, 1b may acquire information other than the overlapping degree as the detection information. In this case, the detection information is, for example, information on the imaging conditions when the vehicle 10, 10a, 10b is imaged (hereinafter, imaging condition information). The imaging condition information includes, for example, at least one of brightness information and shadow information. The brightness information is information on the brightness when the vehicle 10, 10a, 10b is imaged. The brightness information includes, for example, at least one of the brightness of the captured image, the luminance value of the captured image, the imaging time, the imaging date and time, the imaging season, the sunrise time and the sunset time corresponding to at least one of the imaging date and time and the imaging season, and the illuminance of the lighting that illuminates the road Ro. The shadow information is information on the shadow reflected in the captured image. The shadow information includes information for determining whether or not a shadow generated by any object is overlapped on the vehicle 10, 10a, 10b to be detected. The shadow information includes, for example, information indicating at least one of the external shape of an object present within the detection range RG of the external camera 90, the image capture time, the image capture date and time, the image capture season, the sunrise time, the sunset time, and the installation position and orientation of lighting that illuminates the road Ro. Even in this form, the control systems 1, 1a, 1b can use the detection information to detect external factors and determine the degree of influence that the external factors have on the control of unmanned driving, thereby changing the control mode of the operation of the vehicles 10, 10a, 10b.

[0092] D-5. Other embodiment 5: In the first embodiment, the communication information was information about the communication status between the vehicle 10 and the remote control device 6. In the third embodiment, the communication information was information about the communication status between the vehicle 10b and the external camera 90. That is, in each of the above embodiments, the communication information was information about the communication status between the vehicles 10, 10a, and 10b and the outside. However, the present disclosure is not limited to the above. The communication information may be information about the communication status between different external devices. That is, the communication information may be information about the communication status between the external camera 90 and the remote control device 6, 6a, for example. In this case, the evaluation information is information for determining the presence or absence of an external factor that affects the communication between the multiple external devices. The evaluation information may include, for example, communication speed information about the communication speed between the multiple external devices as an evaluation result when the communication status between the multiple external devices is actually evaluated. The evaluation information may include interruption information indicating an interruption status of the communication between the multiple external devices, or may include power supply information. The evaluation information may include response information indicating that, when a second communication device communicably connected to the first communication device transmits a signal to the first communication device, no response from the first communication device has been detected. The evaluation information may include reception information indicating that the second external device has detected that information scheduled to be transmitted from the first external device to the second external device has not been transmitted from the first external device. The information scheduled to be transmitted from the first external device to the second external device is, for example, external sensor information. In this embodiment, the control system 1, 1a, 1b can change the control mode of the operation of the vehicle 10, 10a, 10b according to the communication status between the multiple external devices used to control the unmanned driving.

[0093] D-6. Other embodiment 6: The control systems 1, 1a, 1b may use information acquired by an internal sensor mounted on the vehicles 10, 10a, 10b to calculate the position and orientation of the vehicles 10, 10a, 10b, and generate control signals such as a driving control signal, an evacuation signal, and a stop signal. The internal sensor may be, for example, a camera, a LiDAR (Light Detection And Ranging), a millimeter wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, or a gyro sensor. In this manner, the vehicles 10, 10a, 10b can travel unmanned by autonomous control without acquiring various information such as internal data Di and management information In from the outside.

[0094] D-7. Other embodiment 7: The control system 1, 1a, 1b may detect the presence of an external factor when at least one of the first, second, third, and fourth cases occurs during the period when control of the external data mode is being executed, and may change the control mode of the operation of the vehicle 10, 10a, 10b.

[0095] The first case is a case where the external device cannot realize a predetermined function due to an external factor. The first case is, for example, a case where the function of the remote control device 6, 6a is stopped due to an external factor. In this case, the detection unit 155 is realized as, for example, one function of the vehicle control device 15, 15a, 15b. When the detection unit 155 is realized as one function of the vehicle control device 15, 15a, 15b, for example, the vehicle control device 15, 15a, 15b transmits a request signal requesting a travel control signal to the remote control device 6, 6a. Then, when the vehicle control device 15, 15a, 15b does not receive a travel control signal even after a predetermined specified time has elapsed, it determines that the function of the remote control device 6, 6a has stopped and that the first case applies. In other words, the detection unit 151 detects that the first case applies by using response information generated when a device connected to the external device to be judged in a communicable manner transmits a signal to the external device to be judged and detects that there is no response from the external device to be judged.

[0096] The second case is a case where an external factor causes a disruption in communication between a plurality of external devices. The second case is, for example, a case where communication between the external camera 90 and the remote control device 6, 6a is interrupted. In this case, the detection unit 624, 624a is realized, for example, as one function of the remote control device 6, 6a. When the detection unit 624, 624a is realized as one function of the remote control device 6, 6a, for example, the remote control device 6, 6a judges as follows. In this case, when the remote control device 6, 6a does not receive a captured image from the external camera 90 even after a predetermined specified time has elapsed, the remote control device 6, 6a judges that the communication between the external camera 90 and the remote control device 6, 6a is interrupted and corresponds to the second case. That is, the detection unit 624, 624a detects that the second case applies by using reception information generated when it is detected that information scheduled to be transmitted from the first external device to the second external device is not transmitted.

