Vehicle control device and control method

Abstract

To provide a technology that can appropriately control the operation of a vehicle in accordance with external force acting on the vehicle.SOLUTION: A control device according to the present disclosure includes: an external force information obtaining unit that obtains external force information on external force acting on a freely-running vehicle; an external force determining unit that determines the kind of the external force using the external force information; and a running control signal generating unit that generates a running control signal for the vehicle in accordance with the kind of the external force.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] In the vehicle manufacturing process, a technology for running a vehicle by remote control is known. Also, a self-propelled production method is known in which an unfinished vehicle, such as a platform, is self-propelled while parts are assembled.

[0003] In the self-propelled production method, an event may occur in which the vehicle runs over an external object present on the road. When the vehicle runs over an external object, it is desirable to detect the event and stop or reverse the vehicle. Patent Document 1 discloses a step-running detection device that determines whether or not a tire is running over a step based on a detection signal of the tire air pressure. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-218489 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the self-propelled production method, in addition to the external force acting on the vehicle when the vehicle runs over an external object, an external force may also act on the vehicle during the work of assembling parts to the vehicle. Therefore, if an external force acts on the vehicle, simply stopping or backing up the vehicle will cause a problem in that it will be impossible to continue working on the vehicle. Therefore, it is desirable to appropriately control the operation of the vehicle in response to the external force acting on the vehicle. [Means for solving the problem]

[0006] The present disclosure can be realized in the following forms.

[0007] (1) According to a first aspect of the present disclosure, there is provided a vehicle control device including an external force information acquisition unit that acquires external force information related to an external force acting on a self-propelled vehicle, an external force determination unit that uses the external force information to determine a type of the external force, and a driving control signal generation unit that generates a driving control signal for the vehicle in accordance with the type of the external force. This control device makes it possible to appropriately control the operation of the vehicle in accordance with the type of external force acting on the vehicle. (2) In the above control device, the types of the external force may include a first type of external force that requires the vehicle to stop or reverse, and a second type of external force that requires neither the vehicle to stop nor reverse. According to this control device, it is possible to generate an appropriate travel control signal in response to each of a first type external force that requires the vehicle to stop or reverse, and a second type external force that requires neither the vehicle to stop nor reverse. (3) In the above control device, the external force information acquisition unit may acquire information indicating a reaction force of a drive motor or a steering motor of the vehicle as the external force information. According to this control device, the vehicle can be appropriately controlled in accordance with the information indicating the reaction force of the motor. (4) In the above control device, the types of external forces may include a first type of external force that occurs when the vehicle runs over an external object, and a second type of external force that occurs in response to work being performed on the vehicle. This control device can generate an appropriate travel control signal in response to a first type external force that occurs when the vehicle runs over an external object, and a second type external force that occurs when work is performed on the vehicle. (5) The control device may further include a driving control signal transmission unit that transmits the driving control signal to the vehicle. According to this control device, the vehicle can be controlled by remote control in accordance with the type of external force. (6) The control device may be mounted on the vehicle, and the control device may further include a vehicle control unit that controls a group of actuators of the vehicle in response to the driving control signal. According to this control device, the control device mounted on the vehicle can realize control of the vehicle according to the type of external force. (7) In the above control device, the external force information may include at least one of a position at which the external force acting on the vehicle occurs, a direction of the external force, a magnitude of the external force, and a time series change in the external force. According to this control device, the type of external force can be distinguished from the position at which the external force occurs, the direction of the external force, the magnitude of the external force, and changes in the external force over time. (8) In the above control device, the driving control signal generating unit may generate the driving control signal so as to stop or reverse the vehicle when the type of the external force is a vertically upward external force acting on a wheel of the vehicle. According to this control device, when a wheel of a vehicle runs over an external object, an external force in the vertically upward direction is generated on the wheel, and at that time, the vehicle can be stopped or moved backward. (9) In the above control device, the external force determination unit may be configured to distinguish between a first type external force generated when the vehicle runs over an external object and a second type external force generated in response to work being performed on the vehicle, based on the time-series change in the external force. This control device can generate an appropriate travel control signal in response to a first type external force that occurs when the vehicle runs over an external object, and a second type external force that occurs when work is performed on the vehicle. (10) According to a second aspect of the present disclosure, there is provided a vehicle control method, comprising: (a) acquiring external force information relating to an external force acting on a self-propelled vehicle, (b) determining a type of the external force using the external force information, and (c) generating a driving control signal for the vehicle in accordance with the type of the external force. According to this control method, the operation of the vehicle can be appropriately controlled in accordance with the type of external force acting on the vehicle. (11) In the above control method, the types of the external force may include a first type of external force that requires the vehicle to stop or reverse, and a second type of external force that requires neither the vehicle to stop nor reverse. According to this control method, an appropriate travel control signal can be generated in response to each of a first type external force that requires the vehicle to stop or reverse, and a second type external force that requires neither the vehicle to stop nor reverse. (12) In the above control method, the external force information acquisition unit may acquire information indicating a reaction force of a drive motor or a steering motor of the vehicle as the external force information. According to this control method, the vehicle can be appropriately controlled in accordance with the information indicating the reaction force of the motor. (13) In the above control method, the types of external forces may include a first type of external force that occurs when the vehicle runs over an external object, and a second type of external force that occurs in response to work being performed on the vehicle. According to this control method, it is possible to generate an appropriate travel control signal in response to each of a first type external force that occurs when the vehicle runs over an external object and a second type external force that occurs during work on the vehicle. (14) The above control method may further include a step of transmitting the travel control signal to the vehicle. According to this control method, the vehicle can be controlled by remote control in accordance with the type of external force. (15) The above control method may further include controlling a group of actuators of the vehicle in response to the travel control signal. According to this control method, it is possible to realize control of the vehicle according to the type of external force. (16) In the above control method, the external force information may include at least one of a position at which the external force acting on the vehicle occurs, a direction of the external force, a magnitude of the external force, and a time series change in the external force. According to this control method, the type of external force can be distinguished from the position at which the external force occurs, the direction of the external force, the magnitude of the external force, and the time-series change in the external force. (17) In the above control method, the step (c) may include a step of generating the driving control signal so as to stop or reverse the vehicle when the type of the external force is a vertically upward external force acting on a wheel of the vehicle. According to this control method, when a wheel of a vehicle runs over an external object, a vertically upward external force is generated on the wheel, and at that time, the vehicle can be stopped or moved backward. (18) In the above control method, the step (b) may include a step of distinguishing and determining, in accordance with the time-series change in the external force, a first type external force generated when the vehicle runs over an external object and a second type external force generated in response to work being performed on the vehicle. According to this control method, it is possible to generate an appropriate travel control signal in response to each of a first type external force that occurs when the vehicle runs over an external object and a second type external force that occurs during work on the vehicle. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a conceptual diagram showing a configuration of a vehicle control system. [Diagram 2] FIG. 2 is a block diagram showing the configuration of a vehicle and a server in the first embodiment. [Diagram 3] FIG. 2 is a plan view showing an example of installation of an external force information sensor in a vehicle. [Figure 4] FIG. 1 is an explanatory diagram showing an example of an external force generated when a vehicle runs over an external object. [Diagram 5] FIG. 4 is an explanatory diagram showing an example of an external force generated during work on a vehicle. [Figure 6] 4 is a flowchart showing a processing procedure of vehicle control in the first embodiment. [Figure 7] 10 is a flowchart showing a processing procedure for vehicle control in a second embodiment. [Figure 8] FIG. 13 is a block diagram showing the configuration of a vehicle and a server according to a third embodiment. [Figure 9] FIG. 13 is a block diagram showing the configuration of a vehicle and a server according to a fourth embodiment. [Figure 10]FIG. 13 is a block diagram showing the configuration of a vehicle and a server according to a fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A. First embodiment: 1 is a conceptual diagram showing the configuration of a vehicle control system 10 in an embodiment. The vehicle control system 10 includes one or more vehicles 100 as moving objects, a server 200 that generates a driving control signal for remotely controlling the vehicle 100 and transmits it to the vehicle 100, a plurality of position information sensors 300 that detect vehicle position information, and a process management device 400 that manages the manufacturing process of the vehicle 100. The server 200 can also be called a "remote control device."

