Control device, vehicle control method and system

Abstract

To properly execute a manufacturing process relating to a vehicle that can run by unmanned driving.SOLUTION: A control device includes: a process identifying unit that identifies a manufacturing process executed for a vehicle that can run by unmanned driving; a state identifying unit that identifies a start state which defines the state of the vehicle at a timing at which the identified manufacturing process starts; and a control unit that executes state control processing for controlling the vehicle in such a way that the state of the vehicle becomes a start state.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a control device, a vehicle control method, and a system.

Background Art

[0002] Patent Document 1 describes an inspection method for an in-vehicle electronic control device. In this inspection method, when the inspection possible conditions that the vehicle to be inspected should satisfy in the inspection process are not achieved, the operator is notified of the measures to be operated to achieve the inspection possible conditions.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, the operator can make the inspection possible conditions hold by executing the measures, and the in-vehicle electronic control device can be appropriately inspected. By the way, a technology for moving a vehicle by autonomous driving is known. A technology for appropriately performing the inspection of a vehicle that can be moved by autonomous driving is desired. Such problems are common not only in inspection but also in executing various manufacturing processes related to the manufacture of a vehicle that can be moved by autonomous driving.

Means for Solving the Problems

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

[0006] (1) According to the first aspect of the present disclosure, a control device is provided. This control device includes a process specifying unit that specifies a manufacturing process to be executed on a vehicle capable of traveling by autonomous driving, a state specifying unit that specifies a start state defining the state of the vehicle at the timing when the specified manufacturing process is started, and a control unit that executes a state control process for controlling the vehicle so that the state of the vehicle becomes the start state. According to this aspect, the possibility of appropriately executing the manufacturing process can be increased. (2) In the above aspect, after the state control process is executed, a state determination unit that executes a determination process for determining whether or not the state of the vehicle is the start state is provided. When the state of the vehicle is different from the start state in the determination process, the control unit may execute at least one of a stop process for stopping the vehicle, a evacuation process for evacuating the vehicle to a predetermined evacuation location, and a notification process for notifying an abnormality. According to this aspect, the possibility of appropriately executing the manufacturing process can be increased for the target vehicle and subsequent vehicles. (3) In the above aspect, when the number of executions of the evacuation process is equal to or less than a predetermined reference number, the control unit does not execute the stop process and the notification process. When the number of executions is more than the reference number, the control unit may execute at least one of the stop process and the notification process. According to this aspect, the manufacturing process can be executed more efficiently, and the possibility of appropriately executing the manufacturing process can be increased. (4) In the above aspect, the manufacturing process may be a process of inspecting the wheel alignment of the vehicle, and the start state may include that the shift position of the vehicle is in the neutral range, that the foot brake and the parking brake of the vehicle are not operating, and that the steering angle of the vehicle is within a predetermined range. According to this aspect, the inspection process of the wheel alignment of the vehicle can be appropriately executed using the autonomous driving of the vehicle. (5) In the above-described embodiment, the manufacturing process is a process of inspecting the skidding amount of the vehicle, and the starting state may include that the vehicle speed of the vehicle is equal to or lower than a predetermined value, the shift position of the vehicle is in the neutral range, and the steering angle of the vehicle is within a predetermined range. According to this embodiment, by using the driverless operation of the vehicle, the inspection process of the skidding amount of the vehicle can be appropriately executed. (6) In the above-described embodiment, the manufacturing process is a process of inspecting the braking force of the braking device of the vehicle, and the starting state may include that a brake different from the brake to be inspected in the vehicle is not operating, the shift position of the vehicle is in the neutral range, and the steering angle of the vehicle is within a predetermined range. According to this embodiment, by using the driverless operation of the vehicle, the inspection process of the braking device of the vehicle can be appropriately executed. (7) The manufacturing process is a process of optically inspecting the headlamp provided in the vehicle, and the starting state may include that the shift position of the vehicle is in the parking range. According to this embodiment, by using the driverless operation of the vehicle, the inspection process of the headlamp of the vehicle can be appropriately executed. (8) In the above-described embodiment, the starting state may include that the shift position is in the neutral range immediately before the parking range. According to this embodiment, by using the driverless operation of the vehicle, the inspection process of the headlamp of the vehicle can be more appropriately executed. (9) In the above-described embodiment, the manufacturing process is a process of inspecting the acceleration device provided in the vehicle by running the vehicle on a rotatable roller, and the starting state may include that the vehicle speed of the vehicle is equal to or lower than a predetermined value and the steering angle of the vehicle is within a predetermined range. According to this embodiment, by using the driverless operation of the vehicle, the inspection process of the acceleration device of the vehicle can be more appropriately executed. (10) In the above-described embodiment, the manufacturing process is a process of inspecting the steering device provided in the vehicle, and the start state may include that the shift position of the vehicle is in the neutral range and the steering force applied to the steering device is equal to or less than a predetermined value. According to this embodiment, the inspection process of the steering angle of the vehicle can be appropriately executed by utilizing the driverless operation of the vehicle. (11) In the above-described embodiment, the manufacturing process is a process of electrically connecting a predetermined component to a predetermined part of the vehicle, and the start state may include that power is not supplied to the part. According to this embodiment, the process of assembling electrical components, electronic components, etc. to the vehicle can be appropriately executed by utilizing the driverless operation of the vehicle. (12) In the above-described embodiment, when the manufacturing process is a first manufacturing process, the start state may include a state for not disturbing a second manufacturing process different from the first manufacturing process. According to this embodiment, it is possible to suppress the second manufacturing process from being disturbed due to the first manufacturing process, and the possibility that each manufacturing process is appropriately executed can be increased. (13) In the above-described embodiment, the work place for executing the first manufacturing process and the work place for executing the second manufacturing process may be adjacent to each other. According to this embodiment, the possibility that each manufacturing process is appropriately executed can be effectively increased. (14) In the above-described embodiment, the second manufacturing process may be executed after the first manufacturing process. According to this embodiment, the possibility that each manufacturing process is appropriately executed can be more effectively increased. (15) In the above-described embodiment, the second manufacturing process is a process of performing work using an optical sensor, and the start state may include that the lighting device provided in the vehicle is not lit. According to this embodiment, it is possible to suppress the work executed at the second work place from being disturbed due to the light irradiated from the lighting device of the vehicle at the first work place. (16) In the above-described embodiment, the second manufacturing process is a process of performing an operation using a radar, and the start state may include that no radio wave is transmitted from the radar provided in the vehicle. According to this embodiment, it is possible to suppress the operation performed at the second work location from being disturbed due to the radio wave transmitted from the radar of the vehicle located at the first work location. The present disclosure can be implemented not only in the form of the control device described above, but also in the form of, for example, a vehicle control method, a system, a program, a non-transitory recording medium on which the program is recorded, a program product, and the like. Note that the program product may be provided, for example, as a recording medium on which the program is recorded, or may be provided as a program product that can be distributed via a network.

Brief Description of the Drawings

[0007]

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Mode for Carrying Out the Invention

[0008] A. First Embodiment: FIG. 1 is a conceptual diagram showing the configuration of the system 50 in the first embodiment. The system 50 includes one or more vehicles 100, a server 200, one or more external sensors 300, and a notification unit 400.

[0009] The vehicle 100 may be a vehicle that runs on wheels or a vehicle that runs on an endless track, and examples thereof include a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, a construction vehicle, and the like. The vehicle 100 includes a battery electric vehicle (BEV), a gasoline vehicle, a hybrid vehicle, and a fuel cell vehicle. In the present embodiment, the vehicle 100 is a battery electric vehicle.

[0010] The vehicle 100 is configured to be capable of running by autonomous driving. "Autonomous driving" means driving that does not depend on the driving operation of a passenger. The driving operation means an operation related to at least any one of "running", "turning", and "stopping" of the vehicle 100. Autonomous driving is realized by automatic or manual remote control using a device located outside the vehicle 100, or by autonomous control of the vehicle 100. A passenger who does not perform a driving operation may be on board the vehicle 100 running by autonomous driving. Passengers who do not perform a driving operation include, for example, a person simply sitting on the seat of the vehicle 100, or a person performing work different from the driving operation, such as assembly, inspection, and operation of switches, while on board the vehicle 100. Note that driving by the driving operation of a passenger is sometimes called "manned driving".

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

[0012] The vehicle 100 only needs to be configured to be movable by driverless operation, and may be in the form of a platform having, for example, the configuration described below. Specifically, the vehicle 100 only needs to include at least a vehicle control device and an actuator group described later in order to exhibit the three functions of "running", "turning", and "stopping" by driverless operation. When acquiring information from a device outside the vehicle 100 for driverless operation, the vehicle 100 may further include a communication device. That is, for the vehicle 100 that can be moved by driverless operation, at least some of the interior parts such as the driver's seat and the dashboard do not have to be installed, at least some of the exterior parts such as the bumper and the fender do not have to be installed, and the body shell does not have to be installed. In this case, until the vehicle 100 is shipped from the factory FC, the remaining parts such as the body shell may be installed on the vehicle 100, or the vehicle 100 may be shipped from the factory FC with the remaining parts such as the body shell not installed, and then the remaining parts such as the body shell may be installed on the vehicle 100. Each part may be installed from any direction such as the upper side, the lower side, the front side, the rear side, the right side, or the left side of the vehicle 100, and they may be installed from the same direction or from different directions respectively. Note that the vehicle 100 in this embodiment is in the form of a completed vehicle.

[0013] In this embodiment, the system 50 is used in the factory FC that manufactures the vehicle 100. The vehicle 100 is configured to be able to travel inside the factory FC by driverless operation.

[0014] Factory FC has one or more workplaces for performing manufacturing processes related to vehicle 100. The manufacturing processes can include various processes for manufacturing vehicle 100, such as an assembly process for assembling vehicle 100, an assembly process for attaching parts to vehicle 100, and an inspection process for inspecting vehicle 100. In the example of FIG. 1, as workplaces, a first workplace PL1 where an assembly process for assembling vehicle 100 is executed, a second workplace PL2 where a first inspection process is executed, and a third workplace PL3 where a second inspection process is executed are shown. Also, FIG. 1 shows a storage location PS for storing vehicle 100 for which inspection has been completed. Each manufacturing process is executed in the order of the assembly process, the first inspection process, and the second inspection process. As shown in FIG. 1, the workplaces and the storage location PS are connected by a roadway on which vehicle 100 can travel. The first workplace PL1 and the second workplace PL2 are connected by a first roadway TR1. The second workplace PL2 and the third workplace PL3 are connected by a second roadway TR2. The third workplace PL3 and the storage location PS are connected by a third roadway TR3. Hereinafter, when not distinguishing each roadway provided in factory FC, each is simply also referred to as a roadway. In factory FC, a plurality of external sensors 300 are installed along the roadway. The position of each external sensor 300 in factory FC is adjusted in advance. Vehicle 100 moves unmanned from the first workplace PL1 toward the storage location PS, passing through each roadway as appropriate. Also, vehicle 100 travels in the order of the first workplace PL1, the second workplace PL2, the third workplace PL3, and the storage location PS.