[0097] The third case is a case where the external sensor cannot realize a predetermined function due to an external factor. The third case is, for example, a case where the function of the external camera 90 is stopped due to an external factor. In this case, the detection unit 624, 624a is realized, for example, as one function of the remote control device 6, 6a. When the detection unit 624, 624a is realized as one function of the remote control device 6, 6a, for example, the remote control device 6, 6a judges as follows. When the remote control device 6, 6a receives power information indicating that the power of the external camera 90 is not turned on, it judges that the function of the external camera 90 has stopped and corresponds to the third case. That is, the detection unit 624, 624a detects that the third case applies using the power information indicating that the power of the external sensor is not turned on. Also, when the detection unit 624, 624a is realized as one function of the remote control device 6, 6a, for example, the remote control device 6, 6a may judge as follows. The remote control device 6, 6a may transmit, to the external camera 90, a start instruction for turning on the power of the external camera 90 and starting the external camera 90. Then, when there is no response from the external camera 90 even after a predetermined specified time has elapsed, the remote control device 6, 6a may determine that the function of the external camera 90 has stopped and that the third case applies. In other words, the detection unit 624, 624a may detect that the third case applies by using response information that is generated when a second external device communicably connected to the first external device transmits a signal to the first external device and detects that there is no response from the first external device.

[0098] The fourth case is a case where an external factor causes a disruption in communication between the vehicle 10, 10a, 10b and the external device. The fourth case is, for example, a case where communication between the vehicle 10, 10a, 10b and the remote control device 6, 6a is interrupted. In this case, the detection unit 155 is realized, for example, as one function of the vehicle control device 15, 15a, 15b. When the detection unit 155 is realized as one function of the vehicle control device 15, 15a, 15b, for example, when the vehicle control device 15, 15a, 15b does not receive a travel control signal from the remote control device 6, 6a even after a predetermined specified time has elapsed, the vehicle control device 15, 15a, 15b determines that communication between the vehicle 10, 10a, 10b and the remote control device 6, 6a is interrupted and that the fourth case applies. In other words, the detection unit 155 uses reception information generated when it is detected that information scheduled to be transmitted from the external device to the vehicle 10, 10a, 10b is not transmitted to the vehicle 10, 10a, 10b to determine whether the fourth case applies. Furthermore, when the detection unit 624, 624a is realized as one function of the remote control device 6, 6a, for example, the remote control device 6, 6a makes the following judgment. When the remote control device 6, 6a cannot receive internal sensor information from the vehicle 10, 10a, 10b even after a predetermined specified time has elapsed, the remote control device 6, 6a judges that communication between the vehicle 10, 10a, 10b and the remote control device 6, 6a is cut off and that the fourth case applies. In other words, the detection unit 624, 624a may detect that the fourth case applies by using reception information that is generated when it is detected that information scheduled to be transmitted from the vehicle 10, 10a, 10b to an external device is not transmitted.

[0099] In this embodiment, the control system 1, 1a, 1b can detect the presence of an external factor in at least one of the first, second, third, and fourth cases during the period when the control of the external data mode is being executed. Then, when the control system 1, 1a, 1b detects the presence of an external factor by falling under at least one of the first, second, third, and fourth cases, it can change the control mode of the operation of the vehicle 10, 10a, 10b. Note that the detection unit 155, 624, 624a may be realized as one function of an external sensor.

[0100] D-8. Other embodiment 8: During the period when the control of the internal data mode is being executed, the vehicle control device 15, 15a, 15b may estimate the position of the vehicle 10, 10a, 10b using the surrounding detection sensor information output from the surrounding detection sensor. The surrounding detection sensor is an internal sensor capable of acquiring information of the surrounding area of ​​the vehicle 10, 10a, 10b. The surrounding detection sensor is, for example, a monocular camera, a stereo camera, a LiDAR, a millimeter wave radar, or a sonar sensor. At this time, the vehicle control device 15, 15a, 15b may estimate the absolute position of the vehicle 10, 10a, 10b using the surrounding detection sensor information, or may estimate the relative position of the vehicle 10, 10a, 10b with respect to a surrounding object present in the surrounding area of ​​the vehicle 10, 10a, 10b. The vehicle control device 15, 15a, 15b may generate an evacuation signal including the acceleration and the steering angle as parameters by acquiring a target acceleration and a target steering angle corresponding to the estimated position of the vehicle 10, 10a, 10b using the internal data Di. The vehicle control device 15, 15a, 15b may generate an evacuation signal including the speed and the steering angle as parameters by acquiring a target speed and a target steering angle corresponding to the estimated position of the vehicle 10, 10a, 10b using the internal data Di. The vehicle control device 15, 15a, 15b may generate a detour route for detouring and avoiding contact with the surrounding object using the relative position between the vehicle 10, 10a, 10b and the surrounding object. Then, the vehicle control device 15, 15a, 15b may determine an arbitrary position on the generated detour route as a target position and generate an evacuation signal for moving the vehicle 10, 10a, 10b toward the determined target position. In this form, during the period when the control of the internal data mode is being executed, the vehicle control device 15, 15a, 15b can estimate the position of the vehicle 10, 10a, 10b using the surrounding detection sensor information. The vehicle control devices 15, 15a, and 15b can generate an evacuation signal according to the position of the vehicle 10, 10a, and 10b estimated using the surrounding detection sensor information. As a result, the vehicle control devices 15, 15a, and 15b can continue driving in an unmanned manner without communicating with the outside by controlling the actuators using the generated evacuation signal.

[0101] D-9. Other embodiment 9: During the period when the control of the internal data mode is being executed, the vehicle control device 15, 15a, 15b may estimate the position of the vehicle 10, 10a, 10b by using the position detection sensor information output from the position detection sensor. The position detection sensor is an internal sensor capable of acquiring the position of the vehicle 10, 10a, 10b. The position detection sensor is, for example, a GPS receiver capable of receiving radio waves transmitted from a GPS satellite. The position detection sensor may be a GNSS receiver capable of receiving radio waves transmitted from a GNSS satellite. At this time, the vehicle control device 15, 15a, 15b may generate an evacuation signal including the acceleration and steering angle as parameters by acquiring a target acceleration and a target steering angle corresponding to the estimated position of the vehicle 10, 10a, 10b by using the internal data Di. The vehicle control device 15, 15a, 15b may generate an evacuation signal including the speed and steering angle as parameters by acquiring a target speed and a target steering angle corresponding to the estimated position of the vehicle 10, 10a, 10b by using the internal data Di. The vehicle control devices 15, 15a, 15b may generate an evacuation route, a partial route, or a detour route according to the estimated positions of the vehicles 10, 10a, 10b. The vehicle control devices 15, 15a, 15b may determine an arbitrary position on the generated route as a target position and generate an evacuation signal for moving the vehicles 10, 10a, 10b toward the determined target position. In this form, during the period when the control of the internal data mode is being executed, the vehicle control devices 15, 15a, 15b can estimate the positions of the vehicles 10, 10a, 10b using the position detection sensor information. The vehicle control devices 15, 15a, 15b can generate an evacuation signal according to the positions of the vehicles 10, 10a, 10b estimated using the position detection sensor information. As a result, the vehicle control devices 15, 15a, 15b can continue driving by unmanned driving without using communication with the outside by controlling the actuators using the generated evacuation signal.