[0010] In this specification, "remote control" includes "full remote control" in which all of the operations of the vehicle 100 are completely determined from outside the vehicle 100, and "partial remote control" in which some of the operations of the vehicle 100 are determined from outside the vehicle 100. In addition, "autonomous control" includes "full autonomous control" in which the vehicle 100 autonomously controls its own operations without receiving any information from devices external to the vehicle 100, and "partial autonomous control" in which the vehicle 100 autonomously controls its own operations using information received from devices external to the vehicle 100.

[0011] The vehicle 100 may have a configuration capable of moving by unmanned driving, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 100 may have at least a vehicle control device, a drive device, a steering device, and a braking device in order to perform the three functions of "running," "turning," and "stopping" by unmanned driving. When the vehicle acquires information from the outside for unmanned driving, the vehicle 100 may further have a communication device. That is, the vehicle 100 capable of moving by unmanned driving may not have at least a part of interior parts such as a driver's seat and a dashboard, may not have at least a part of exterior parts such as a bumper and a fender, and may not have a body shell. In this case, the remaining parts such as a body shell may be attached to the vehicle before the vehicle 100 is shipped from the factory, or the remaining parts such as a body shell may be attached to the vehicle after the vehicle 100 is shipped from the factory in a state in which the remaining parts such as the body shell are not attached to the vehicle 100. Each part may be mounted from any direction, such as the top, bottom, front, rear, right or left side of the vehicle 100, and may be mounted from the same direction or from different directions.

[0012] The vehicle 100 may be manufactured by combining a plurality of modules. The module means a unit composed of a plurality of parts grouped according to the part or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module constituting the front part of the platform, a central module constituting the central part of the platform, and a rear module constituting the rear part of the platform. The number of modules constituting 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 constituting the platform, parts constituting parts of the vehicle 100 other than the platform may be modularized. The various modules may include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. In addition, not limited to the vehicle 100, any type of moving body may be manufactured by combining a plurality of modules. Such a module may be manufactured, for example, by joining a plurality of parts by welding or a fastener, or may be manufactured by integrally molding at least a part of the parts constituting the module as one part by casting. The molding method of integrally molding one part, especially a relatively large part, is also called gigacast or megacast. For example, the front, center and rear modules described above may be manufactured using Gigacast.

[0013] In this disclosure, "unmanned driving" means driving that is not driven by a passenger. Driving operation means at least one of the operations of "running," "turning," and "stopping" of the vehicle. Unmanned driving is realized by automatic or manual remote control using a device installed outside the vehicle, or autonomous control of the vehicle. A vehicle that is driven by unmanned driving may have a passenger who does not perform driving operations on board. Passengers who do not perform driving operations include, for example, a person who simply sits in the seat of the vehicle, or a person who performs work other than driving operations, such as assembly, inspection, and operation of switches, while riding in the vehicle. Note that driving by a passenger's driving operation is sometimes called "manned driving."

[0014] Transporting the vehicle 100 by using the unmanned driving of the vehicle 100 is also called "self-propelled transport." The configuration for realizing self-propelled transport is also called a "vehicle remote-controlled autonomous traveling transport system." The production method for producing the vehicle 100 by using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at a factory where the vehicle 100 is manufactured, at least a part of the transportation of the vehicle 100 is realized by self-propelled transport.

[0015] In this disclosure, the term "mobile body" refers to an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (a so-called flying car). The vehicle 100 may be a vehicle that runs on wheels or a vehicle that runs on caterpillar tracks, such as a passenger car, truck, bus, two-wheeled vehicle, four-wheeled vehicle, tank, construction vehicle, etc.

[0016] In this embodiment, the vehicle 100 is preferably a platform before completion. The vehicle 100 includes platforms for electric vehicles (BEVs: Battery Electric Vehicles), gasoline-powered vehicles, hybrid vehicles, and fuel cell vehicles. When the moving body is something other than a vehicle, the expressions "vehicle" and "car" in this disclosure can be appropriately replaced with "moving body", and the expression "running" can be appropriately replaced with "movement".

[0017] In the first embodiment, remote control of the vehicle 100 is performed in a factory where the vehicle 100 is manufactured. The factory includes a first location PL1 and a second location PL2, and these locations PL1 and PL2 are connected by a travel path SR. For example, the first location PL1 is a location where the vehicle 100 is stored before parts are assembled, the travel path SR is an assembly line where the parts are assembled, and the second location PL2 is a location where inspection of the vehicle 100 is performed. Any position in the factory where the vehicle 100 can travel is expressed by XYZ coordinate values ​​of a global coordinate system Σg.

[0018] A plurality of position information sensors 300 are installed around the travel path SR to detect the vehicle 100. The server 200 can detect the relative position and orientation of the vehicle 100 with respect to the ideal route IR in real time using the position information measured by the position information sensor 300. A camera or LiDAR (Light Detection and Ranging) can be used as the position information sensor 300. The position of each position information sensor 300 is fixed, and the relative relationship between the global coordinate system Σg and the device coordinate system, which is the local coordinate system of each position information sensor 300, is known, and a coordinate transformation matrix for mutually transforming the coordinate values ​​of the global coordinate system Σg and the coordinate values ​​of the device coordinate system of each position information sensor 300 is also known.