[0015] The second workplace PL2 and the third workplace PL3 are adjacent workplaces in the target direction of the movement of vehicle 100 in factory FC. The target direction means the traveling direction of vehicle 100 along a reference route RR described later. That is, the target direction is the direction from the rear side to the front side in the reference route RR. Specifically, the target direction is the direction from the rear side to the front side in the reference route RR on this line ML.

[0016] FIG. 2 is a diagram for explaining the first inspection process SP1 and the second inspection process SP2 in the present embodiment. In FIG. 2, a state is shown in which the first inspection process SP1 is being executed on the vehicle 100A and the second inspection process SP2 is being executed on the vehicle 100B. The first inspection process SP1 is a wheel alignment inspection process for inspecting the wheel alignment of the vehicle 100. The second inspection process SP2 is a headlamp inspection process for optically inspecting the headlamp provided on the vehicle 100 using an optical sensor. Hereinafter, a process for inspecting the vehicle 100, such as the first inspection process SP1 and the second inspection process SP2, will also be simply referred to as an inspection process. Further, when the first inspection process SP1 is the first manufacturing process, the second inspection process SP2 corresponds to the second manufacturing process, which is a manufacturing process different from the first manufacturing process.

[0017] In the first inspection process SP1, while rotating the wheels of the vehicle 100 positioned at a predetermined measurement position on the measurement table MS by the rotation drive unit RD1, the toe angle, camber angle, and caster angle of the wheels of the vehicle 100 are measured by a contact or non-contact measuring device (not shown), thereby inspecting the wheel alignment of the vehicle 100. The rotation drive unit RD1 is configured by, for example, an electric roller, an endless belt, or the like. In the second inspection process SP2, the headlamp HL of the target vehicle 100 positioned at a predetermined inspection position is optically inspected using an optical sensor that detects visible light. In FIG. 2, a state is shown in which, in the third work place PL3, the position, light quantity, and light color of the optical axis of the headlamp HL of the vehicle 100B are inspected using a headlamp tester HT having a camera with a built-in optical sensor.

[0018] FIG. 2 shows a first start state SC1 which is a start state of the first inspection process SP1 and a second start state SC2 which is a start state of the second inspection process SP2. The start state is predetermined for each manufacturing process and defines the state of the vehicle 100 at the timing when the manufacturing process is started. The start state is defined, for example, as the motion state of the vehicle 100, the operating state of each part of the vehicle 100, or a combination of the motion state and the operating state of the vehicle 100. The motion state and the operating state of the vehicle 100 in the start state may be represented by parameters.

[0019] The first start state SC1 includes a first state C1, a second state C2, a third state C3, a fourth state C4, and a fifth state C5. The first state C1 is a state in which the shift position of the vehicle 100 is in the neutral range (hereinafter also referred to as the N range). The second state C2 is a state in which the foot brake of the vehicle 100 is not actuated. The third state C3 is a state in which the parking brake of the vehicle 100 is not actuated. The fourth state C4 is a state in which the steering angle of the vehicle 100 is within a predetermined reference range. Specifically, in the present embodiment, the fourth state C4 is a state in which the steering angle of the vehicle 100 is 0°. The fifth state C5 is a state in which the lighting device of the vehicle 100 is not lit.

[0020] In the present embodiment, the fifth state C5 included in the first start state SC1 corresponds to a state for not disturbing the second inspection process SP2 executed at the third work location PL3. If, in the first inspection process SP1, a lighting device such as a headlamp HL provided in the vehicle 100A is lit, the light from the lighting device can be irradiated from the second work location PL2 to the third work location PL3. The light irradiated from the second work location PL2 in this way can be detected by an optical sensor in the second inspection process SP2 of the vehicle 100B executed at the third work location PL3. Thus, if the lighting device of the target vehicle 100 is lit in the first inspection process SP1, the second inspection process SP2 can be disturbed.

[0021] Further, the second start state SC2 includes the sixth state C6, the seventh state C7, and the eighth state C8. The sixth state C6 is a state where the shift position of the vehicle 100 is in the parking range (hereinafter also referred to as the P range). The seventh state C7 is a state where the shift position of the vehicle 100 is in the N range immediately before the P range. That is, the seventh state C7 can also be said to be a state where the shift position has been changed from the N range to the current P range immediately after the N range. In this case, "immediately before" and "immediately after" mean that the shift position is changed between the N range and the P range without passing through other ranges different from the N range and the P range. The eighth state C8 is a state where other lighting devices different from the lighting device to be inspected are not lit. The eighth state C8 included in the second start state SC2 is, for example, a state where the fog lamp is not lit.

[0022] As shown in FIG. 1, the factory FC in this embodiment has this line ML, the first auxiliary line SL1, and the second auxiliary line SL2. This line ML includes each work location from the first work location PL1 to the storage location PS and each road from the first road TR1 to the third road TR3. In this embodiment, this line ML corresponds to a production line. The production line is a line in the factory FC for performing each manufacturing process on the vehicle 100 while driving the vehicle 100 from the start point to the end point of autonomous driving.

[0023] The first auxiliary line SL1 is configured as a path connecting the second working place PL2 and the first track TR1. The starting end SE1 of the first auxiliary line SL1 is connected to the second working place PL2 in this line ML, and the ending end EE1 of the first auxiliary line SL1 is connected to the first track TR1 in this line ML. The first auxiliary line SL1 includes a first evacuation place EL1 predetermined for the first inspection process SP1. The second auxiliary line SL2 is configured as a path connecting the third working place PL3 and the second track TR2. The starting end SE2 of the second auxiliary line SL2 is connected to the third working place PL3 in this line ML, and the ending end EE2 of the second auxiliary line SL2 is connected to the second track TR2 in this line ML. The second auxiliary line SL2 includes a second evacuation place EL2 predetermined for the second inspection process SP2. The first auxiliary line SL1 corresponds to a return line for the first inspection process SP1. Also, the second auxiliary line SL2 corresponds to a return line for the second inspection process SP2. The return line is a line in the factory FC that includes an evacuation place and whose starting end and ending end are connected to the production line.

[0024] FIG. 3 is a block diagram showing the configuration of the system 50. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 including one or more actuators driven under the control of the vehicle control device 110, a communication device 130 for communicating with an external device such as the server 200 by wireless communication, and one or more internal sensors 140. The actuator group 120 includes actuators related to the running of the vehicle 100, such as an actuator of a driving 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 driving 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 driving device includes the driving motor. The actuator group 120 may further include actuators for operating various auxiliary machines provided in the vehicle 100 and various equipment such as a wiper, a power window, and a lamp provided in the vehicle 100.

[0025] The internal sensor 140 is a sensor mounted on the vehicle 100. The internal sensor 140 may include, for example, a sensor for detecting the motion state of the vehicle 100, a sensor for detecting the operating state of each part of the vehicle 100, and a sensor for detecting the surrounding environment of the vehicle 100. For example, in the present embodiment, the internal sensor 140 includes a shift position sensor for measuring the shift position of a transmission provided in the vehicle 100 and a vehicle speed sensor for measuring the vehicle speed of the vehicle 100. In addition to the shift position sensor and the vehicle speed sensor, the internal sensor 140 may include various sensors such as a camera, LiDAR, a millimeter wave radar, an ultrasonic sensor, a GPS sensor, a wheel speed sensor, an acceleration sensor, a gyro sensor, and various encoders for detecting the operation of each part of the vehicle 100.

[0026] In this specification, "vehicle speed" means the relative speed of the vehicle 100 with respect to the road surface on which the vehicle 100 is located. This road surface includes not only a stationary road surface but also a moving road surface such as a conveyor or a roller. The vehicle speed can be detected based on a value representing the number of rotations of the wheels using a vehicle speed sensor or a wheel speed sensor. Also, the vehicle speed with respect to a stationary road surface may be calculated based on, for example, a change in the position of the vehicle 100.

[0027] The vehicle control device 110 is composed of a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected to be communicable bidirectionally via the internal bus 114. An actuator group 120 and a communication device 130 are connected to the input / output interface 113. The processor 111 realizes various functions including the function as a vehicle control unit 115 by executing a program PG1 stored in the memory 112.

[0028] The vehicle control unit 115 controls the operation of each part of the vehicle 100 by controlling the actuator group 120. In particular, the vehicle control unit 115 makes the vehicle 100 travel by controlling various actuators related to driving. The vehicle control unit 115 can make the vehicle 100 travel by controlling the actuator group 120 using the driving control signal received from the server 200 regardless of whether a passenger is on board the vehicle 100. The driving control signal is a control signal for making the vehicle 100 travel. In the present embodiment, the driving control signal includes the acceleration and the steering angle of the vehicle 100 as parameters. In other embodiments, the driving control signal may include the speed of the vehicle 100 as a parameter instead of or in addition to the acceleration of the vehicle 100. Also, when a passenger is on board the vehicle 100, the vehicle control unit 115 can make the vehicle 100 travel by controlling the actuator group 120 according to the driving operation of the passenger.

[0029] The external sensor 300 is a sensor located outside the vehicle 100. The external sensor 300 in the present embodiment is a sensor that captures the vehicle 100 from outside the vehicle 100. The external sensor 300 is provided with a communication device (not shown) and can communicate with other devices such as the server 200 by wired communication or wireless communication. The external sensor 300 may be used to detect the environment around the vehicle 100. Specifically, the external sensor 300 is constituted by a camera. The camera as the external sensor 300 acquires a captured image including the vehicle 100 and outputs the captured image as a detection result.