[0102] D-10. Other embodiment 10: During the period when the control of the different communication mode is being performed, the vehicle control device 15, 15a, 15b may acquire the management information In from the outside using the second communication mode. In this case, the vehicle control device 15, 15a, 15b may acquire the management information In stored in the storage unit 63, 63a of the remote control device 6, 6a from the remote control device 6, 6a, for example, using the second communication mode. Then, the vehicle control device 15, 15a, 15b may estimate the position of the vehicle 10, 10a, 10b using the management information In acquired from the outside. At this time, the vehicle control device 15, 15a, 15b may generate an evacuation signal including the acceleration and steering angle as parameters by acquiring a target acceleration and a target steering angle corresponding to the estimated position of the vehicle 10, 10a, 10b. The vehicle control device 15, 15a, 15b may generate an evacuation signal including the speed and steering angle as parameters by acquiring a target speed and a target steering angle corresponding to the estimated position of the vehicle 10, 10a, 10b. The vehicle control devices 15, 15a, 15b may generate an evacuation route, a partial route, or a detour route according to the estimated positions of the vehicles 10, 10a, 10b. The vehicle control devices 15, 15a, 15b may determine an arbitrary position on the generated moving route as a target position and generate an evacuation signal for moving the vehicles 10, 10a, 10b toward the determined target position. In this form, during the period when the control of the other communication mode is being executed, the vehicle control devices 15, 15a, 15b can acquire the management information In from the outside by using the second communication mode. The vehicle control devices 15, 15a, 15b can estimate the positions of the vehicles 10, 10a, 10b by using the management information In acquired from the outside. The vehicle control devices 15, 15a, 15b can generate an evacuation signal according to the positions of the vehicles 10, 10a, 10b estimated by using the management information In acquired from the outside. As a result, when it is determined that there is an external factor, the vehicle control devices 15, 15a, 15b can control the actuator using the generated evacuation signal, thereby allowing the vehicle to continue driving in an unmanned manner using a communication mode different from the external data mode.

[0103] D-11. Other embodiment 11: During the period when the control of the different communication mode is being executed, the vehicle control device 15, 15a, 15b may acquire external sensor information from the outside by using the second communication mode. Then, the vehicle control device 15, 15a, 15b may estimate the position of the vehicle 10, 10a, 10b by using the external sensor information acquired from the outside. At this time, the vehicle control device 15, 15a, 15b may generate an evacuation signal including the acceleration and steering angle as parameters by acquiring a target acceleration and a target steering angle corresponding to the estimated position of the vehicle 10, 10a, 10b. The vehicle control device 15, 15a, 15b may generate an evacuation signal including the speed and steering angle as parameters by acquiring a target speed and a target steering angle corresponding to the estimated position of the vehicle 10, 10a, 10b. The vehicle control device 15, 15a, 15b may generate an evacuation route, a partial route, or a detour route according to the estimated position of the vehicle 10, 10a, 10b. Then, the vehicle control device 15, 15a, 15b may determine an arbitrary position on the generated moving route as a target position, and generate an evacuation signal for moving the vehicle 10, 10a, 10b toward the determined target position. In this form, during the period when the control of the other communication mode is being executed, the vehicle control device 15, 15a, 15b can acquire external sensor information from the outside using the second communication mode. Then, the vehicle control device 15, 15a, 15b can estimate the position of the vehicle 10, 10a, 10b using the external sensor information acquired from the outside. Then, the vehicle control device 15, 15a, 15b can generate an evacuation signal according to the position of the vehicle 10, 10a, 10b estimated using the external sensor information acquired from the outside. As a result, the vehicle control device 15, 15a, 15b can continue the unmanned driving by using a communication mode different from the external data mode by controlling the actuator using the generated evacuation signal.

[0104] D-12. Other embodiment 12: In the first embodiment, the internal data Di is data in which the positions of the vehicles 10, 10a, and 10b are associated with the target control value. In contrast, the internal data Di may be data in which time information is associated with the target control value. The time information is information on at least one of the time elapsed from a predetermined time point, the current time, and the time when the information was scheduled to be received but the information was not received. In other words, the internal data Di may be data indicating the target control value at each time point. The target control value is a target value of each parameter included in the evacuation signal. When the internal data Di is data in which time information is associated with the target control value, the internal data Di is, for example, data in which the current time is associated with the target control value. The internal data Di may be data in which the time elapsed from an arbitrary time point, such as the start time of driving by unmanned driving, is associated with the target control value. In this embodiment, when it is determined that there is an external factor, the vehicle control device 15, 15a, 15b can generate an evacuation signal without estimating the position of the vehicle 10, 10a, 10b by acquiring time information. As a result, the vehicle control device 15, 15a, 15b can continue unmanned driving without using communication with the outside by controlling the actuator using the generated evacuation signal.

[0105] D-13. Other embodiment 13: The internal data Di may be data for generating a travel route according to time information. In this case, when it is determined that there is an external factor, the vehicle control device 15, 15a, 15b can generate a travel route according to the time information by acquiring the time information without estimating the position of the vehicle 10, 10a, 10b.