[0019] The position information sensor 300 may also be called an "external sensor." The position information sensor 300 in this embodiment is a sensor that captures the vehicle 100 from outside the vehicle 100. The position information sensor 300 includes a communication device (not shown) and can communicate with other devices such as the server 200 by wired communication or wireless communication. Specifically, when the position information sensor 300 is configured with a camera, the position information sensor 300 captures an image of the vehicle 100 and outputs the captured image as a detection result.

[0020] The server 200 generates a driving control signal for driving the vehicle 100 along the ideal route IR, and transmits the driving control signal to the vehicle 100. The vehicle 100 drives according to the received driving control signal. Therefore, the vehicle control system 10 can remotely control the vehicle 100 to move from the first location PL1 to the second location PL2 without using a transport device such as a crane or a conveyor. Also, various parts can be assembled to the vehicle 100 while the vehicle 100 is driving along the ideal route IR. The driving control signal can also be called a "control command value." The ideal route IR can also be called a "reference route" or a "target route."

[0021] 2 is a block diagram showing the configuration of the vehicle 100 and the server 200 in the first embodiment. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 that operates under the control of the vehicle control device 110, a communication device 130 for communicating with the server 200 by wireless communication, and an external force information sensor 140 that detects an external force acting on the vehicle 100.

[0022] In this embodiment, the actuator group 120 includes an actuator of a drive device for accelerating the vehicle 100, an actuator of a steering device for changing the traveling direction of the vehicle 100, and an actuator of a braking device for decelerating the vehicle 100. The drive device includes a battery, a driving motor driven by the power of the battery, and driving wheels rotated by the driving motor. The actuator of the drive device includes the driving motor. The actuator group 120 may further include an actuator for swinging the wipers of the vehicle 100, an actuator for opening and closing the power windows of the vehicle 100, and the like.

[0023] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 201, the memory 202, and the input / output interface 203 are connected to each other via the internal bus 204 so as to be able to communicate in both directions. The actuator group 120, the communication device 130, and the external force information sensor 140 are connected to the input / output interface 203.

[0024] In this embodiment, the processor 111 executes a program PG1 pre-stored in the memory 112, thereby functioning as a vehicle control unit 151, a driving control signal acquisition unit 152, and an external force information transmission unit 153. The driving control signal acquisition unit 152 acquires a driving control signal transmitted from the server 200. The vehicle control unit 151 controls the actuator group 120 in accordance with the driving control signal acquired from the server 200, thereby causing the vehicle 100 to drive. The external force information transmission unit 153 acquires external force information detected by the external force information sensor 140 and transmits it to the server 200.

[0025] The server 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 is connected to the input / output interface 203 for communicating with the vehicle 100, the position information sensor 300, and the process management device 400 by wireless communication.

[0026] In this embodiment, the processor 201 executes a program PG2 pre-stored in the memory 202 to function as a vehicle position information acquisition unit 211, a target position determination unit 212, an external force information acquisition unit 213, an external force determination unit 214, a driving control signal generation unit 215, and a driving control signal transmission unit 216. The memory 202 also stores an ideal route IR. The ideal route IR is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting the nodes.

[0027] The vehicle position information acquisition unit 211 acquires vehicle position information measured by the position information sensor 300 from the vehicle 100. The target position determination unit 212 determines a target position to which the vehicle 100 should next head, using the vehicle position information and the ideal route IR. The target position determination unit 212 determines a target position on the ideal route IR that is ahead of the current position of the vehicle 100. When determining the target position, the target position determination unit 212 preferably estimates the current position and orientation of the vehicle 100, using the vehicle position information.

[0028] The position of the vehicle 100 can be obtained by, for example, calculating the coordinates of the positioning point of the moving body in the image coordinate system using the outer shape of the vehicle 100 detected from the captured image, which is the output of the position information sensor 300, and converting the calculated coordinates into coordinates in the global coordinate system Σg. The orientation of the vehicle 100 can be estimated based on the orientation of the movement vector of the vehicle 100 calculated from the positional change of the characteristic points of the vehicle 100 between frames of the captured image, using, for example, an optical flow method. The orientation of the vehicle 100 may be calculated using, for example, the output result of a yaw rate sensor mounted on the vehicle 100.

[0029] The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model that utilizes artificial intelligence. An example of the detection model is a trained machine learning model that has been trained to realize either semantic segmentation or instance segmentation. For example, this machine learning model can be a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset. The training dataset has, for example, a plurality of training images including the vehicle 100, and a correct answer label indicating whether each region in the training image is a region indicating a moving object or a region indicating something other than the vehicle 100. During training of the CNN, it is preferable that the parameters of the CNN are updated by backpropagation (error backpropagation method) so as to reduce an error between the output result of the detection model and the correct answer label.

[0030] The external force information acquisition unit 213 acquires external force information transmitted from the vehicle 100. The external force determination unit 214 determines the type of external force according to the external force information. The external force information preferably includes at least one of, for example, the position at which the external force acting on the vehicle 100 occurs, the direction of the external force, the magnitude of the external force, and the time-series change in the external force. The external force determination unit 214 can determine the type of external force using one or more of these. A method for determining the type of external force will be described later.

[0031] The traveling control signal generating unit 215 generates a traveling control signal according to the next target position determined by the target position determining unit 212. The traveling control signal is a command to make the vehicle 100 travel along the ideal route IR. In other words, the traveling control signal generating unit 215 generates a traveling control signal for making the vehicle 100 travel along the ideal route IR according to the current position of the vehicle 100. The traveling control signal generating unit 215 calculates the traveling speed of the vehicle 100 from the transition of the position of the vehicle 100, and compares the calculated traveling speed with the target speed. When the traveling speed is lower than the target speed as a whole, the traveling control signal generating unit 215 determines the acceleration so that the vehicle 100 accelerates, and when the traveling speed is higher than the target speed, determines the acceleration so that the vehicle 100 decelerates. Further, when the vehicle 100 is located on the ideal route IR, the travel control signal generating unit 215 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the ideal route IR, and when the vehicle 100 is not located on the ideal route IR, in other words, when the vehicle 100 deviates from the ideal route IR, the travel control signal generating unit 215 determines the steering angle and acceleration so that the vehicle 100 returns to the ideal route IR. The travel control signal can be generated as a command including a driving force or a braking force, a steering angle, and an acceleration. Instead of the steering angle and the acceleration, a steering angle and a speed may be used. In addition, depending on the state of the vehicle 100, it is possible to switch between using the steering angle and the acceleration or using the steering angle and the speed. For example, when the vehicle 100 is a completed vehicle, the steering angle and the acceleration may be used, and when the vehicle 100 is a platform such as a chassis module, the steering angle and the speed may be used, or the reverse combination may be used. In this embodiment, the travel control signal generating unit 215 further generates or modifies the travel control signal depending on the type of external force determined by the external force determining unit 214. This point will be described in more detail later. The driving control signal transmission unit 216 transmits a driving control signal to the vehicle 100 .