[0030] The notification unit 400 notifies the user of the system 50 of an abnormality. The user of the system 50 is, for example, the administrator of the system 50 or the factory FC, or the worker in the factory FC. The notification unit 400 in the present embodiment is configured as a tablet terminal carried by the administrator. The notification unit 400 notifies the user of various information including information regarding an abnormality via a display unit 401 provided in the notification unit 400. The display unit 401 in the present embodiment is configured as a touch panel (for example, a liquid crystal display or an organic EL display) capable of touch operation and also has a function as a reception unit that receives an operation from the user. The notification unit 400 is provided with a communication device (not shown) and can communicate with the server 200 by wired communication or wireless communication. In other embodiments, the notification unit 400 may notify the user of an abnormality via, for example, a speaker instead of or in addition to the display unit 401. Further, the notification unit 400 may be, for example, a display panel, a warning buzzer, or a warning lamp provided in the factory FC, or a display device or a speaker connected to the server 200.

[0031] Server 200 is composed of 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 so as to be communicable bidirectionally via the internal bus 204. A communication device 205 for communicating with various external devices outside the server 200 is connected to the input / output interface 203. The communication device 205 can communicate with the vehicle 100 by wireless communication and can communicate with each external sensor 300 by wired communication or wireless communication. Various information including a program PG2, a reference route RR, a detection model DM, and a database DB is stored in the memory 202. By executing the program PG2 stored in the memory 202, the processor 201 realizes various functions including functions as a control unit 210, a process specifying unit 215, a current state acquisition unit 220, a state specifying unit 230, and a state determination unit 250. The server 200 in the first embodiment corresponds to the "control device" in the present disclosure.

[0032] The control unit 210 in the present embodiment has a function of executing autonomous driving of the vehicle 100 and a function of executing state control processing and subsequent processing described later. The control unit 210 acquires a detection result by a sensor, generates a driving control signal for controlling the actuator group 120 of the vehicle 100 using the detection result, and transmits the driving control signal to the vehicle 100, thereby driving the vehicle 100 by remote control. The control unit 210 may generate and output not only a driving control signal but also a control signal for controlling an actuator that operates various auxiliary machines provided in the vehicle 100, various equipment such as a wiper, a power window, and a headlamp. That is, the control unit 210 may operate such various equipment and various auxiliary machines by remote control.

[0033] The process specifying unit 215 specifies the manufacturing process to be executed on the vehicle 100. Hereinafter, the manufacturing process to be executed on the vehicle 100 is also referred to as the target manufacturing process. The process specifying unit 215 specifies the target manufacturing process, for example, by acquiring at least one of the position information and the process information of the target vehicle 100, which is the vehicle 100 to be controlled. The process specifying unit 215 in the present embodiment specifies the target manufacturing process by acquiring the position information. If each manufacturing process is pre-associated with each work location in the factory FC, the process specifying unit 215 can specify the target manufacturing process by simply specifying the position of the vehicle 100 using the position information. Further, the process specifying unit 215 may specify the target manufacturing process, for example, by referring to a database in which each location in the factory FC and the identification information of each manufacturing process are associated based on the position information. The position information may be any information that can specify the position of the vehicle 100 to the extent that the manufacturing process received by the vehicle 100 can be specified. For example, the position information may be the position coordinates of the vehicle 100. As shown in FIG. 1, in the present embodiment, since the reference coordinate system of the factory FC is the global coordinate system GC, the position coordinates of the vehicle 100 can be expressed as the X, Y, and Z coordinates in the global coordinate system GC. Further, the position information may be information that roughly represents the position of the vehicle 100, for example, information that represents the area in the factory FC where the vehicle 100 is located. Also, as in the present embodiment, when the positions of the respective external sensors 300 are predetermined, the position information may be, for example, information that specifies the external sensor 300 that has captured the target vehicle 100.

[0034] The process information is information regarding the manufacturing process executed on the vehicle 100. The process information is obtained, for example, based on information indicating the execution order of each manufacturing process or information indicating the next manufacturing process to be executed on the target vehicle 100. As information indicating such an execution order or the next manufacturing process, for example, log data of each manufacturing process or work record data recording the progress status of each manufacturing process can be used. Information indicating the execution order or the next manufacturing process may be stored, for example, in the memory 202 of the server 200, may be stored in the memory 112 of the vehicle control device 110 of the target vehicle 100, or may be stored in a computer or a recording medium external to the target vehicle 100 and the server 200. Further, information indicating the execution order or the next manufacturing process may be stored in association with the identification information of each vehicle 100. Further, the process information may be obtained based on the position information of the target vehicle 100. In this case, for example, information representing each location in the factory FC and information representing each manufacturing process executed at each location may be stored in the memory 202, the memory 112, an external computer, or a recording medium in association with each other.

[0035] Returning to the explanation in FIG. 3. The current state acquisition unit 220 acquires the current state of the target vehicle 100. The current state represents the actual state of the vehicle 100 at the timing when the current state acquisition unit 220 executes the acquisition of the current state. The current state may be acquired, for example, using the internal sensor 140 or may be acquired using the external sensor 300.

[0036] The current state only needs to include at least the state regarding each start state defined for each manufacturing process among the motion state and the operation state of the vehicle 100. That is, in the present embodiment, the current state only needs to include the state regarding the first state C1 to the eighth state C8 described above. Specifically, the current state includes, for example, the shift position of the vehicle 100, the state indicating whether the foot brake of the vehicle 100 is operating, the state indicating whether the parking brake of the vehicle 100 is operating, the steering angle of the vehicle 100, the history of the shift position of the vehicle 100, and the state indicating whether various lighting devices provided in the vehicle 100 are lit. The history of the shift position is generated, for example, each time the shift position of the vehicle 100 is changed or at a predetermined time interval by recording the shift position in the memory 112 or the like by the processor 111.

[0037] Based on at least one of the acquired position information and the process information, the state specifying unit 230 specifies the start state defined for the target manufacturing process. Hereinafter, the start state specified by the state specifying unit 230, that is, the start state defined for the target manufacturing process, is also referred to as the target state. In the present embodiment, the state specifying unit 230 specifies the target state using the database DB.

[0038] In the database DB in this embodiment, location information representing locations in the factory FC and the start states of manufacturing processes executed at the work locations corresponding to those locations are stored in association with each other. For example, in the database DB, the location information representing the second work location PL2 is associated with the first start state SC1, which is the start state of the first inspection process SP1 executed at the second work location PL2. Similarly, the location information representing the third work location PL3 is associated with the second start state SC2. Note that in the database DB in this embodiment, for example, the location information representing the first runway TR1, the second runway TR2, or the third runway TR3 is not associated with a start state. In other embodiments, for example, in the database DB, identification information of the manufacturing process may be further associated with the location information and the start state. Further, the database DB may include, for example, data associating each location information with the identification information of each manufacturing process and data associating the identification information of each manufacturing process with each start state.

[0039] Hereinafter, the work location for executing the target manufacturing process is also referred to as the target work location. Further, the manufacturing process executed before the target manufacturing process is also referred to as the previous process. Further, the manufacturing process executed after the target manufacturing process is also referred to as the subsequent process. For example, when the target manufacturing process is the first inspection process SP1, the assembly process corresponds to the previous process. Also, in this case, the second inspection process SP2 corresponds to the subsequent process.

[0040] When the target state is specified by the state specifying unit 230, the control unit 210 executes state control processing. The state control processing is processing for controlling the vehicle 100 so that the state of the vehicle 100 becomes the target state. Specifically, the state control processing in this embodiment is processing for issuing a command to the target vehicle 100 so that the state of the target vehicle 100 becomes the target state. After the state control processing is executed, the state determination unit 250 executes determination processing. The determination processing is processing for determining whether or not the state of the vehicle 100 is the target state.

[0041] Further, when the state of the vehicle 100 is different from the target state in the determination process, the control unit 210 in the present embodiment executes subsequent processing. The subsequent processing is processing for executing at least any one of a stop process, an evacuation process, and a notification process. The evacuation process is a process for evacuating the vehicle 100 to a predetermined evacuation location for the target manufacturing process. The stop process is a process for stopping the running of the vehicle 100. The notification process is a process for notifying an abnormality.

[0042] FIG. 4 is a flowchart showing a processing procedure of the travel control of the vehicle 100 in the first embodiment. In the processing procedure of FIG. 4, the processor 201 of the server 200 functions as the control unit 210 by executing the program PG2 and executes remote control of the vehicle 100. Further, the processor 111 of the vehicle 100 functions as the vehicle control unit 115 by executing the program PG1.

[0043] In step S1, the processor 201 of the server 200 acquires vehicle position information of the vehicle 100 using the detection result output from the external sensor 300. The vehicle position information is position information that serves as a basis for generating a travel control signal. In the present embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S1, the processor 201 acquires the vehicle position information using the captured image acquired from the camera which is the external sensor 300.

[0044] Specifically, in step S1, the processor 201 detects the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the measurement points of the vehicle 100 in the coordinate system of the captured image, that is, the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby obtaining the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence (AI). The detection model DM is prepared, for example, within or outside the system 50 and is pre-stored in the memory 202 of the server 200. Examples of the detection model DM include a trained machine learning model that is trained to realize either semantic segmentation or instance segmentation. 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 100 and a label indicating whether each region in the training image is a region indicating the vehicle 100 or a region indicating other than the vehicle 100. During the learning of the CNN, it is preferable that the parameters of the CNN are updated so as to reduce the error between the output result by the detection model DM and the label by backpropagation (error backpropagation method). Further, the processor 201 can obtain the orientation of the vehicle 100, for example, by estimating based on the direction of the movement vector of the vehicle 100 calculated from the position change of the feature points of the vehicle 100 between the frames of the captured image using the optical flow method.

[0045] In step S2, the processor 201 of the server 200 determines the target position to which the vehicle 100 should next head. In the present embodiment, the target position is represented by the coordinates of X, Y, and Z in the global coordinate system GC. In the memory 202 of the server 200, a reference route RR, which is the route along which the vehicle 100 should travel, is stored in advance. The route is represented by a node indicating the starting point, a node indicating the passing point, a node indicating the destination, and links connecting each node. The processor 201 uses the vehicle position information and the reference route RR to determine the target position to which the vehicle 100 should next head. The processor 201 determines the target position on the reference route RR ahead of the current position of the vehicle 100.