[0106] D-14. Other embodiment 14: The internal data Di may be data indicating a target control value for making the vehicle 10, 10a, 10b execute a predetermined traveling operation. In other words, the internal data Di may be data indicating a predetermined target control value regardless of the position and time of the vehicle 10, 10a, 10b. For example, when stopping the vehicle 10, 10a, 10b, the internal data Di may include a value less than 0 as a target acceleration to decelerate the vehicle 10, 10a, 10b, or may include a value smaller than the current speed as a target speed. When stopping the vehicle 10, 10a, 10b, the internal data Di may further include a target steering angle. Also, for example, when making the vehicle 10, 10a, 10b travel toward a shelter provided at one end in the width direction of the road Ro, the internal data Di may include a target steering angle for steering the vehicle 10, 10a, 10b toward the one end. When the vehicle 10, 10a, 10b is driven toward a shelter provided at one end in the width direction of the road Ro, the internal data Di may further include at least one of a target acceleration and a target speed. The vehicle control device 15, 15a, 15b generates a shelter signal by acquiring a target control value using the internal data Di. In this form, when the presence of an external factor is detected, the vehicle control device 15, 15a, 15b can acquire a target control value and generate a shelter signal without estimating the position of the vehicle 10, 10a, 10b or acquiring time information. As a result, the vehicle control device 15, 15a, 15b can continue driving in an unmanned manner without using communication with the outside by controlling the actuator using the generated shelter signal.

[0107] The internal data Di may be data including a single target value for each parameter. In this case, for example, the vehicle control devices 15, 15a, and 15b use the internal data Di to acquire a target control value. Then, the vehicle control devices 15, 15a, and 15b repeatedly generate an evacuation signal indicating the acquired target control value at a predetermined cycle. In this form, when it is determined that there is an external factor, the vehicle control devices 15, 15a, and 15b can repeatedly generate the same evacuation signal at a predetermined cycle without estimating the position of the vehicle 10, 10a, and 10b or acquiring time information. This allows the vehicle control devices 15, 15a, and 15b to repeatedly cause the vehicle 10, 10a, and 10b to execute the same operation at a predetermined cycle.

[0108] The internal data Di may be data indicating target control values ​​at a plurality of different timings. In this case, for example, the vehicle control devices 15, 15a, and 15b use the internal data Di to acquire target control values ​​in chronological order. Then, the vehicle control devices 15, 15a, and 15b generate evacuation signals indicating the acquired target control values. In this form, when it is determined that there is an external factor, the vehicle control devices 15, 15a, and 15b can generate evacuation signals at a plurality of different timings without estimating the position of the vehicle 10, 10a, and 10b or acquiring time information.

[0109] D-15. Other embodiment 15: The internal data Di may be data for generating a movement route of the vehicle 10, 10a, 10b, such as an evacuation route, a partial route, and a detour route, in order to make the vehicle 10, 10a, 10b execute a predetermined traveling operation. For example, when the vehicle 10, 10a, 10b is made to travel toward an evacuation place provided at one end side in the width direction of the road Ro, the internal data Di includes data for generating a movement route for steering the vehicle 10, 10a, 10b toward the one end side. The vehicle control device 15, 15a, 15b may generate a movement route using the internal data Di, determine a target position at an arbitrary position on the generated movement route, and generate an evacuation signal for moving the vehicle 10, 10a, 10b toward the determined target position. In this form, when it is determined that there is an external factor, the vehicle control device 15, 15a, 15b can generate a movement route and generate an evacuation signal without estimating the position of the vehicle 10, 10a, 10b or acquiring time information. As a result, the vehicle control devices 15, 15a, and 15b can continue unmanned driving without using communication with the outside by controlling the actuators using the generated evacuation signal.

[0110] D-16. Other embodiment 16: In each of the first to third embodiments, when an external factor is detected, the vehicle control device 15, 15a, 15b generates an emergency evacuation signal for emergency evacuation of the vehicle 10, 10a, 10b. The emergency evacuation signal is, for example, an evacuation signal and a stop signal. In contrast, when an external factor is detected, the vehicle control device 15, 15a, 15b may generate a control signal other than the evacuation signal and the stop signal, and use the generated control signal to control the actuator to make the vehicle 10, 10a, 10b run. When an external factor is detected, the vehicle control device 15, 15a, 15b may generate, for example, a non-emergency evacuation signal for making the vehicle 10, 10a, 10b execute a predetermined running operation without emergency evacuation of the vehicle 10, 10a, 10b to an evacuation place.

[0111] For example, in the present embodiment, when the vehicle 10 is produced by transporting the vehicle 10 in a factory using the vehicle 10 traveling in an unmanned manner, the non-emergency evacuation signal is a control signal for causing the vehicles 10, 10a, and 10b to execute the following operations. In this case, the non-emergency evacuation signal is, for example, a signal for decelerating the vehicles 10, 10a, and 10b and moving the vehicles 10, 10a, and 10b to a specific location on the production line that is different from the evacuation location. At this time, the specific location on the production line is, for example, a production location where a production process that is scheduled to be executed next on the vehicles 10, 10a, and 10b is performed. The specific location on the production line may be a production location that is closest to the current location of the vehicles 10, 10a, and 10b, or a production location where an inspection process for inspecting the vehicles 10, 10a, and 10b is performed. The specific location on the production line may be a maintenance location where devices mounted on the vehicles 10, 10a, and 10b are replaced or repaired.

[0112] In this embodiment, the vehicle control device 15, 15a, 15b can generate at least one of an emergency evacuation signal and a non-emergency evacuation signal according to the traveling situation of the vehicle 10, 10a, 10b. As a result, when it is determined that there is an external factor, the vehicle control device 15, 15a, 15b can continue traveling in an unmanned driving mode in either the internal data mode or the separate communication mode.