[0032] The process management device 400 manages the entire manufacturing process of the vehicle 100 in the factory. For example, when one vehicle 100 starts traveling along the ideal route IR, individual information indicating the identification number, model, etc. of the vehicle 100 is transmitted from the process management device 400 to the server 200. The position of the vehicle 100 detected by the server 200 is also transmitted to the process management device 400. The function of the process management device 400 may be implemented in the same device as the server 200. Also, the process management device 400 may be omitted.

[0033] 3 is a plan view showing an example of installation of the external force information sensor 140 in the vehicle 100. In this example, multiple external force information sensors 141-144 are installed at different locations on the vehicle 100. Specifically, the external force information sensors 141, 142 are installed near the front wheels 171, 172, and the external force information sensors 143, 144 are also installed near the rear wheels 173, 174. However, these arrangements are just an example, and multiple external force information sensors 140 can be installed at various other locations on the vehicle 100.

[0034] It is preferable that the external force information sensors 141-144 have both a first function of detecting a force acting on each wheel from the frame of the vehicle 100 and a second function of detecting a force acting on each wheel from an external object present on the travel path SR. Specifically, if a sensor that detects a force acting between each wheel (or axle) and the frame is used as the external force information sensors 141-144, it is preferable that each external force information sensor 141-144 has the first function and the second function. Alternatively, if a pressure sensor that detects the pressure of each wheel is used as the external force information sensors 141-144, it is also preferable that each external force information sensor 141-144 has the first function and the second function. However, a sensor having the first function and a sensor having the second function may be provided separately.

[0035] As the external force information sensor 140, for example, an impact detection sensor, an acceleration sensor, a one-axis force sensor, a three-axis force sensor, a six-axis force sensor, a pressure sensor, or the like can be used. In particular, it is preferable to use a three-axis force sensor or a six-axis force sensor that can detect the direction of a force as the external force information sensor 140. Furthermore, as one type of external force information sensor 140, an inclination angle sensor that detects the inclination angle of the vehicle 100 may be added.

[0036] As the external force information sensor 140, it is also possible to use a sensor that detects the reaction force of a drive motor that drives the drive wheels of the vehicle 100, or a sensor that detects the reaction force of a steering motor that drives the steering wheel 180 of the vehicle 100. The drive motor may be a motor that drives two or four drive wheels, or may be an in-wheel motor installed on the wheels.

[0037] Regarding the reaction force of the motor, the following formula is established: Jθ ·· = Tm-Td (q1) Here, J is the moment of inertia of the motor, θ is the angle of the motor shaft, and θ ·· is the angular acceleration which is the second derivative of the motor shaft angle θ, Tm is the motor torque command, and Td is the reaction force.

[0038] By transforming (q1), the reaction force Td can be calculated using the following formula. Td = Tm - Jθ ·· (q2) The angle θ of the motor shaft can be calculated using a rotation angle sensor such as a resolver or a Hall IC. That is, when detecting the reaction force of the motor, a rotation angle sensor such as a resolver or a Hall IC can be used as the external force information sensor 140.

[0039] In general, any external force can be defined by an external force vector having a starting point, a direction, and a magnitude of the external force. Therefore, it is preferable that the multiple external force information sensors 140 are selected and arranged so that the starting point, direction, and magnitude of the external force acting on the vehicle 100 can be determined from the detection values ​​of the external force information sensors 140.

[0040] The external force determination unit 214 can determine the type of external force and the position where the external force occurs, using the detection values ​​of the multiple external force information sensors 140. As a method for determining the external force, for example, one or more of the following various methods can be used.

[0041] <Judgment method J1> Of the multiple external force information sensors 140 installed at different locations on the vehicle 100, the type of external force is determined according to the position of the external force information sensor that detected the impact. Specifically, for example, when an impact is detected by only one of the multiple external force information sensors 141-144, it can be determined that the external force occurred when the vehicle 100 ran over an external object. Also, when an impact is detected by all of the multiple external force information sensors 141-144, it can be determined that the external force occurred during work performed on the vehicle 100. "Impact" refers to a detection value above a certain level.

[0042] <Judgment method J2> The type of external force is determined according to a time-series change in the external force detected by the external force information sensor 140.

[0043] 4 and 5 show examples of external forces determined by the determination method J2. Fig. 4 shows an example of a first type external force that occurs when the vehicle 100 runs over an external object OB, and Fig. 5 shows an example of a second type external force that occurs during work on the vehicle 100.

[0044] In the example of Fig. 4, an external object OB is present on the floor surface FL of the road on which the vehicle 100 runs. When the vehicle 100 runs and the front wheel 171 runs over the external object OB, the external force detection value F141 by the external force information sensor 141 installed in the vicinity of the front wheel 171 temporarily rises significantly and forms a mountain-shaped waveform. The external force detection values ​​by the other external force information sensors 142-144 are omitted from the illustration because they are negligibly small. The external force detection value F141 indicates a vertically upward external force acting on the wheels of the vehicle 100.

[0045] In the example of Fig. 5, work is being performed to assemble part PT to vehicle 100 while it is moving. In this case, after an external force detection value F141 by external force information sensor 141 installed near front wheel 171 rises, it is maintained at a substantially constant level for a while and assumes a substantially trapezoidal shape. The same is true for external force detection value F143 by external force information sensor 143 installed near rear wheel 173. The external force detection values ​​of the other external force information sensors 142, 144 often show substantially similar patterns.

[0046] The external force determination unit 214 can distinguish and determine the type of external force according to the time-series change of the external force as exemplified in Figures 4 and 5. That is, when the external force detection value shows a time-series change in a mountain shape as shown in Figure 4, it can be determined that it is a first type external force that occurs when the vehicle 100 runs over an external object. Also, when the external force detection value shows a time-series change in a trapezoid shape as shown in Figure 5, it can be determined that it is a second type external force that occurs in response to work on the vehicle 100.

[0047] <Judgment method J3> The position where the external force has occurred is identified based on the magnitude and timing of the detection values ​​of the multiple external force information sensors 140 installed at different locations on the vehicle 100. That is, the position where the external force has occurred can be identified by utilizing the characteristics that the detection value is larger closer to the position where the external force has occurred and the detection value rises at an earlier timing.

[0048] <Judgment method J4> When an inclination angle sensor is installed as the external force information sensor 140, the position where the external force has occurred is identified according to the inclination detected by the inclination angle sensor. For example, when the right front wheel 171 runs over an external object, the vehicle 100 inclines so that the right front of the vehicle 100 rises upward, and it can be estimated from the inclination that an impact has occurred in the upward direction at the right front of the vehicle 100. Each of the determination methods J3 and J4 can be used in combination with the determination method J1 or J2.