[0046] In step S3, the processor 201 of the server 200 generates a driving control signal for driving the vehicle 100 toward the determined target position. The processor 201 calculates the driving speed of the vehicle 100 from the change in the position of the vehicle 100 and compares the calculated driving speed with the target speed. Overall, when the driving speed is lower than the target speed, the processor 201 determines the acceleration so that the vehicle 100 accelerates, and when the driving speed is higher than the target speed, the processor 201 determines the acceleration so that the vehicle 100 decelerates. Also, when the vehicle 100 is located on the reference route RR, the processor 201 determines the steering angle and the acceleration so that the vehicle 100 does not deviate from the reference route RR, and when the vehicle 100 is not located on the reference route RR, in other words, when the vehicle 100 has deviated from the reference route RR, the processor 201 determines the steering angle and the acceleration so that the vehicle 100 returns to the reference route RR.

[0047] In step S4, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats the acquisition of vehicle position information, determination of the target position, generation of the driving control signal, and transmission of the driving control signal at a predetermined cycle.

[0048] In step S5, the processor 111 of the vehicle 100 receives the driving control signal transmitted from the server 200. In step S6, the processor 111 of the vehicle 100 controls the actuator group 120 using the received driving control signal, thereby driving the vehicle 100 at the acceleration and steering angle represented by the driving control signal. The processor 111 repeats the reception of the driving control signal and the control of the actuator group 120 at a predetermined cycle. According to the system 50 in the present embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using conveying facilities such as a crane or a conveyor.

[0049] FIG. 5 is a flowchart showing the processing procedure of vehicle control processing for realizing the control method of the vehicle 100 in the present embodiment. The vehicle control processing in FIG. 5 is executed, for example, at a predetermined time interval. In the vehicle control processing in FIG. 5, the processor 201 of the server 200 functions as the control unit 210, the process specifying unit 215, the current state acquisition unit 220, the state specifying unit 230, and the state determination unit 250 by executing the program PG2.

[0050] In step S105, the current state acquisition unit 220 acquires the current state of the target vehicle 100. In step S105, the current state acquisition unit 220 may acquire the current state of the target vehicle 100, for example, by receiving the detection result of the internal sensor 140 from the target vehicle 100. Further, the current state acquisition unit 220 may acquire the current state of the target vehicle 100 using, for example, the detection result of the external sensor 300. In this case, the current state acquisition unit 220 may acquire the current state by analyzing, for example, the captured image by the camera as the external sensor 300. In step S105, the current state acquisition unit 220 stores the acquired current state in the memory 202 in association with the identification information of the target vehicle 100.

[0051] In step S110, the process identification unit 215 identifies the target manufacturing process. Specifically, in step S110, the process identification unit 215 identifies the target manufacturing process by acquiring the position information of the target vehicle 100. In the present embodiment, the process identification unit 215 acquires the vehicle position information of the target vehicle 100 as the position information of the target vehicle 100. Hereinafter, the step of identifying the target manufacturing process as in step S110 is also referred to as a process identification step.

[0052] In step S115, the state identification unit 230 executes a state identification process for identifying the target state. Specifically, in step S115, the state identification unit 230 refers to the database DB based on the position information of the target vehicle 100 acquired in step S110 to identify the target state. Hereinafter, the step of identifying the target state as in step S115 is also referred to as a state identification step. For example, when the position information representing the second workplace PL2 is acquired in step S110, in step S115, the state identification unit 230 can identify the first start state SC1 associated with the second workplace PL2 as the target state by referring to the database DB based on the position information. That is, in this case, the acquisition of the position information representing the second workplace PL2 in step S110 corresponds to the identification of the first inspection process SP1 as the target manufacturing process. Note that in step S110, when the position information representing a place where no start state is associated, such as the first travel path TR1, the second travel path TR2, or the third travel path TR3, is acquired, the target manufacturing process is not identified in step S110, and the target state is not identified in step S115.

[0053] In step S116, the state identification unit 230 determines whether the target state has been identified. If the target state has not been identified in step S116, the processor 201 ends the vehicle control process. If the target state has been identified in step S116, in step S117, the state determination unit 250 determines whether the current state acquired in step S105 is the identified target state.

[0054] In other embodiments, the acquisition of the current state of the vehicle 100 may be executed after the state identification step. In this case, the current state may include at least the state related to the target state identified in the state identification step among the start states for each manufacturing process.

[0055] When the current state is different from the target state in step S117, in step S120, the control unit 210 executes state control processing for the target vehicle 100. Specifically, the control unit 210 generates a control command for setting the state of the target vehicle 100 to the target state identified in step S115, and transmits the generated control command to the target vehicle 100. When the state control processing is executed in step S120, the target vehicle 100 controls the actuator group 120 provided in the target vehicle 100 based on the transmitted control command. As a result, the state of the target vehicle 100 becomes the target state. Hereinafter, a step of controlling the vehicle 100 so that the state of the vehicle 100 becomes the target state, such as step S120, is also referred to as a state control step.

[0056] For example, when the target manufacturing process is the first inspection process SP1, in step S120, the control unit 210 commands the target vehicle 100 so that the target vehicle 100 enters the first start state SC1. Specifically, in this case, the control unit 210 generates, for example, a control command to change the shift position of the target vehicle 100 to the N range at the measurement position of the wheel alignment, a control command to release the operation of the foot brake of the target vehicle 100 at the measurement position, a control command to release the operation of the parking brake of the target vehicle 100 at the measurement position, a control command to set the steering angle of the target vehicle 100 to zero at the measurement position, and a control command to turn off the lighting device of the target vehicle 100 until the target vehicle 100 reaches the measurement position, and transmits the generated control command to the target vehicle 100. When the target manufacturing process is the second inspection process SP2, in step S120, the control unit 210 commands the vehicle 100B so that the target vehicle 100 enters the second start state SC2. Specifically, in this case, the control unit 210 generates, for example, a control command to change the shift position of the target vehicle 100 to the N range at the inspection position of the headlamp HL and then immediately change the shift position to the P range, and a control command to turn off the fog lamp of the target vehicle 100 until the target vehicle 100 reaches the inspection position, and transmits the generated control command to the target vehicle 100. Such control commands may include, for example, a control command for moving the target vehicle 100 to a predetermined working position. For example, the control command transmitted to the target vehicle 100 so that the target vehicle 100 enters the first start state SC1 may include a driving control signal for moving the target vehicle 100 to the measurement position on the measurement table MS. Each control command may be transmitted to the vehicle 100 either collectively or individually.

[0057] If the current state is the target state in step S117, the processor 201 ends the vehicle control process. That is, in the vehicle control process of the present embodiment, when the current state is the target state in step S117, the control unit 210 does not execute the state control process. Note that in this case, even if the state control process is not executed by the control unit 210, the state of the target vehicle 100 is the target state, so the target manufacturing process is appropriately executed for the target vehicle 100.

[0058] In step S125, the current state acquisition unit 220 acquires the current state of the target vehicle 100 again. In step S130, the state determination unit 250 executes a determination process. Specifically, in step S130, the state determination unit 250 determines whether the current state acquired again in step S125 is the target state specified in step S115. That is, the determination process in the present embodiment corresponds to a process of determining whether the state of the target vehicle 100 has changed to the target state by the state control process. Note that in step S130 of the present embodiment, even if the current state is not acquired within a predetermined time in step S125, the state determination unit 250 determines that the current state is not the target state. Such delays or failures in acquiring the current state can occur, for example, due to communication delays or communication failures between the vehicle 100 and the server 200.

[0059] If the current state is not the target state in step S130, in step S135, the control unit 210 determines whether the number of times of execution of the evacuation process for the target vehicle 100 is less than or equal to a predetermined reference number of times. Hereinafter, the number of times of execution of the evacuation process is also referred to as the evacuation number of times. In the present embodiment, the reference number of times is two or more times. In other embodiments, the reference number of times may be, for example, one time.

[0060] If the evacuation number of times is less than or equal to the reference number of times in step S135, in step S140, the control unit 210 executes the evacuation process. In the evacuation process in the present embodiment, the control unit 210 commands the vehicle 100 to move to the target work location via the return line connected to the production line and to make the state of the target vehicle 100 the target state.

[0061] For example, when the target manufacturing process is the first inspection process SP1, in step S140, the control unit 210 commands the target vehicle 100 to move to the second work location PL2 via the first auxiliary line SL1 and to set the state of the target vehicle 100 to the first start state SC1. In this case, the control unit 210 first transmits a travel control signal to the target vehicle 100 to cause the target vehicle 100 to travel to the second work location PL2 via the first auxiliary line SL1 and the main line ML. Next, the control unit 210 transmits a control command to the target vehicle 100 to set the state of the target vehicle 100 to the first start state SC1.

[0062] Also, for example, when the target manufacturing process is the second inspection process SP2, in step S140, the control unit 210 commands the target vehicle 100 to move to the third work location PL3 via the second auxiliary line SL2 and to set the state of the target vehicle 100 to the second start state SC2. In this case, the control unit 210 first transmits a travel control signal to the target vehicle 100 to cause the target vehicle 100 to travel to the third work location PL3 via the second auxiliary line SL2 and the main line ML. Next, the control unit 210 transmits a control command to the target vehicle 100 to set the state of the target vehicle 100 to the second start state SC2.

[0063] After executing the avoidance process, the processor 201 returns the process to step S125. Thereafter, steps S125 and S130 are executed again. In the second execution of step S130, the determination process is executed again, and it is determined whether the current state of the target vehicle 100 obtained in the second execution of step S125 is the target state. Hereinafter, the determination process that is executed again in this way, that is, the determination process executed after the second time, is also referred to as a re-determination process. In the previously executed step S130, for example, if it is determined that the current state of the target vehicle 100 is not the target state due to a temporary abnormality in the system 50, then in the second execution of step S130, the probability that the current state of the target vehicle 100 is the target state is high. A temporary abnormality is, for example, a temporary communication failure between the target vehicle 100 and a device outside the target vehicle 100, or a temporary failure related to signal transmission and reception within the target vehicle 100. On the other hand, in the previously executed step S130, for example, if it is determined that the current state of the target vehicle 100 is not the target state due to a non-temporary abnormality in the system 50, then in the second execution of step S130, the probability that the current state of the target vehicle 100 is the target state is low. A non-temporary abnormality is, for example, a non-temporary communication failure, a disconnection of each wiring in the target vehicle 100, or a defect in the actuator group 120 of the target vehicle 100.

[0064] Also, in the second execution of step S130, if it is determined that the current state of the target vehicle 100 is not the target state, step S135 is executed again. And if the number of avoidance times is less than or equal to the reference number of times in step S135, then in step S140, the avoidance process is executed again. That is, in this embodiment, when the number of avoidance times is less than or equal to the reference number of times, if the state of the target vehicle 100 is not the target state in the re-determination process, the avoidance process is executed again. Thus, in this embodiment, when the state of the target vehicle 100 is not the target state in the determination process, the avoidance process is repeatedly executed until the number of avoidance times becomes more than the reference number of times.