[0113] D-17. Other embodiment 17: When the vehicle 10, 10a, 10b is traveling in a factory in an unmanned manner and an external factor is detected, the vehicle control device 15, 15a, 15b may do the following. The vehicle control device 15, 15a, 15b may generate either an emergency evacuation signal or a non-emergency evacuation signal depending on the movement status of the vehicle 10, 10a, 10b. The vehicle control device 15, 15a, 15b may change the control mode of the operation of the vehicle 10, 10a, 10b depending on the manufacturing process executed on the vehicle 10, 10a, 10b.

[0114] For example, among a plurality of manufacturing processes executed in sequence, when a manufacturing process that is earlier in chronological order than an inspection process for inspecting the vehicles 10, 10a, 10b is executed on the vehicles 10, 10a, 10b, the vehicle control devices 15, 15a, 15b may execute the following processing. In this case, the vehicle control devices 15, 15a, 15b may generate an emergency evacuation signal and control the actuators using the emergency evacuation signal. On the other hand, when a manufacturing process that is later in chronological order than the inspection process is executed on the vehicles 10, 10a, 10b, the vehicle control devices 15, 15a, 15b may generate a non-emergency evacuation signal and control the actuators using the non-emergency evacuation signal. The process that is earlier in chronological order than the inspection process is, for example, an assembly process for assembling the vehicles 10, 10a, 10b. The manufacturing process that is later in chronological order than the inspection process is, for example, a storage process for storing the vehicles 10, 10a, 10b in a storage location such as a yard. In this embodiment, when an external factor is detected, the vehicle 10, 10a, 10b for which the inspection process has been completed can be moved to an arbitrary location such as a maintenance location without emergency evacuation to an evacuation location. Even if a manufacturing process prior to the inspection process is being performed on the vehicle 10, 10a, 10b, the vehicle control device 15, 15a, 15b may generate a non-evacuation control signal and control the actuator using the non-evacuation control signal. Even if a manufacturing process subsequent to the inspection process is being performed on the vehicle 10, 10a, 10b, the vehicle control device 15, 15a, 15b may generate an emergency evacuation signal and control the actuator using the emergency evacuation signal.

[0115] Also, for example, when a manufacturing process in which the number of workers engaged in the manufacturing process is less than a predetermined number is being performed on the vehicle 10, 10a, 10b, the vehicle control device 15, 15a, 15b may execute the following process. In this case, the vehicle control device 15, 15a, 15b may generate a non-emergency evacuation signal and control the actuator using the non-emergency evacuation signal. A manufacturing process in which the number of workers engaged in the manufacturing process is less than a specified number is, for example, a storage process. In this form, when an external factor is detected, when a manufacturing process in which the number of workers engaged in the manufacturing process is less than a specified number is being performed on the vehicle 10, 10a, 10b, the following can be performed. In this case, the vehicle control device 15, 15a, 15b can move the vehicle 10, 10a, 10b to an arbitrary location such as a maintenance location without emergency evacuation to an evacuation location. Even when a manufacturing process in which the number of workers engaged in the manufacturing process is less than a specified number is being performed on the vehicle 10, 10a, 10b, the vehicle control device 15, 15a, 15b may generate an emergency evacuation signal and control the actuators using the emergency evacuation signal. Also, even when a manufacturing process in which the number of workers engaged in the manufacturing process is equal to or greater than a specified number is being performed on the vehicle 10, 10a, 10b, the vehicle control device 15, 15a, 15b may generate a non-emergency evacuation signal and control the actuators using the non-emergency evacuation signal.

[0116] Also, for example, when a manufacturing process capable of securing a non-object area is being performed on the vehicle 10, 10a, 10b, the vehicle control device 15, 15a, 15b may execute the following process. The non-object area is an area in which no other object exists over a predetermined range around the vehicle 10, 10a, 10b. In this case, the vehicle control device 15, 15a, 15b may generate a non-emergency evacuation signal and control the actuator using the non-emergency evacuation signal. The manufacturing process capable of securing a non-object area over a predetermined range around the vehicle 10, 10a, 10b is, for example, a storage process. In this form, when the presence of an external factor is detected, when a manufacturing process capable of securing a non-object area over a predetermined range around the vehicle 10, 10a, 10b is being performed on the vehicle 10, 10a, 10b, the following process can be performed. In this case, the vehicle control devices 15, 15a, 15b can move the vehicles 10, 10a, 10b to any location such as a maintenance location without emergency evacuation to an evacuation location. Even if a manufacturing process that can secure a non-object area over a specified range around the vehicles 10, 10a, 10b is being performed on the vehicles 10, 10a, 10b, the vehicle control devices 15, 15a, 15b may generate an emergency evacuation signal and control the actuators using the emergency evacuation signal. Even if a manufacturing process that cannot secure a non-object area over a specified range around the vehicles 10, 10a, 10b is being performed on the vehicles 10, 10a, 10b, the vehicle control devices 15, 15a, 15b may generate a non-emergency evacuation signal and control the actuators using the non-emergency evacuation signal.

[0117] The classification and contents of the manufacturing process performed in the factory are not limited to those described above. For example, the assembly process may include a plurality of manufacturing processes, such as an assembly process for assembling interior and exterior parts to the vehicle body, and a wiring process for electrically connecting the assembled parts. Furthermore, manufacturing processes other than the assembly process, inspection process, and storage process may be performed in the factory. For example, manufacturing processes such as a pressing process for manufacturing the vehicle body and parts by pressing, a welding process for welding the vehicle body and parts, and a painting process for painting the vehicle body may be performed in the factory.