[0049] <Judgment method J5> The type of external force is determined according to the magnitude of the external force detected using the external force information sensor 140. For example, if the detected external force is equal to or greater than a preset threshold, it is determined to be a first type external force that requires the vehicle 100 to stop or reverse, and if the detected external force is less than the threshold, it is determined to be a first type external force that does not require the vehicle 100 to stop or reverse. This determination method J5 can be applied when various external force information sensors 140 are used, and can also be applied when a reaction force of a drive motor or steering motor is detected as the external force.

[0050] When detecting the reaction force of the drive motor or steering motor, it may be determined whether the reaction force is a first type external force that requires the vehicle 100 to stop or reverse, or a second type external force that requires neither the vehicle 100 to stop nor reverse, depending on a time-series change in the reaction force. This determination method can be considered to be one type of the determination method J2 described above.

[0051] The external force determination unit 214 may be configured to determine the type and occurrence position of the external force by using template matching using the detection values ​​of the multiple external force information sensors 140. Alternatively, the external force determination unit 214 may be configured to determine the type and occurrence position of the external force by using a machine learning model that inputs the detection values ​​of the multiple external force information sensors 140. In either of these cases, it is preferable that the external force determination unit 214 can distinguish between a first type external force that occurs when the vehicle 100 runs over an external object and a second type external force that occurs in response to work on the vehicle 100. Alternatively, the external force determination unit 214 may be configured to distinguish between a first type external force that requires the vehicle 100 to stop or reverse and a second type external force that does not require the vehicle 100 to stop or reverse. For example, an external force that occurs when the vehicle 100 runs over an external object corresponds to a "first type external force that requires the vehicle 100 to stop or reverse", and other external forces correspond to a "second type external force that does not require the vehicle 100 to stop or reverse". Additionally, the word "requires" may be replaced with the word "requires."

[0052] 6 is a flowchart showing a procedure for vehicle control in the first embodiment. The processor 111 of the vehicle 100 executes a first routine R10 and a second routine R20. The server 200 executes a third routine R30 and a fourth routine R40.

[0053] The first routine R10 includes steps S11 and S12. In step S11, external force information transmission unit 153 waits until it acquires external force information from external force information sensor 140. When the external force information is acquired, the process proceeds to step S12, in which external force information transmission unit 153 transmits the external force information to server 200. The first routine R10 may be executed periodically at regular intervals, or may be executed as an interrupt process when external force information including an external force detection value equal to or greater than a certain level is input from external force information sensor 140. The contents of the second routine R20 will be described later.

[0054] The processor 201 of the server 200 executes a third routine R30 including steps S31 to S33. This third routine R30 may be executed periodically at regular intervals, or may be executed every time the vehicle position information acquisition unit 211 acquires new vehicle position information from the position information sensor 300 that is responsible for measuring the vehicle 100 to be controlled.

[0055] In step S31, the vehicle position information acquisition unit 211 acquires vehicle position information using the detection result output from the position information sensor 300. In this embodiment, the vehicle position information includes X, Y, and Z coordinates in the global coordinate system Σg of the factory. When the position information sensor 300 is a camera installed in the factory, an image is output from the position information sensor 300 as a detection result. The position and orientation of the position information sensor 300 are adjusted in advance. The vehicle position information acquisition unit 211 of the server 200 detects the position of the vehicle 100 from the image that is the detection result of the position information sensor 300, and acquires vehicle position information in the factory from the position of the vehicle 100 in the image. The vehicle position information acquisition unit 211 can detect the vehicle 100 from the image, for example, using a machine learning model that has been trained in advance to detect the vehicle 100 from the image.

[0056] In step S32, the target position determination unit 212 uses the vehicle position information to determine a target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in the global coordinate system Σg of the factory. The server 200 stores in advance an ideal route IR, which is a route to which the vehicle 100 should travel. The ideal route IR is represented by nodes indicating a starting point, nodes indicating passing points, nodes indicating a destination, and links connecting the nodes. The target position determination unit 212 uses the vehicle position information and the ideal route IR to determine a target position to which the vehicle 100 should next head. The target position determination unit 212 determines a target position on the ideal route IR that is ahead of the current location of the vehicle 100.

[0057] In step S33, the traveling control signal generating unit 215 generates a traveling control signal according to the next target position of the vehicle 100. In this embodiment, the traveling control signal includes the acceleration and steering angle of the vehicle 100 as parameters. A normal traveling control signal that does not consider external forces is generated, for example, as follows. First, the traveling control signal generating unit 215 calculates the traveling speed of the vehicle 100 from the transition of the position of the vehicle 100, and compares the calculated traveling speed with a predetermined target speed of the vehicle 100. When the traveling speed is lower than the target speed, the traveling control signal generating unit 215 determines the acceleration so that the vehicle 100 accelerates, and when the traveling speed is higher than the target speed, determines the acceleration so that the vehicle 100 decelerates. When the vehicle 100 is located on the ideal route IR, the driving control signal generating unit 215 determines a steering angle so that the vehicle 100 does not deviate from the ideal route IR, and when the vehicle 100 is not located on the ideal route IR, in other words, when the vehicle 100 has deviated from the ideal route IR, the driving control signal generating unit 215 determines a steering angle so that the vehicle 100 returns to the ideal route IR.

[0058] The generated driving control signal is transmitted to the vehicle 100 by the driving control signal transmission unit 216. The server 200 repeats a third routine R30, which includes obtaining vehicle position information, determining a target position, generating a driving control signal, and transmitting the driving control signal, at a predetermined cycle.

[0059] The processor 201 of the server 200 executes a fourth routine R40 including steps S41 to S43, independent of the above-mentioned third routine R30. This fourth routine R40 may be executed periodically at regular intervals, or may be executed every time the external force information acquisition unit 213 acquires new external force information from the vehicle 100. The fourth routine R40 may also be executed as an interrupt process every time new external force information is input. When the fourth routine R40 is executed at regular intervals, the interval is preferably set shorter than the interval of the third routine R30, and is particularly preferably set to 1 / 2 or less of the interval of the third routine R30.