[0065] If the number of evacuation times in step S135 is greater than the reference number of times, in step S145, the control unit 210 executes a stop process. In step S145, the control unit 210 transmits, for example, a driving control signal for braking the target vehicle 100 to the target vehicle 100. In step S150, the control unit 210 executes a notification process using the notification unit 400. When the number of evacuation times is greater than the reference number of times, compared with the case where the number of evacuation times is less than or equal to the reference number of times, the probability that the state of the target vehicle 100 does not become the target state due to the above non-temporary abnormality is high. Therefore, in the present embodiment, it can be said that the stop process and the notification process are executed when the probability that the target state is not realized due to a non-temporary abnormality is higher.

[0066] After the execution of step S150, the control unit 210 resets the count of the number of evacuation times. Note that even when the current state is the target state in step S130, the control unit 210 resets the count of the number of evacuation times.

[0067] According to the system 50 in the present embodiment described above, the target state, which is the start state of the target manufacturing process executed on the vehicle 100, is specified, and the target vehicle 100 is controlled so that the state of the target vehicle 100 becomes the target state. Therefore, the possibility that the manufacturing process is appropriately executed can be increased.

[0068] Also, in the present embodiment, when the current state of the target vehicle 100 is the target state, the control unit 210 does not execute the state control process. Therefore, an increase in the processing load due to unnecessary processing can be suppressed.

[0069] In other embodiments, the control unit 210 may issue a command to the target vehicle 100 such that only the portions of the current state that are different from the target state are changed in the state control process of step S120. The "portions different from the target state" do not refer to physical portions such as specific parts of the vehicle 100, but rather to portions of the state of the vehicle 100. For example, when the target manufacturing process is the first inspection process SP1, the state of the target vehicle 100 matches the first state C1 to the fourth state C4 and does not match the fifth state C5, the control unit 210 does not include control signals for changing the state of the target vehicle 100 to the first state C1, the second state C2, the third state C3, and the fourth state C4, and generates a control command including a control signal for changing the state of the target vehicle 100 to the fifth state C5, and may transmit the generated control command to the target vehicle 100. That is, in this case, the control unit 210 may transmit a control command to the target vehicle 100 that does not include control signals for controlling the shift position, the operating state of the brake, or the steering angle, and includes a control signal for turning off the headlamp HL. By doing so, the state of the target vehicle 100 can be made the target state by changing only the portions of the current state that are different from the target state. Therefore, for example, the processing load associated with the generation, transmission, and reception of control commands for making the state of the target vehicle 100 the target state can be further reduced.

[0070] Also, in the present embodiment, after the state control process is executed, a determination process is executed to determine whether the state of the target vehicle 100 is the target state. When the state of the target vehicle 100 is not the target state in the determination process, at least one of the stop process, the evacuation process, and the notification process is executed. Therefore, for example, by executing the stop process, it is possible to eliminate an abnormality that prevents the state of the target vehicle 100 from becoming the target state while the target vehicle 100 is stopped. Also, for example, by executing the notification process, a user (e.g., an administrator or an operator) to whom the abnormality has been notified can execute a measure for eliminating the abnormality. Also, for example, by executing the evacuation process, it is possible to suppress the subsequent vehicle 100's manufacturing process from being hindered by the target vehicle 100. In this way, the possibility that the manufacturing process is appropriately executed for the target vehicle 100 and the subsequent vehicle 100 following the target vehicle 100 can be increased.

[0071] Also, in the present embodiment, in the evacuation process, the control unit 210 commands the target vehicle 100 to move to the target work location via the return line and to make the state of the target vehicle 100 the target state. By doing so, when the state of the target vehicle 100 is not the target state after the state control process is executed, the target vehicle 100 can be evacuated. Also, since the target vehicle 100 moves to the target work location via a return line different from the manufacturing line, interference between the target vehicle 100 and the subsequent vehicle 100 can be suppressed. Therefore, the possibility that the manufacturing process is appropriately executed for the target vehicle 100 and the subsequent vehicle 100 can be further increased.

[0072] Also, in the present embodiment, after the evacuation process is executed, a re-determination process is executed. When the state of the target vehicle 100 is not the target state in the re-determination process, the evacuation process is executed again. Therefore, the possibility that the manufacturing process is appropriately executed can be further increased.

[0073] Also, in this embodiment, when the number of evacuations is less than or equal to the reference number, the stop process and the notification process are not executed, and when the number of evacuations is greater than the reference number, at least one of the stop process and the notification process is executed. By doing so, when the number of evacuations is less than or equal to the reference number, the evacuation process is repeatedly executed until the state of the vehicle 100 becomes the target state, and when the number of evacuations is greater than the reference number, the stop process or the notification process is executed. That is, when the probability that the state of the vehicle 100 does not become the target state due to a temporary abnormality in the system 50 is relatively high, the evacuation process can be repeatedly executed while driving the vehicle 100 until the state of the vehicle 100 becomes the target state, and when the probability that the state of the vehicle 100 does not become the target state due to a non-temporary abnormality in the system 50 is relatively high, the stop process or the notification process can be executed. Therefore, the manufacturing process can be executed more efficiently, and the possibility that the manufacturing process is appropriately executed can be increased.

[0074] Also, in this embodiment, the first start state SC1, which is the start state of the first inspection process SP1, includes the state of the vehicle 100 for not disturbing the second inspection process SP2. Therefore, it is possible to suppress the second inspection process SP2 from being disturbed due to the first inspection process SP1, and the possibility that each inspection process is appropriately executed can be increased.

[0075] Also, in this embodiment, the second work location PL2 and the third work location PL3 are adjacent to each other in the factory FC. Therefore, the possibility that each inspection process is appropriately executed can be effectively increased.

[0076] Also, in this embodiment, the second inspection process SP2 is a subsequent process of the first inspection process SP1. Therefore, the possibility that each inspection process is appropriately executed can be more effectively increased.

[0077] In other embodiments, the second work location PL2 and the third work location PL3 may not be adjacent to each other. Also, the second inspection step SP2 may not be a subsequent step to the first inspection step SP1. Even in these cases, by including the state of the vehicle 100 for the first start state SC1 not to interfere with the second inspection step SP2, it is possible to suppress the second inspection step SP2 from being interfered with due to the first inspection step SP1, and enhance the possibility that each inspection step is appropriately executed.

[0078] Also, in the present embodiment, the second inspection step SP2 is a step of performing an operation using an optical sensor, and the first start state SC1, which is the start state for the first inspection step SP1, includes that the lighting device of the target vehicle 100 is not lit. Therefore, it is possible to suppress the operation performed at the third work location PL3 from being interfered with due to the light irradiated from the lighting device of the target vehicle 100 located at the second work location PL2.

[0079] In other embodiments, the step of performing an operation using an optical sensor may not be a headlamp inspection step, and may be another manufacturing step using an optical sensor. For example, the step of performing an operation using an optical sensor may be an operation using an optical sensor provided in the vehicle 100. In this case, the step of performing an operation using an optical sensor may be a step of optically inspecting a camera provided in the vehicle 100, or a step of causing a computer such as the vehicle control device 110 to execute various learning processes using the camera provided in the vehicle 100. The learning process in this case may be, for example, a learning process for generating a three-dimensional image or a panoramic image using the images captured by a plurality of cameras as input images, or a learning process for generating an object detection model for detecting an object included in the image.

[0080] In addition, in the present embodiment, the first start state SC1 which is the start state of the wheel alignment inspection process as the first inspection process SP1 includes a first state C1 in which the shift position is in the N range, a second state C2 in which the foot brake is not operating, a third state C3 in which the parking brake is not operating, and a fourth state C4 in which the steering angle is within the reference range. Therefore, by using autonomous driving, the inspection of the wheel alignment of the vehicle 100 can be appropriately executed.

[0081] In addition, in the present embodiment, the second start state SC2 which is the start state of the headlamp inspection process as the second inspection process SP2 includes a sixth state C6 in which the shift position is in the P range. By doing so, for example, compared with the case where the second start state SC2 includes the first state C1 instead of the sixth state C6, the wheels of the target vehicle 100 are more firmly fixed during the headlamp inspection process, so that the optical axis of the headlamp HL can be more effectively suppressed from being displaced during the headlamp inspection process. Therefore, by using autonomous driving, the inspection of the headlamp HL can be appropriately executed.

[0082] In addition, in the present embodiment, the second start state SC2 includes a seventh state C7 in which the shift position is in the N range immediately before the P range. For example, when the shift position of the vehicle 100 is simply changed from the drive range (hereinafter, also referred to as the D range) to the P range, the wheels of the vehicle 100 may be fixed in a state reflecting the influence of the previous driving state of the vehicle 100. On the other hand, by changing the shift position of the vehicle 100 to the P range immediately after passing through the N range, it is possible to change the shift position of the vehicle 100 to the P range while suppressing the wheels of the vehicle 100 from being fixed in a state reflecting the influence of the previous driving state. Therefore, by including the seventh state C7 in the second start state SC2, the variation in the inspection conditions during the headlamp inspection process can be more effectively suppressed, so that the inspection of the headlamp HL can be more appropriately executed.

[0083] In other embodiments, the first start state SC1 may include, in addition to or instead of the above-described states, other states. Similarly, the second start state SC2 may include, in addition to or instead of the above-described states, other states.

[0084] B. Second Embodiment: FIG. 6 is a diagram for explaining a first inspection step SP1b and a second inspection step SP2b in the second embodiment. In FIG. 6, a state is shown in which the first inspection step SP1b is being executed on the vehicle 100A and the second inspection step SP2b is being executed on the vehicle 100B. Different from the first embodiment, the first inspection step SP1b in this embodiment is a side slip inspection step for inspecting the side slip amount of the vehicle 100. The second inspection step SP2b is a radar inspection step for inspecting a radar Rd provided in the vehicle 100. The radar Rd is, for example, a millimeter-wave radar. The second inspection step SP2b corresponds to a manufacturing process that executes an operation using the radar Rd. Other configurations in this embodiment are the same as those in the first embodiment unless otherwise specified.