[0118] D-18. Other embodiment 18: When it is determined that there is an external factor, the vehicle control device 15, 15a, 15b may change the control mode of the operation of the vehicle 10, 10a, 10b depending on whether or not it can acquire predetermined information. For example, when it is determined that there is an external factor, if at least one of the surrounding detection sensor information and the position detection sensor information can be acquired, the vehicle control device 15, 15a, 15b may execute the following process. In this case, the vehicle control device 15, 15a, 15b may generate a non-emergency evacuation signal and control the actuator using the non-emergency evacuation signal. In this form, when it is possible to acquire at least one of the surrounding detection sensor information and the position detection sensor information, the vehicle control device 15, 15a, 15b can move the vehicle 10, 10a, 10b to an arbitrary location such as a maintenance location without emergency evacuation to an evacuation location.

[0119] D-19. Other embodiment 19: When the control system 1, 1a, 1b detects the presence of an external factor, the control system 1, 1a, 1b may change the control mode of the operation of the vehicle 10, 10a, 10b from the external data mode to the pattern self-propelled mode by setting a pattern self-propelled flag to ON for executing control in the pattern self-propelled mode. The pattern self-propelled mode is either the internal data mode or the separate communication mode. In this form, when the control system 1, 1a, 1b determines that there is an external factor, the control system 1, 1a, 1b can change the control mode of the operation of the vehicle 10, 10a, 10b from the external data mode to the pattern self-propelled mode by setting the pattern self-propelled flag to ON.

[0120] D-20. Other embodiment 20: The control system 1, 1a, 1b may detect the presence of an external factor using communication information and set the pattern self-propelling flag to ON, and then immediately set the pattern self-propelling flag to OFF when the transmission and reception of information scheduled to be transmitted and received is resumed. In this manner, the control system 1, 1a, 1b can determine that the influence of an external factor has been reduced when the communication state between the vehicle 10, 10a, 10b and the outside and the communication state between multiple external devices are improved. Then, the control system 1, 1a, 1b can change the control mode of the operation of the vehicle 10, 10a, 10b from the pattern self-propelling mode to the external data mode by setting the pattern self-propelling flag to OFF. This allows the control system 1, 1a, 1b to resume control in the external data mode.

[0121] D-21. Other embodiment 21: The control system 1, 1a, 1b may change the control mode of the vehicle 10, 10a, 10b from the pattern self-propelling mode to the external data mode by setting the pattern self-propelling flag to OFF when a predetermined flag release condition is satisfied after setting the pattern self-propelling flag to ON. The flag release condition is a condition for reducing the influence of an external factor and resuming control in the external data mode. The flag release condition includes, for example, at least one of a first release condition, a second release condition, and a third release condition. The first release condition is a condition indicating that the communication line used during the period in which the control in the external data mode is being executed is available. The second release condition is a condition indicating that the information scheduled to be transmitted and received is being transmitted and received. The third release condition is a condition indicating that there is no abnormality in the received information.

[0122] For example, when communication between the vehicle 10, 10a, 10b and the remote control device 6, 6a is interrupted, the control system 1, 1a, 1b determines that the first release condition is satisfied when the communication line used for communication between the vehicle 10, 10a, 10b and the remote control device 6, 6a is restored. When the communication line used for communication between the vehicle 10, 10a, 10b and the remote control device 6, 6a is restored, for example, the vehicle control device 15, 15a, 15b resumes receiving a travel control signal from the remote control device 6, 6a.

[0123] For example, when the function of the remote control device 6, 6a stops, if the remote control device 6, 6a receives information that is scheduled to be received by the remote control device 6, 6a, the control system 1, 1a, 1b determines that the second release condition is satisfied. The case where the remote control device 6, 6a receives information that is scheduled to be received by the remote control device 6, 6a is, for example, a case where the remote control device 6, 6a receives a captured image from the external camera 90.

[0124] For example, when communication between the vehicle 10, 10a, 10b and the remote control device 6, 6a is interrupted, the control system 1, 1a, 1b determines that the third release condition is satisfied when the traveling control signal received by the vehicle control device 15, 15a, 15b does not contain any abnormal value and contains a normal value. For example, when the traveling control signal is generated by the remote control device 6, 6a at a predetermined period and transmitted from the remote control device 6, 6a to the vehicle 10, 10a, 10b, the control system 1, 1a, 1b determines whether or not there is an abnormality in the received information, for example, as follows.

[0125] When communication between the vehicle 10, 10a, 10b and the remote control device 6, 6a is impaired, the driving control signal may not be generated and transmitted correctly, and the values ​​of the parameters of the driving control signal at different timings may be fixed to a specific value. Therefore, for example, when the values ​​of the parameters of the driving control signal transmitted from the remote control device 6, 6a at different timings and received by the vehicle control device 15, 15a, 15b are fixed to a specific value, the control system 1, 1a, 1b determines that there is an abnormality in the received information. When the values ​​of the parameters of the driving control signal are fixed to a specific value, for example, at multiple consecutive timings after the first timing, the values ​​of the parameters of the driving control signal are not changed from the values ​​of the parameters of the driving control signal at the first timing.

[0126] When communication between the vehicle 10, 10a, 10b and the remote control device 6, 6a is impaired, the travel control signal may not be generated and transmitted correctly, and the value of each parameter of the travel control signal may become an abnormal value outside a predetermined range. Therefore, for example, when the value of each parameter of the travel control signal transmitted from the remote control device 6, 6a and received by the vehicle control device 15, 15a, 15b is estimated to be an abnormal value, the control system 1, 1a, 1b determines that there is an abnormality in the received information. When the value of each parameter of the travel control signal is estimated to be an abnormal value, for example, when the value of each parameter of the travel control signal is outside a predetermined threshold range. When the value of each parameter of the travel control signal is estimated to be an abnormal value, it may be an outlier when the value of each parameter of the travel control signal at a plurality of different timings is classified by a statistical method.