[0060] In step S41, the external force information acquisition unit 213 acquires the external force information transmitted from the vehicle 100. In step S42, the external force determination unit 214 determines the type of the external force according to the external force information. At this time, the position where the external force occurs may also be determined. In step S43, the running control signal generation unit 215 generates a running control signal according to the type of the external force. For example, when the type of the external force is a first type external force that occurs when the vehicle 100 runs over an external object, the running control signal is generated so as to stop or reverse the vehicle 100. A typical first type external force in this case is a vertically upward external force acting on the wheels of the vehicle 100. Alternatively, when the type of the external force is a first type external force that requires the vehicle 100 to stop or reverse, the running control signal may be generated so as to stop or reverse the vehicle 100. This running control signal is transmitted to the vehicle 100 by the running control signal transmission unit 216. Furthermore, if the type of external force is a second type external force generated by work on the vehicle 100, the external force is ignored, and the fourth routine R40 is terminated without generating a travel control signal. Alternatively, if the type of external force is a second type external force that does not require the vehicle 100 to stop or reverse, the external force may be ignored, and the fourth routine R40 may be terminated without generating a travel control signal. Note that the travel control signal generated in the fourth routine R40 is preferably applied to the control of the vehicle 100 in preference to the travel control signal generated in the third routine R30.

[0061] The second routine R20 of the processor 111 of the vehicle 100 includes steps S21 and S22. In step S21, the traveling control signal acquisition unit 152 waits until it acquires a traveling control signal from the server 200. As the traveling control signal, the one generated in the third routine R30 or the fourth routine R40 described above is acquired. As described above, it is preferable that the traveling control signal generated in the fourth routine R40 is applied to the control of the vehicle 100 in preference to the traveling control signal generated in the third routine R30.

[0062] When the traveling control signal is acquired, the process proceeds to step S22, where the vehicle control unit 151 controls the operation of the vehicle 100 according to the acquired traveling control signal. As a result, the vehicle 100 can be caused to travel along the ideal route IR. In addition, when the vehicle 100 runs over an external object, the vehicle 100 can be caused to stop or move backward. The second routine R20 is preferably executed periodically at regular intervals.

[0063] As described above, in the first embodiment, the server 200 determines the type of external force using external force information detected by the multiple external force information sensors 140, and generates a driving control signal for the vehicle 100 according to the type of external force, so that the operation of the vehicle 100 can be appropriately controlled according to the type of external force acting on the vehicle 100.

[0064] B. Second embodiment: Fig. 7 is a flowchart showing the procedure of vehicle control in the second embodiment. The system configuration and device configuration in the second embodiment are the same as those in the first embodiment. The only difference from the procedure in the first embodiment shown in Fig. 6 is that the server 200 executes a routine R50 instead of routines R30 and R40.

[0065] The processor 201 of the server 200 executes a routine R50 including steps S51 to S55. This routine R50 may be executed periodically at a fixed cycle, or may be executed every time the vehicle position information acquisition unit 211 acquires new vehicle position information from the position information sensor 300 that is responsible for measuring the vehicle 100 to be controlled.

[0066] The processes of steps S51 and S52 are the same as those of steps S31 and S31 in Fig. 6, and the next target position is determined using vehicle position information detected by the position information sensor 300. The processes of steps S53 and S54 are the same as those of steps S41 and S42 in Fig. 6, and the type of external force is determined using external force information detected by the external force information sensor 140. The order of execution of steps S51 to S54 can be changed as appropriate.

[0067] In step S55, the traveling control signal generating unit 215 generates a traveling control signal according to the next target position of the vehicle 100 and the type of external force. For example, when the type of external force is a first type external force that occurs when the vehicle 100 runs over an external object, the traveling control signal may be generated to stop or reverse the vehicle 100. In this way, the vehicle 100 can be stopped or reversed when the wheels of the vehicle 100 run over an external object. Alternatively, when the type of external force is a first type external force that requires the vehicle 100 to stop or reverse, the traveling control signal may be generated to stop or reverse the vehicle 100. Also, when the type of external force is a second type external force that occurs due to work on the vehicle 100, the external force is ignored and a normal traveling control signal is generated to cause the vehicle 100 to continue traveling along the ideal route IR. Alternatively, when the type of external force is a second type external force that does not require the vehicle 100 to stop or reverse, the external force is ignored and a normal traveling control signal is generated to cause the vehicle 100 to continue traveling along the ideal route IR. The generated driving control signal is transmitted to the vehicle 100 by the driving control signal transmission unit 216. The first routine R10 and the second routine R20 of the vehicle 100 are the same as those in FIG.

[0068] The above-described second embodiment also provides substantially the same effects as the first embodiment. That is, the server 200 determines the type of external force using the external force information detected by the multiple external force information sensors 140 and generates a driving control signal for the vehicle 100 according to the type of external force, so that the operation of the vehicle 100 can be appropriately controlled according to the type of external force acting on the vehicle 100.

[0069] C. Third embodiment: Fig. 8 is a block diagram showing the configurations of the vehicle 100 and the server 200 in the third embodiment. The differences from the configuration of the first embodiment shown in Fig. 2 are mainly in the following two points. (1) The function of the external force information transmission unit 153 has been omitted from the functions of the processor 111 of the vehicle 100, and the functions of an external force information acquisition unit 163, an external force determination unit 164, and a driving control signal generation unit 165 have been added. (2) The functions of the external force information acquisition unit 213 and the external force determination unit 214 are omitted from the functions of the processor 201 of the server 200.

[0070] The external force information acquisition unit 163 acquires external force information, which is the detection value, from the multiple external force information sensors 140. The external force determination unit 164 has the same function as the external force determination unit 214 in FIG. 2, and determines the type of external force and the occurrence position from the external force information. The traveling control signal generation unit 165 applies a correction according to the type of external force to the traveling control signal received from the server 200 as necessary, thereby generating a final traveling control signal, and supplies it to the vehicle control unit 151. For example, when the type of external force is a first type external force that occurs when the vehicle 100 runs over an external object, the traveling control signal is created or corrected so as to stop or reverse the vehicle 100. Alternatively, when the type of external force is a first type external force that requires the vehicle 100 to stop or reverse, the traveling control signal may be created or corrected so as to stop or reverse the vehicle 100. Also, when the type of external force is a second type external force that occurs during work on the vehicle 100, the external force is ignored, and the traveling control signal received from the server 200 is supplied to the vehicle control unit 151 as it is without correction. Alternatively, when the type of external force is a second type external force that does not require the vehicle 100 to stop or reverse, the external force may be ignored and the driving control signal received from the server 200 may be supplied to the vehicle control unit 151 without modification.

[0071] In the third embodiment, the vehicle control device 110 of the vehicle 100 executes routines R10, R20, and R40 in Fig. 6, and the server 200 executes routine R30 in Fig. 6. However, communication between the vehicle 100 and the server 200 in routines R10, R20, and R40 is omitted as appropriate.

[0072] The third embodiment also provides substantially the same effects as those of the first embodiment. Furthermore, in the third embodiment, the vehicle control device 110 mounted on the vehicle 100 can realize control of the vehicle 100 according to the type of external force.