[0085] In the first inspection step SP1b, for example, the target vehicle 100 is passed over a side slip board SB having a potentiometer or a load cell for detecting the side slip amount at a vehicle speed equal to or less than a predetermined magnitude, thereby detecting the side slip amount of the target vehicle 100. In the second inspection step SP2b, for example, the radar Rd of the target vehicle 100 is inspected by detecting a target OB located outside the target vehicle 100 with the radar Rd. Specifically, in this case, a radio wave is transmitted from the transmitter of the radar Rd to the target OB, and the radio wave reflected by the target OB is received by the receiver of the radar Rd.

[0086] As shown in FIG. 6, the first start state SC1b in the present embodiment includes the first state C1, the fourth state C4, the ninth state C9, and the tenth state C10. The ninth state C9 is a state in which the vehicle speed of the vehicle 100 is equal to or lower than a predetermined reference value. The tenth state C10 is a state in which no radio wave is transmitted from the radar Rd of the target vehicle 100. Note that the reference range for the fourth state C4 in the sideslip inspection process and the reference range for the fourth state C4 in the alignment inspection process may be the same or different. The fourth state C4 in the present embodiment is a state in which the steering angle is 0°. Further, the second start state SC2b includes the sixth state C6 and the seventh state C7.

[0087] In the present embodiment, the tenth state C10 included in the first start state SC1b corresponds to the state of the vehicle 100 for not disturbing the second inspection process SP2b executed at the third work place PL3. If a radio wave is transmitted from the radar Rd provided in the vehicle 100A in the first inspection process SP1b, the radio wave from the radar Rd can reach from the second work place PL2 to the third work place PL3. The radio wave reaching from the second work place PL2 to the third work place PL3 in this way can be received by the radar Rd provided in the vehicle 100B, for example, in the radar inspection process of the vehicle 100B executed at the third work place PL3. Thus, if a radio wave is transmitted from the radar Rd of the target vehicle 100 in the first inspection process SP1b, the second inspection process SP2b can be disturbed.

[0088] In this embodiment, similar to the first embodiment, the vehicle control process of FIG. 5 is executed. For example, when the target manufacturing process is the first inspection process SP1b, in step S120, the control unit 210, for example, issues a control command to change the shift position of the target vehicle 100 to the N range at a predetermined inspection start position for the sideslip inspection process, a control command to set the vehicle speed of the target vehicle 100 to a value equal to or lower than a predetermined value before the target vehicle 100 reaches the inspection start position, a control command to set the steering angle of the target vehicle 100 to zero at the inspection start position, and a control command to turn off the lighting device of the target vehicle 100 before the target vehicle 100 reaches the measurement position, and transmits these control commands to the target vehicle 100. The inspection start position is, for example, a position in front of the sideslip board SB. Also, when the target manufacturing process is the second inspection process SP2b, in step S120, the control unit 210, for example, issues a control command to change the shift position of the target vehicle 100 to the N range at the inspection position for the radar inspection process, and immediately thereafter issues a control command to change the shift position to the P range, and transmits these control commands to the target vehicle 100.

[0089] According to the system 50 in this embodiment described above, the second inspection process SP2b is a process of performing an operation using the radar Rd provided in the vehicle 100, and the first start state SC1b which is the start state for the first inspection process SP1b includes the tenth state C10 in which no radio wave is transmitted from the target vehicle 100. Therefore, it is possible to suppress the manufacturing process executed at the third work location PL3 from being disturbed due to the radio wave transmitted from the radar Rd of the target vehicle 100 located at the second work location PL2.

[0090] In other embodiments, the step of performing an operation using the radar Rd may not be a radar inspection step, but may be another manufacturing step using the radar Rd. For example, this step may be a step of causing a computer such as the vehicle control device 110 to execute various learning processes using the radar Rd. The learning process in this case may be, for example, a learning process for generating an object detection model that detects the presence or absence and type of an object based on reception data generated by receiving radio waves by the radar Rd.

[0091] Also, in the present embodiment, the first start state SC1b, which is the start state of the sideslip inspection step as the first inspection step SP1b, includes the ninth state C9 in which the vehicle speed of the target vehicle 100 is equal to or lower than the reference value, the first state C1 in which the shift position is in the N range, and the fourth state C4 in which the steering angle is within the reference range. Therefore, by using autonomous driving, the sideslip inspection of the vehicle 100 can be appropriately performed.

[0092] Also, in the present embodiment, the second start state SC2b, which is the start state of the radar inspection step as the second inspection step SP2b, includes the sixth state C6 and the seventh state C7. Therefore, by using autonomous driving, the radar inspection of the vehicle 100 can be appropriately performed.

[0093] Note that in other embodiments, the first start state SC1b may include, in addition to or instead of the above-described states, other states. Also, the second start state SC2b may include, in addition to or instead of the above-described states, other states.

[0094] C. Third Embodiment: FIG. 7 is a diagram for explaining a first inspection process SP1c and a second inspection process SP2c in the third embodiment. In FIG. 7, a state is shown in which the first inspection process SP1c is being executed on the vehicle 100A and the second inspection process SP2c is being executed on the vehicle 100B. Different from the first embodiment, the first inspection process SP1c in the present embodiment is a drum test process for inspecting the acceleration device of the vehicle 100 using a rotatable roller RL. Further, the second inspection process SP2c is a brake inspection process for inspecting the braking force of the braking device of the vehicle 100. Regarding other configurations in the present embodiment, they are the same as those in the first embodiment unless otherwise specified.

[0095] In the first inspection process SP1b, the acceleration device of the target vehicle 100 is inspected by causing the target vehicle 100 to travel on the rotating roller RL. Specifically, in the first inspection process SP1b, while causing the target vehicle 100 to travel on the roller RL, the vehicle speed and acceleration of the target vehicle 100 are detected based on the rotation speed of the roller RL that rotates due to the travel of the target vehicle 100, thereby inspecting the acceleration device of the target vehicle 100. In the second inspection process SP2b, for example, while applying a rotational force from the rotational drive unit RD2 to the wheels of the vehicle 100 located at a predetermined measurement position, the braking force of the brake to be inspected among the brakes of the target vehicle 100 is inspected by operating the brake to be inspected. The braking force is measured based on, for example, the detection result of a torque sensor that detects the torque of the rotational drive unit RD2. The second inspection process SP2c in the present embodiment is a process for inspecting the foot brake. That is, the brake to be inspected is the foot brake.

[0096] As shown in FIG. 7, the first start state SC1c in the present embodiment includes the fourth state C4 and the ninth state C9. Further, the second start state SC2c includes the first state C1, the fourth state C4, and the eleventh state C11. The eleventh state C11 is a state in which a brake different from the brake to be inspected is not operating. Specifically, the eleventh state C11 in the present embodiment is a state in which the parking brake is not operating. Note that, in other embodiments, when the brake to be inspected is the parking brake, the eleventh state C11 is, for example, a state in which the foot brake is not operating. Also, the reference ranges for the fourth state C4 in the drum test process and the brake inspection process may be different from each other, and may also be different from the reference range for the fourth state C4 in the side slip inspection process and the alignment inspection process. Each fourth state C4 in the present embodiment is a state in which the steering angle is 0°. Also, the reference value for the ninth state C9 in the drum test process may be different from the reference value for the ninth state C9 in the side slip process. In the present embodiment, the reference value for the ninth state C9 in the side slip process is zero.

[0097] In the present embodiment, as in the first embodiment, the vehicle control process of FIG. 5 is executed. For example, when the target manufacturing process is the first inspection process SP1c, in step S120, the control unit 210 transmits, to the target vehicle 100, a control command for changing the shift position of the target vehicle 100 to the N range at a predetermined measurement position for the drum test process, a control command for setting the steering angle of the target vehicle 100 to zero at the measurement position, and a control command for stopping the target vehicle 100 at the measurement position. Also, when the target manufacturing process is the second inspection process SP2c, in step S120, the control unit 210 transmits, to the target vehicle 100, a control command for changing the shift position of the target vehicle 100 to the N range at a predetermined inspection position for the brake inspection process, a control command for setting the steering angle of the target vehicle 100 to zero at the inspection position, and a control command for releasing the parking brake of the target vehicle 100 until the inspection position is reached.

[0098] According to the system 50 in the present embodiment described above, the first start state SC1c, which is the start state for the drum test process as the first inspection process SP1c, includes the ninth state C9 where the vehicle speed is equal to or lower than the reference value and the fourth state C4 where the steering angle is within the reference range. Therefore, by using autonomous driving, the inspection of the acceleration device of the vehicle 100 can be appropriately executed.

[0099] Further, in the present embodiment, the second start state SC2c, which is the start state for the brake inspection process as the second inspection process SP2c, includes the eleventh state C11 where a brake different from the brake to be inspected in the target vehicle 100 is not operating, the first state C1 where the shift position is in the N range, and the fourth state C4 where the steering angle is within the reference range. Therefore, by using autonomous driving, the inspection of the braking device of the vehicle 100 can be appropriately executed.

[0100] Note that in other embodiments, the first start state SC1c may include other states in addition to or instead of the above-described states. Also, the second start state SC2c may include other states in addition to or instead of the above-described states.

[0101] D. Fourth Embodiment: FIG. 8 is a diagram for explaining the first inspection process SP1d in the fourth embodiment. FIG. 8 shows a state in which the first inspection process SP1d is being executed on the vehicle 100A. Different from the first embodiment, the first inspection process SP1d in the present embodiment is an angle test process for inspecting the steering angle of the steering device of the vehicle 100. Other configurations in the present embodiment are the same as those in the first embodiment unless otherwise specified.

[0102] In the first inspection process SP1d, with the drive wheels of the target vehicle 100 positioned on the rotary table TT, the maximum steering angle of the steering device of the target vehicle 100 is inspected using the rotary table TT. The rotary table TT is configured to be rotatable around a rotation axis RX1 along a vertical line.

[0103] As shown in FIG. 8, the first start state SC1d in the present embodiment includes a first state C1 and a twelfth state C12. The twelfth state C12 is a state in which the steering force applied to the steering device of the target vehicle 100 is equal to or less than a predetermined reference value. Specifically, the reference value for the twelfth state C12 in the present embodiment is zero. That is, the twelfth state C12 in the present embodiment corresponds to a state in which no steering force is applied to the steering device of the target vehicle 100.

[0104] In the present embodiment, as in the first embodiment, the vehicle control process of FIG. 5 is executed. For example, when the target manufacturing process is the first inspection process SP1d, in step S120, the control unit 210 transmits, for example, a control command for changing the shift position of the target vehicle 100 to the N range at a predetermined inspection position for the angle test process, and a control command for setting the steering force of the steering device of the target vehicle 100 to zero at the inspection position, to the target vehicle 100.