[0127] In this embodiment, the control system 1, 1a, 1b can set the pattern self-propelling flag to OFF when a predetermined flag release condition is satisfied after setting the pattern self-propelling flag to ON. This allows the control system 1, 1a, 1b to change the control mode of the vehicle 10, 10a, 10b from the pattern self-propelling mode to the external data mode. In this way, the control system 1, 1a, 1b can determine whether or not the influence of the external factor has been reduced. Then, when the control system 1, 1a, 1b determines that the influence of the external factor has been reduced, it can change the control mode of the vehicle 10, 10a, 10b from the pattern self-propelling mode to the external data mode by setting the pattern self-propelling flag to OFF. This allows the control system 1, 1a, 1b to resume control in the external data mode.

[0128] D-22. Other embodiment 22: The calculation unit 151, 621, 621a may calculate the position and orientation of the vehicles 10, 10a, 10b using information acquired by an external sensor of a type different from the external camera 90. The calculation unit 151, 621, 621a may calculate the position and orientation of the vehicles 10, 10a, 10b using, for example, measurement point cloud data acquired by a lidar (hereinafter, external lidar) as an external sensor. In this case, the calculation unit 151, 621, 621a calculates the position and orientation of the vehicles 10, 10a, 10b by, for example, template matching using the measurement point cloud data and reference point cloud data prepared in advance. The reference point cloud data is reference data used as a template in matching with the measurement point cloud data. The reference point cloud data is, for example, virtual three-dimensional point cloud data generated based on three-dimensional CAD data representing the external shape of the vehicles 10, 10a, 10b. The matching algorithm used by the calculation units 151, 621, and 621a is, for example, either ICP (Iteractive Closest Point) or NDT (Normal Distributions Transform).

[0129] D-23. Other embodiment 23: In the first and second embodiments, during the period when the control of the external data mode is being executed, the remote control devices 6, 6a as the control devices 5, 5a execute the processes from obtaining the vehicle position information to generating the driving control signal. In contrast, at least a part of the processes from obtaining the vehicle position information to generating the driving control signal may be executed by the vehicle 10, 10a. For example, the following forms (1) to (3) may be used.

[0130] (1) The remote control device 6, 6a may acquire vehicle position information, determine a target position to which the vehicle 10 should next head, and generate a route from the current location of the vehicle 10, 10a indicated in the acquired vehicle position information to the target position. The remote control device 6, 6a 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 6, 6a may transmit the generated route to the vehicle 10, 10a. The vehicle 10, 10a may generate a travel control signal so that the vehicle 10, 10a travels on the route received from the remote control device 6, 6a, and control the actuator using the generated travel control signal.

[0131] (2) The remote control device 6, 6a may acquire vehicle position information and transmit the acquired vehicle position information to the vehicle 10, 10a. The vehicle 10, 10a may determine a target position to which the vehicle 10, 10a should next travel, generate a route from the current position of the vehicle 10, 10a represented in the received vehicle position information to the target position, generate a travel control signal so that the vehicle 10, 10a travels on the generated route, and control an actuator of the vehicle 10, 10a using the generated travel control signal.

[0132] (3) In the above-mentioned (1) and (2) modes, the vehicle 10, 10a may be equipped with an internal sensor, and a detection result output from the internal sensor may be used for at least one of generating a route and generating a travel control signal. The internal sensor is a sensor equipped in the vehicle 10, 10a. The internal sensor may include, for example, an in-vehicle camera, an in-vehicle lidar, a millimeter wave radar, a sonar sensor, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyro sensor, and the like. For example, in the above-mentioned (1) mode, the remote control device 6, 6a may acquire the detection result of the internal sensor, and when generating a route, may reflect the detection result of the internal sensor in the route. In the above-mentioned (1) mode, the vehicle 10, 10a may acquire the detection result of the internal sensor, and when generating a travel control signal, may reflect the detection result of the internal sensor in the travel control signal. In the above-mentioned (2) mode, the vehicle 10, 10a may acquire the detection result of the internal sensor, and when generating a route, may reflect the detection result of the internal sensor in the route. In the above embodiment (2), the vehicle 10, 10a may acquire the 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.

[0133] D-24. Other embodiment 24: In the third embodiment, the vehicle 10b may be equipped with an internal sensor, and the detection result output from the internal sensor may be used for at least one of generating a route and generating a travel control signal and an evacuation signal. For example, the vehicle 10b 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. The vehicle 10b may acquire the detection result of the internal sensor, and when generating a travel control signal and an evacuation signal, may reflect the detection result of the internal sensor on the travel control signal and the evacuation signal. Furthermore, the vehicle 10b may acquire the detection result of the internal sensor, and when generating a stop signal, may reflect the detection result of the internal sensor on the stop signal.

[0134] D-25. Other embodiment 25: In the third embodiment, the vehicle 10b acquires the vehicle position information using the detection result of the external sensor. In contrast, the vehicle 10b may be equipped with an internal sensor, and the vehicle 10b may acquire the vehicle position information using the detection result of the internal sensor, determine the target position to which the vehicle 10b should next head, generate a route from the current location of the vehicle 10b represented in the acquired vehicle position information to the target position, generate a travel control signal for traveling along the generated route, and control the actuator using the generated travel control signal. The vehicle 10b may also acquire the vehicle position information using the detection result of the internal sensor, determine the evacuation location as the target position, generate a route from the current location of the vehicle 10b represented in the acquired vehicle position information to the evacuation location, generate an evacuation signal for traveling along the generated route, and control the actuator using the generated evacuation signal. In this case, the vehicle 10b can travel without using any detection result of the external sensor. The vehicle 10b may acquire the target arrival time and traffic congestion information from outside the vehicle 10b, and reflect the target arrival time and traffic congestion information in at least one of the route and the travel control signal. In addition, all of the functional configurations of the control systems 1, 1a, and 1b may be provided in the vehicles 10, 10a, and 10b. In other words, the processes realized by the control systems 1, 1a, and 1b, such as obtaining disturbance information and controlling the operation of the vehicles 10, 10a, and 10b using the disturbance information, as described in the present disclosure, may be realized by the vehicles 10, 10a, and 10b alone.