[0073] D. Fourth embodiment: Fig. 9 is a block diagram showing the configuration of the vehicle 100 and the server 200 in the fourth embodiment. The differences from the configuration of the third embodiment shown in Fig. 8 are mainly in the following three points. (1) The function of the processor 111 of the vehicle 100 is omitted from that of the driving control signal acquisition unit 152, and the functions of a vehicle position information acquisition unit 161 and a target position determination unit 162 are added. (2) The ideal route IR is stored in the memory 112 of the vehicle 100. (3) The functions of the vehicle position information acquisition unit 211, the target position determination unit 212, the driving control signal generation unit 215, and the driving control signal transmission unit 216 are omitted from the functions of the processor 201 of the server 200.

[0074] The ideal route IR is stored in the memory 112 of the vehicle 100 before the vehicle 100 starts traveling along the ideal route IR. This ideal route IR may be supplied from the server 200, or may be written into the memory 112 of the vehicle 100 using other means. In the latter case, the server 200 may be omitted.

[0075] In the fourth embodiment, the vehicle control device 110 of the vehicle 100 executes all of the routines R10, R20, R30, and R40 in Fig. 6, or executes all of the routines R10, R20, and R50 in Fig. 7. However, the communications between the vehicle 100 and the server 200 in the routines R10, R20, R30, and R40 in Fig. 6 and the communications between the vehicle 100 and the server 200 in the routines R10, R20, and R50 in Fig. 7 are omitted as appropriate.

[0076] The vehicle position information acquisition unit 161 has the same function as the vehicle position information acquisition unit 211 in FIG. 2 and FIG. 8, and acquires vehicle position information measured by the position information sensor 300. The target position determination unit 162 has the same function as the target position determination unit 212 in FIG. 2 and FIG. 8, and determines the next target position of the vehicle 100 along the ideal route IR using the vehicle position information. The traveling control signal generation unit 165 generates a traveling control signal according to the next target position of the vehicle 100 and the type of external force. For example, when the type of external force is a first type external force generated when the vehicle 100 runs over an external object, the traveling control signal is generated to stop or reverse the vehicle 100. When the type of external force is a second type external force generated by work on the vehicle 100, the external force is ignored and a normal traveling control signal is generated to cause the vehicle 100 to continue traveling along the ideal route IR. The generated traveling control signal is supplied to the vehicle control unit 151, and the vehicle control unit 151 controls the actuator group accordingly.

[0077] The traveling control signal is preferably generated to include either a steering angle and acceleration, or a steering angle and speed, as in the first to third embodiments described above. That is, in the fourth embodiment, when the vehicle 100 receives route information of the ideal route IR, the steering angle and acceleration used in the traveling control signal may be generated from the route information, or the steering angle and speed may be generated.

[0078] The fourth embodiment also provides substantially the same effects as the first to third embodiments. Moreover, in the fourth embodiment, the vehicle control device 110 of the vehicle 100 can perform processes from obtaining vehicle position information to generating a driving control signal without using the server 200, and can realize control of the vehicle 100 according to the type of external force. That is, the vehicle 100 can be driven by autonomous control without remotely controlling the vehicle 100 by the server 200.

[0079] E. Fifth embodiment: Fig. 10 is a block diagram showing the configuration of the vehicle 100 and the server 200 in the fifth embodiment. The differences from the configuration of the first embodiment shown in Fig. 2 are mainly in the following three points. (1) The functions of a vehicle position information acquisition unit 161, a target position determination unit 162, and a driving control signal generation unit 165 are added to the functions of the processor 111 of the vehicle 100. (2) The ideal route IR is stored in the memory 112 of the vehicle 100. (3) The functions of the vehicle position information acquisition unit 211 and the target position determination unit 212 are omitted from the functions of the processor 201 of the server 200.

[0080] The ideal route IR is stored in the memory 112 of the vehicle 100 before the vehicle 100 starts traveling along the ideal route IR. This ideal route IR may be supplied from the server 200, or may be written into the memory 112 of the vehicle 100 using other means.

[0081] The device configuration of the fifth embodiment corresponds to the device configuration of the third embodiment shown in FIG. 9 in which the function of generating a driving control signal according to the type of external force is transferred from the vehicle control device 110 of the vehicle 100 to the server 200.

[0082] In the fifth embodiment, the vehicle control device 110 of the vehicle 100 executes routines R10, R20, and R30 in Fig. 6, and the server 200 executes routine R40. However, communication between the vehicle 100 and the server 200 in routines R10, R20, and R30 in Fig. 6 is omitted as appropriate.

[0083] The functions of the vehicle position information acquisition unit 161, the target position determination unit 162, and the traveling control signal generation unit 165 are the same as those of the third embodiment, and therefore will not be described. The fifth embodiment also provides substantially the same effects as the first to fourth embodiments.

[0084] F. Other Embodiments: In the above first to third embodiments, the processes from obtaining vehicle position information to generating a driving control signal are executed by the server 200. In contrast, at least a part of the processes from obtaining vehicle position information to generating a driving control signal may be executed by the vehicle 100. For example, the following forms (F1) to (F3) may be used.

[0085] (F1) The server 200 may acquire vehicle position information, determine a target position to which the vehicle 100 should next head, and generate a route from the current location of the vehicle 100 represented in the acquired position information to the target position. The server 200 may generate a route to a target position between the current location and the destination, or may generate a route to the destination. The server 200 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a driving control signal so that the vehicle 100 drives on the route received from the server 200, and control the actuator group 120 using the generated driving control signal.

[0086] (F2) The server 200 may acquire vehicle position information and transmit the acquired position information to the vehicle 100. The vehicle 100 may determine a target position to which the vehicle 100 should next head, generate a route from the current position of the vehicle 100 represented in the received position information to the target position, generate a driving control signal so that the vehicle 100 travels on the generated route, and control the actuator group 120 using the generated driving control signal.

[0087] (F3) In the above embodiments (F1) to (F2), the vehicle 100 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 driving control signal. The internal sensor may include, for example, a camera, a LiDAR, a millimeter wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyro sensor, and the like. For example, in the above embodiment (F1), the server 200 may acquire the detection result of the internal sensor, and reflect the detection result of the internal sensor on the route when generating a route. In the above embodiment (F1), the vehicle 100 may acquire the detection result of the internal sensor, and reflect the detection result of the internal sensor on the driving control signal when generating a driving control signal. In the above embodiment (F2), the vehicle 100 may acquire the detection result of the internal sensor, and reflect the detection result of the internal sensor on the route when generating a route. In the above embodiment (F2), the vehicle 100 may acquire the detection result of the internal sensor, and reflect the detection result of the internal sensor on the route when generating a route.

[0088] (F4) In the above fourth and fifth embodiments, an internal sensor may be mounted on the vehicle 100, and a detection result output from the internal sensor may be used for at least one of generating a route and generating a traveling control signal. For example, the vehicle 100 may acquire the detection result of the internal sensor, and when generating a route, may reflect the detection result of the internal sensor in the route. The vehicle 100 may acquire the detection result of the internal sensor, and when generating a traveling control signal, may reflect the detection result of the internal sensor in the traveling control signal.