[0105] According to the system 50 in the present embodiment described above, the first start state SC1d, which is the start state for the angle test process as the first inspection process SP1d, includes the first state C1 in which the shift position is in the N range and the twelfth state C12 in which the steering force applied to the steering device is equal to or less than the reference value. Therefore, the angle test process of the vehicle 100 can be appropriately executed using autonomous driving.

[0106] In other embodiments, the first start state SC1d may include, in addition to or instead of the above-described states, other states.

[0107] E. Fifth Embodiment: FIG. 9 is a diagram for explaining a manufacturing process executed at the second workplace PL2 in the fifth embodiment. In the present embodiment, different from the first embodiment, at the second workplace PL2, as the manufacturing process, a component connection process CP is executed instead of an inspection process. Other configurations in the present embodiment are the same as those in the first embodiment unless otherwise specified.

[0108] The component connection process CP is a process of electrically connecting predetermined components to a predetermined part of the target vehicle 100b. FIG. 9 shows how the component connection process CP is executed for the target vehicle 100b in the form of a platform. Specifically, in FIG. 9, the component CM to be assembled is installed from the outside of the target vehicle 100b, and how the component CM is electrically connected to the first part p1 of the target vehicle 100b is shown. In FIG. 9, the component CM before being installed on the target vehicle 100b is shown by a dashed line, and the component CM after being installed and electrically connected to the target vehicle 100b is shown by a solid line. The component CM may be, for example, various electronic components or electrical components. Further, the component CM may be installed and electrically connected to the vehicle 100b in a state where it constitutes an arbitrary electrical component together with various other components. Also, the component connection process CP may be executed, for example, by an operator, by a device such as a robot, or by both. Hereinafter, among the parts of the vehicle 100, the part to which the component CM is electrically connected is also referred to as the target part. That is, in the present embodiment, the first part p1 corresponds to the target part.

[0109] As shown in FIG. 9, the third start state SCp, which is the start state of the component connection process CP, includes a non-energized state C13. The non-energized state C13 is a state in which no power is supplied to the target part. That is, the non-energized state C13 in the present embodiment is a state in which no power is supplied to the first part p1.

[0110] In this embodiment, similar to the first embodiment, the vehicle control process shown in FIG. 5 is executed. For example, when the target manufacturing process is the component connection process CP, in step S120, the control unit 210 transmits, for example, a control command for setting the target vehicle 100b to the non-energized state C13 at a predetermined assembly position to the target vehicle 100b. The vehicle 100b that has received this control command controls actuators such as various switches provided in the target vehicle 100b so that, for example, the circuit Cr1 including the first part p1 is electrically disconnected from the power supply device provided in the target vehicle 100b or the power supply outside the target vehicle 100b. In this case, it is only necessary that no power is supplied to the first part p1, and for example, power may be supplied to a circuit Cr2 that does not include the first part p1.

[0111] According to the system 50 in this embodiment described above, the third start state SCp, which is the start state for the component connection process CP, includes the non-energized state C13. By doing so, when assembling the component CM to the vehicle 100b, it is possible to suppress the assembled component CM from malfunctioning due to power being supplied to the target part. Therefore, the process of assembling the component CM to the vehicle 100b can be appropriately executed using the driverless operation of the vehicle 100b.

[0112] Note that in other embodiments, the third start state SCp may include, in addition to, or instead of, the non-energized state C13, other states.

[0113] F. Sixth Embodiment: FIG. 10 is a flowchart showing the processing procedure of the vehicle control process for realizing the control method of the vehicle 100 in the sixth embodiment. In this embodiment, the difference from the first embodiment is that process information is acquired instead of position information in step S110b of FIG. 10. Other configurations in this embodiment are the same as those in the first embodiment unless otherwise specified.

[0114] In step S110b, the process identification unit 215 identifies the target manufacturing process by acquiring the process information of the target vehicle 100. In step S110b of the present embodiment, the process identification unit 215 identifies the manufacturing process that the target vehicle 100 will undergo next by acquiring the process information of the target vehicle 100. Specifically, in step S110b, the process identification unit 215 acquires the process information of the target vehicle 100 based on, for example, the information indicating the execution order of each manufacturing process performed on the target vehicle 100 or the information indicating the manufacturing process to be executed next on the target vehicle 100, as described in the first embodiment.

[0115] In the present embodiment, in the state identification process of step S115b, the state identification unit 230 identifies the target state by referring to the database DB based on, for example, the process information of the target vehicle 100 acquired in step S110b. In this case, in the database DB, for example, the identification information of each manufacturing process and the start state of each manufacturing process are stored in association with each other.

[0116] According to the system 50 in the present embodiment described above, based on the process information of the target vehicle 100, the target state is identified, and the target vehicle 100 is commanded to be in the target state. Therefore, also by the system 50 in the present embodiment, the possibility that the manufacturing process is appropriately executed can be increased.

[0117] In other embodiments, the process identification unit 215 may acquire, for example, both the position information and the process information of the target vehicle 100, and identify the target state based on the position information and the process information.

[0118] G. Seventh Embodiment: FIG. 11 is a block diagram showing the configuration of the system 50v in the seventh embodiment. In the present embodiment, the system 50v is different from the first embodiment in that it does not include the server 200. Also, the vehicle 100v in the present embodiment can travel by autonomous control of the vehicle 100v. For other configurations, they are the same as those in the first embodiment unless otherwise specified.

[0119] In this embodiment, the processor 111v of the vehicle control device 110v functions as a control unit 210v, a process identification unit 215, a current state acquisition unit 220, a state identification unit 230, and a state determination unit 250 by executing a program PG1 stored in a memory 112v. Further, in this embodiment, the control unit 210v functions as a vehicle control unit 115v. The vehicle control unit 115v acquires an output result from a sensor, generates a travel control signal using the output result, and outputs the generated travel control signal to operate an actuator group 120, thereby enabling the vehicle 100v to travel by autonomous control. In this embodiment, in addition to the program PG1, a detection model DM, a reference route RR, and a database DB are stored in advance in the memory 112v. The vehicle control device 110v in the seventh embodiment corresponds to the "control device" in the present disclosure.

[0120] FIG. 12 is a flowchart showing a processing procedure for travel control of the vehicle 100v in the seventh embodiment. In the processing procedure of FIG. 12, the processor 111v of the vehicle 100v functions as a control unit 210v by executing the program PG1.

[0121] In step S11, the processor 111v of the vehicle control device 110v acquires vehicle position information using a detection result output from a camera which is an external sensor 300. In step S21, the processor 111v determines a target position to which the vehicle 100v should next head. In step S31, the processor 111v generates a travel control signal for causing the vehicle 100v to travel toward the determined target position. In step S41, the processor 111v controls the actuator group 120 using the generated travel control signal, thereby causing the vehicle 100v to travel according to the parameters represented in the travel control signal. The processor 111v repeats the acquisition of vehicle position information, the determination of the target position, the generation of the travel control signal, and the control of the actuator at a predetermined cycle. According to the system 50v in this embodiment, the vehicle 100v can travel by autonomous control of the vehicle 100v without remote control of the vehicle 100v by the server 200.

[0122] In this embodiment, the same processing as the vehicle control processing in FIG. 5 is executed by the processor 111v of the vehicle 100v, for example, at a predetermined time interval. In this embodiment, the "target vehicle" means the host vehicle. Each step in FIG. 5 is executed by the processor 111v. For example, in step S105, the current state acquisition unit 220 of the vehicle 100v acquires the current state of the vehicle 100v at a predetermined time interval using the internal sensor 140 and the external sensor 300, and stores the acquired current state in the memory 112v. Also, in step S120, the control unit 210v of the vehicle 100v generates and outputs a control command for setting the state of the vehicle 100v to the target state specified in step S115. Then, the vehicle control unit 115v controls the actuator group 120 provided in the vehicle 100v based on the generated control command. Also, in step S140, the control unit 210v generates and outputs a control command for moving the vehicle 100v to the target work location via the return line connected to the production line, and a control command for setting the state of the target vehicle 100v to the target state. Also, in the stop process of step S145, the control unit 210v generates and outputs, for example, a driving control signal for braking the vehicle 100v. Note that in other embodiments, for example, the same processing as the vehicle control processing in FIG. 10 may be executed by the processor 111v.

[0123] Also, with the system 50v in this embodiment described above, the target state of the target vehicle 100v is specified, and the target vehicle 100v is controlled so that the state of the target vehicle 100v becomes the target state. Therefore, the possibility that the manufacturing process is appropriately executed can be increased.

[0124] H. Other Embodiments: (H1) In each of the above embodiments, when the current state is the target state, the control unit 210 does not execute the state control process. In contrast, the control unit 210 may execute the state control process regardless of whether the current state is the target state. Also, in this case, the system 50 may not include the current state acquisition unit 220. That is, for example, the server 200 or the vehicle control device 110 may not include the current state acquisition unit 220.

[0125] (H2) In each of the above embodiments, the control unit 210 executes all of the stop process, the evacuation process, and the notification process in the subsequent process, but only one of these processes or only two of these processes may be executed. If the evacuation process is not executed, an evacuation location may not be provided in the factory FC. Also, if the notification process is not executed, the system 50 may not include the notification unit 400. Also, the control unit 210 may not have a function of executing autonomous driving, and a functional unit for executing autonomous driving in the system 50 may be provided separately from the control unit 210. Specifically, when the control unit 210 executes only the notification process in the subsequent process, the control unit 210 may not have a function of executing autonomous driving. Also, for example, when the control unit 210 only outputs a signal that serves as a trigger for stopping the vehicle 100 in the stop process, or when the control unit 210 only outputs a signal that serves as a trigger for evacuating the vehicle 100 in the evacuation process, the control unit 210 may not have a function of executing autonomous driving.

[0126] (H3) In each of the above embodiments, the system 50 includes the state determination unit 250, but the system 50 may not include the state determination unit 250. That is, for example, the server 200 or the vehicle control device 110 may not include the state determination unit 250.

[0127] (H4) In each of the above embodiments, a return line is provided in the factory FC, but the return line may not be provided. In this case, the evacuation location may be provided, for example, at a location different from the return line. Also, in this case, the evacuation process may not be a process of returning the target vehicle 100 to the target work location via the return line, and for example, it may be a process of simply evacuating the target vehicle 100 to the evacuation location.