[0135] D-26. Other embodiment 26: In the first embodiment, the remote control device 6, 6a automatically generates a driving control signal to be transmitted to the vehicle 10, 10a. Alternatively, the remote control device 6, 6a may generate a driving control signal to be transmitted to the vehicle 10, 10a according to the operation of an external operator located outside the vehicle 10, 10a. For example, an external operator may operate a steering device including a display for displaying an image output from an external sensor, a steering wheel for remotely operating the vehicle 10, 10a, an accelerator pedal, a brake pedal, and a communication device for communicating with the remote control device 6, 6a by wired communication or wireless communication, and the remote control device 6, 6a may generate a driving control signal according to the operation applied to the steering device.

[0136] D-27. Other embodiment 27: In each of the above embodiments, the vehicles 10, 10a, and 10b 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 vehicles 10, 10a, and 10b may have at least the vehicle control devices 15, 15a, and 15b and the actuators of the vehicle 10 in order to perform the three functions of "running," "turning," and "stopping" by unmanned driving. When the vehicles 10, 10a, and 10b acquire information from the outside for unmanned driving, the vehicles 10, 10a, and 10b may further have a communication device 14. That is, the vehicles 10, 10a, and 10b 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 10, 10a, 10b before the vehicle 10, 10a, 10b is shipped from the factory, or the remaining parts such as the body shell may be attached to the vehicle 10, 10a, 10b after the vehicle 10, 10a, 10b is shipped from the factory without the remaining parts such as the body shell being attached to the vehicle 10, 10a, 10b. 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 10, 10a, 10b, and may be attached from the same direction or from different directions. Note that the position determination and the like may be performed for the form of the platform in the same manner as for the vehicle 10, 10a, 10b in each of the above embodiments.

[0137] D-28. Other embodiment 28: The vehicles 10, 10a, and 10b may be manufactured by combining a plurality of modules. The module means a unit composed of a plurality of parts grouped according to the parts and functions of the vehicles 10, 10a, and 10b. For example, the platform of the vehicles 10, 10a, and 10b may be manufactured by combining a front module that configures the front part of the platform, a central module that configures the central part of the platform, and a rear module that configures the rear part of the platform. The number of modules that configure 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 configure the platform, parts that configure parts of the vehicles 10, 10a, and 10b 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, any mobile body, not limited to the vehicles 10, 10a, and 10b, 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 fasteners, or by integrally molding at least some of the parts constituting the module as a single part by casting. The molding method of integrally molding a single part, particularly a relatively large part, is also called gigacast or megacast. For example, the front module, the center module, and the rear module described above may be manufactured using gigacast.

[0138] D-29. Other embodiment 29: The transportation of the vehicles 10, 10a, 10b using the unmanned driving of the vehicles 10, 10a, 10b is also called "self-propelled transportation." The configuration for realizing the self-propelled transportation is also called "vehicle remote control autonomous traveling transportation system." The production method for producing the vehicles 10, 10a, 10b using the self-propelled transportation is also called "self-propelled production." In the self-propelled production, for example, at a factory where the vehicles 10, 10a, 10b are manufactured, at least a part of the transportation of the vehicles 10, 10a, 10b is realized by the self-propelled transportation.

[0139] 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 of the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention 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 a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0140] 1, 1a, 1b... Driving system, 5, 5a, 5b... Control device, 6, 6a... Remote control device, 10, 10a, 10b... Vehicle, 11... Driving device, 12... Steering device, 13... Braking device, 14... Communication device, 15, 15a, 15b... Vehicle control device, 61... Communication unit of remote control device, 62, 62a... CPU of remote control device, 63, 63a... Memory unit of remote control device, 90... External camera, 150, 150a, 150b... CPU of vehicle control device, 151, 621, 621a... Calculation unit, 15 2,622,622a...acquisition unit, 153,153a,153b...autonomous control unit, 154,154a,154b...operation control unit, 155,624,624a...detection unit, 157,157a,157b...storage unit of vehicle control device, 159...input / output interface, 623,623a...remote control unit, Di...internal data, In...management information, Ip...reference route, Md...detection model, Mp...map, P6,P6a,P15,P15a,P15b...program, RG...detection range, Ro...route

Claims

1. A control device for controlling an operation of a moving body that can move by unmanned operation, An acquisition unit that acquires disturbance information regarding an external factor that affects control of the unmanned driving, the external factor being from an outside different from the moving body; A control device comprising: a control unit that changes a control mode of the operation of the moving object using the disturbance information.

2. The control device according to claim 1 , When the presence of the external factor is detected using the disturbance information during a period in which the moving body is performing control of an external data mode in which the moving body moves by the unmanned driving using communication with the outside of the moving body, The control unit is an internal data mode in which the moving body moves by the unmanned driving without using communication with the outside; a control device that changes the control mode to either a different communication mode in which the moving body moves by unmanned operation by communicating with the outside using a second communication mode different from the first communication mode used in the external data mode.

3. The control device according to claim 1 , A control device, wherein the disturbance information includes at least one of communication information regarding at least one of a communication status between the moving body and the outside and a communication status between a plurality of external devices used to control the operation of the moving body and located at a location different from the moving body, and detection information regarding a detection status when the moving body is detected by a sensor.

4. The control device according to claim 1 , A control device in which, when a degree of impact indicating the magnitude of the effect of the external factor on the control of the unmanned driving is compared with a predetermined threshold, and the degree of impact is equal to or greater than the threshold, the control unit causes the moving body to perform an operation different from that performed when the degree of impact is less than the threshold.

5. A method for controlling an operation of a moving body that can move by unmanned operation, comprising: an acquisition step of acquiring disturbance information relating to an external factor that affects control of the unmanned operation of the moving body and that is from an outside different from the moving body; and a control step of changing a control mode of the operation of the moving object using the disturbance information.

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