[0089] (F5) In the above fourth and fifth embodiments, the vehicle 100 acquires vehicle position information using the detection result of the external position information sensor 300. In contrast, the vehicle 100 may be equipped with an internal sensor, acquire position information using the detection result of the internal sensor, determine a target position to which the vehicle 100 should next head, generate a route from the current location of the vehicle 100 represented in the acquired position information to the target position, generate a travel control signal for traveling along the generated route, and control the actuator group 120 using the generated travel control signal. In this case, the vehicle 100 can travel without using any detection result of the external position information sensor 300. The vehicle 100 may acquire a target arrival time or traffic congestion information from outside the vehicle 100, and reflect the target arrival time or traffic congestion information in at least one of the route and the travel control signal. In addition, all of the functional configurations of the vehicle control system 10 may be provided in the vehicle 100. That is, the processes realized by the vehicle control system 10, such as changing the destination and detecting a wheel run-off, as shown in the present disclosure, may be realized by the vehicle 100 alone.

[0090] (F6) In the above first to third embodiments, the server 200 automatically generates a driving control signal to be transmitted to the vehicle 100. In contrast, the server 200 may generate a driving control signal to be transmitted to the vehicle 100 in accordance with the operation of an operator located outside the vehicle 100. For example, the operator may operate a control device including a display for displaying an image output from the external position information sensor 300, a steering wheel for remotely controlling the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 by wired communication or wireless communication, and the server 200 may generate a driving control signal in accordance with the operation applied to the control device.

[0091] (F7) Transporting the vehicle 100 by using the driving of the vehicle 100 through unmanned driving is also called "self-propelled transport." Also, a configuration for realizing self-propelled transport is also called a "vehicle remote-controlled autonomous driving transport system." Also, a production method for producing the vehicle 100 using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at a factory where the vehicle 100 is manufactured, at least a part of the transportation of the vehicle 100 is realized by self-propelled transport.

[0092] (F8) In each of the above embodiments, some or all of the functions and processes implemented by software may be implemented by hardware. Also, some or all of the functions and processes implemented by hardware may be implemented by software. As hardware for implementing the various functions in each of the above embodiments, various circuits such as integrated circuits and discrete circuits may be used.

[0093] The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention column can be appropriately replaced or combined to solve some or all of the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0094] 10...vehicle control system, 100...vehicle, 110...vehicle control device, 111...processor, 112...memory, 113...input / output interface, 114...internal bus, 120...actuator group, 130...communication device, 140-144...external force information sensor, 151...vehicle control unit, 152...traveling control signal acquisition unit, 153...external force information transmission unit, 161...vehicle position information acquisition unit, 162...target position determination unit, 163...external force information acquisition unit, 164...external force judgment setting unit, 165...traveling control signal generating unit, 171 to 174...wheels, 200...server, 201...processor, 202...memory, 203...input / output interface, 204...internal bus, 205...communication device, 211...vehicle position information acquiring unit, 212...target position determining unit, 213...external force information acquiring unit, 214...external force determining unit, 215...traveling control signal generating unit, 216...traveling control signal transmitting unit, 300...position information sensor (external sensor), 400...process management device

Claims

1. A control device for a vehicle, an external force information acquisition unit that acquires external force information related to an external force acting on the self-propelled vehicle; an external force determination unit that determines a type of the external force using the external force information; a driving control signal generation unit that generates a driving control signal for the vehicle in response to the type of the external force; A control device comprising:

2. The control device according to claim 1 , A control device, wherein the types of the external force include a first type of external force that requires the vehicle to stop or reverse, and a second type of external force that requires neither the vehicle to stop nor reverse.

3. The control device according to claim 1 , The control device, wherein the external force information acquisition unit acquires information indicating a reaction force of a drive motor or a steering motor of the vehicle as the external force information.

4. The control device according to claim 1 , A control device, wherein the types of the external force include a first type external force that occurs when the vehicle runs over an external object, and a second type external force that occurs in response to work being performed on the vehicle.

5. The control device according to claim 1, further comprising: A control device comprising a driving control signal transmission unit that transmits the driving control signal to the vehicle.

6. The control device according to claim 1 , The control device is mounted on the vehicle, The control device further comprises: a vehicle control unit that controls a group of actuators of the vehicle in response to the driving control signal.

7. The control device according to any one of claims 1 to 6, A control device, wherein the external force information includes at least one of a position where the external force acting on the vehicle occurs, a direction of the external force, a magnitude of the external force, and a time-series change in the external force.

8. The control device according to claim 7, The control device, wherein the driving control signal generation unit generates the driving control signal to stop or reverse the vehicle when the type of the external force is a vertically upward external force acting on a wheel of the vehicle.

9. The control device according to claim 7, The external force determination unit distinguishes between a first type external force that occurs when the vehicle runs over an external object and a second type external force that occurs in response to work being performed on the vehicle, in accordance with the time-series change of the external force.

10. A method for controlling a vehicle, comprising: (a) acquiring external force information relating to an external force acting on a self-propelled vehicle; (b) determining a type of the external force using the external force information; (c) generating a travel control signal for the vehicle in response to the type of the external force; A control method comprising:

11. 11. The control method according to claim 10, A control method, wherein the types of the external force include a first type external force that requires the vehicle to stop or reverse, and a second type external force that requires neither the vehicle to stop nor reverse.

12. 11. The control method according to claim 10, The control method, wherein the step (a) includes a step of acquiring information indicating a reaction force of a drive motor or a steering motor of the vehicle as the external force information.

13. 11. The control method according to claim 10, A control method, wherein the types of the external force include a first type external force that occurs when the vehicle runs over an external object, and a second type external force that occurs in response to work being performed on the vehicle.

14. The control method according to claim 10, further comprising: The control method includes transmitting the driving control signal to the vehicle.

15. The control method according to claim 10, further comprising: The method includes controlling a group of actuators of the vehicle in response to the travel control signal.

16. The control method according to any one of claims 10 to 15, A control method, wherein the external force information includes at least one of a position where the external force acting on the vehicle occurs, a direction of the external force, a magnitude of the external force, and a time-series change in the external force.

17. 17. The control method of claim 16, The step (c) includes a step of generating the driving control signal so as to stop or reverse the vehicle when the type of the external force is a vertically upward external force acting on a wheel of the vehicle.

18. 17. The control method of claim 16, The step (b) includes a step of distinguishing and determining, in accordance with the time-series change in the external force, a first type external force that occurs when the vehicle runs over an external object and a second type external force that occurs in response to work being performed on the vehicle.

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