[0128] (H5) In each of the above embodiments, the control unit 210 re-executes the evacuation process when the state of the target vehicle 100 is not the target state in the re-determination process, but the evacuation process may not be re-executed. In this case, the control unit 210 may execute a stop process or a notification process, for example, without re-executing the evacuation process when the state of the target vehicle 100 is not the target state in the re-determination process.

[0129] (H6) In each of the above embodiments, the control unit 210 does not execute the stop process and the notification process when the number of evacuation times is less than or equal to the reference number of times, and executes the stop process and the notification process when the number of evacuation times is more than the reference number of times. In contrast, the control unit 210 may execute only at least one of the stop process and the notification process when the number of evacuation times is less than or equal to the reference number of times. Also, the control unit 210 may not change the processing content according to the number of evacuation times as described above. In this case, the control unit 210 may, for example, not execute the stop process or the notification process regardless of the number of evacuation times, or may execute the stop process or the notification process regardless of the number of evacuation times.

[0130] (H7) In each of the above embodiments, the number of workplaces included in the factory FC and the number of manufacturing processes executed in the factory FC may be arbitrary. For example, the number of workplaces included in the factory FC may be one, or any number of two or more. Also, the number of manufacturing processes executed in the factory FC may be one, or any number of two or more. Further, the order in which the manufacturing processes are executed and the combination of manufacturing processes to be executed are not limited to the order and combination described in each of the above embodiments and may be arbitrary. Also, in one workplace, two or more different manufacturing processes may be executed. In this case, in the workplace, devices having functions for executing a plurality of manufacturing processes or a plurality of devices may be installed in order to execute two or more different manufacturing processes. When two or more different manufacturing processes are executed in one workplace in this way and the state specifying unit 230 specifies the target state based on the position information, each start state may be defined as the state of the vehicle 100 regarding the manufacturing process that is first executed among the plurality of manufacturing processes executed in one workplace. Also, when two or more different manufacturing processes are executed in one workplace and the state specifying unit 230 specifies the target state based on the process information, the start state may be defined for each manufacturing process executed in one workplace. Further, for example, not limited to the wheel alignment inspection process and the side slip inspection process, the start state of any manufacturing process may include the state of the vehicle 100 for not disturbing other manufacturing processes.

[0131] (H8) In each of the above embodiments, in the database DB, the start state may be associated with the position information representing the runway. In this case, for example, in the database DB, the start state regarding the manufacturing process to be executed at the next workplace to be reached may be associated with a certain runway.

[0132] (H9) In each of the above embodiments, in the system 50, various functional units such as the control unit 210, the process identification unit 215, the state identification unit 230, and the state determination unit 250 may be provided in the vehicle 100. In this case, as described in the seventh embodiment, all of the control unit 210, the process identification unit 215, the state identification unit 230, and the state determination unit 250 may be provided in the vehicle 100, or a part of these functional units may be provided in the vehicle 100. Further, in the system 50, a part or all of these functional units may be provided in a device external to the server 200 and the vehicle 100.

[0133] (H10) In each of the above embodiments, the external sensor 300 is a camera. In contrast, the external sensor 300 is not limited to a camera, and may be, for example, a distance measuring device such as LiDAR (Light Detection And Ranging). In this case, the detection result output by the external sensor 300 may be three-dimensional point cloud data representing the vehicle 100. In this case, the server 200 or the vehicle 100 may acquire vehicle position information by template matching using the three-dimensional point cloud data as the detection result and reference point cloud data prepared in advance.

[0134] (H11) In the first embodiment described above, the process from the acquisition of vehicle position information to the generation of the driving control signal is executed by the server 200. In contrast, at least a part of the process from the acquisition of vehicle position information to the generation of the driving control signal may be executed by the vehicle 100. For example, it may be in the following forms (1) to (3).

[0135] (1) 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 position of the vehicle 100 represented in the acquired vehicle position information to the target position. The server 200 may generate a route to a target position between the current position 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 travels on the route received from the server 200, and control the actuator group 120 using the generated driving control signal.

[0136] (2) The server 200 may acquire vehicle position information and transmit the acquired vehicle position information to the vehicle 100. The vehicle 100 may determine a target position to which the vehicle 100 should next head, generate a route from the current position of the vehicle 100 represented in the received vehicle 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.

[0137] (3) In the forms (1) and (2) above, the vehicle 100 is equipped with an internal sensor 140, and the detection result output from the internal sensor 140 may be used for at least one of the generation of the route and the generation of the driving control signal. For example, in the form (1) above, the server 200 may acquire the detection result of the internal sensor 140 and reflect the detection result of the internal sensor 140 in the route when generating the route. In the form (1) above, the vehicle 100 may acquire the detection result of the internal sensor 140 and reflect the detection result of the internal sensor 140 in the driving control signal when generating the driving control signal. In the form (2) above, the vehicle 100 may acquire the detection result of the internal sensor 140 and reflect the detection result of the internal sensor 140 in the route when generating the route. In the form (2) above, the vehicle 100 may acquire the detection result of the internal sensor 140 and reflect the detection result of the internal sensor 140 in the driving control signal when generating the driving control signal.

[0138] (H12) In the above-described seventh embodiment, the vehicle 100v is equipped with the internal sensor 140, and the detection result output from the internal sensor 140 may be used for at least one of the generation of the route and the generation of the driving control signal. For example, the vehicle 100v may acquire the detection result of the internal sensor 140 and reflect the detection result of the internal sensor 140 in the route when generating the route. The vehicle 100v may acquire the detection result of the internal sensor 140 and reflect the detection result of the internal sensor 140 in the driving control signal when generating the driving control signal.

[0139] (H13) In the above-described seventh embodiment, the vehicle 100v acquires the vehicle position information using the detection result of the external sensor 300. In contrast, the vehicle 100v is equipped with the internal sensor 140, and the vehicle 100v acquires the vehicle position information using the detection result of the internal sensor 140, determines the target position to which the vehicle 100v should next head, generates a route from the current position of the vehicle 100v represented in the acquired vehicle position information to the target position, generates a driving control signal for traveling on the generated route, and controls the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can travel without using the detection result of the external sensor 300 at all. Note that the vehicle 100v may acquire the target arrival time and traffic jam information from outside the vehicle 100v and reflect the target arrival time and traffic jam information in at least one of the route and the driving control signal. Further, all of the functional configurations of the system 50v may be provided in the vehicle 100v. That is, the processing realized by the system 50v in the present disclosure may be realized by the vehicle 100v alone.

[0140] (H14) In the above-described first embodiment, 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 according to the operation of an external operator located outside the vehicle 100. For example, an external operator operates a control device including a display for displaying a captured image output from the external sensor 300, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 by wire or wireless communication, and the server 200 may generate a driving control signal corresponding to the operation applied to the control device.

[0141] (H15) In each of the above embodiments, the vehicle 100 may have a configuration that enables movement by autonomous driving, and for example, may be in the form of a platform having the configuration described below. Specifically, the vehicle 100 may include at least a vehicle control device 110 and an actuator group 120 in order to exhibit the three functions of "running", "turning", and "stopping" by autonomous driving. When the vehicle 100 acquires information from the outside for autonomous driving, the vehicle 100 may further include a communication device 130. That is, the vehicle 100 that can move by autonomous driving may not have at least some of the interior parts such as the driver's seat and the dashboard, may not have at least some of the exterior parts such as the bumper and the fender, and may not have the body shell mounted. In this case, the remaining parts such as the body shell may be mounted on the vehicle 100 before the vehicle 100 is shipped from the factory FC, or the remaining parts such as the body shell may be mounted on the vehicle 100 after the vehicle 100 is shipped from the factory FC in a state where the remaining parts such as the body shell are not mounted on the vehicle 100. Each part may be mounted from any direction such as the upper side, the lower side, the front side, the rear side, the right side, or the left side of the vehicle 100, and may be mounted from the same direction or from different directions. Note that positioning can be performed in the same manner as the vehicle 100 in the first embodiment for the form of the platform.

[0142] (H16) The vehicle 100 may be manufactured by combining a plurality of modules. A module means a unit composed of one or more parts grouped according to the configuration and functions of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the central part of the platform, and a rear module that constitutes the rear part of the platform. Note that the number of modules constituting the platform is not limited to three, and may be two or less or four or more. Also, in addition to or instead of the platform, parts of the vehicle 100 that are different from the platform may be modularized. Further, the various modules may include any exterior parts such as bumpers and grills, and any interior parts such as seats and consoles. Such modules may be manufactured, for example, by joining a plurality of parts by welding, fixtures, etc., or by integrally molding at least a part of the module as one part by casting. The molding method of integrally molding at least a part of the module as one part is also called gigacasting or megacasting. By using gigacasting, each part of a moving body that was conventionally formed by joining a plurality of parts can be formed as one part. For example, the above-mentioned front module, central module, and rear module may be manufactured using gigacasting.

[0143] (H17) Using the running of the vehicle 100 by autonomous driving to transport the vehicle 100 is also called "self-propelled transport". Also, the configuration for realizing self-propelled transport is also called "vehicle remote control autonomous driving transport system". Further, the production method of producing the vehicle 100 using self-propelled transport is also called "self-propelled production". In self-propelled production, for example, in a factory FC that manufactures the vehicle 100, at least a part of the transport of the vehicle 100 is realized by self-propelled transport.

[0144] (H18)In each of the above embodiments, part or all of the functions and processes realized software may be realized hardware. Also, part or all of the functions and processes realized hardware may be realized software. As the hardware for realizing the various functions in each of the above embodiments, for example, various circuits such as integrated circuits and discrete circuits may be used.

[0145] The present disclosure is not limited to the above-described embodiments, and can be realized in various configurations without departing from the gist thereof. For example, the technical features in the embodiments corresponding to the technical features in each form described in the summary of the invention can be appropriately replaced or combined in order to solve part or all of the above-described problems or to achieve part or all of the above-described effects. Further, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

Description of Reference Numerals

[0146] 50, 50v... system, 100, 100A, 100B, 100b, 100v... vehicle, 110, 110v... vehicle control device, 111, 111v... processor, 112, 112v... memory, 113... input / output interface, 114... internal bus, 115, 115v... vehicle control unit, 120... actuator group, 130... communication device, 140... internal sensor, 200... server, 201... processor, 202... memory, 203... input / output interface, 204... internal bus, 205... communication device, 210, 210v... control unit, 215... process specifying unit, 220... current state acquisition unit, 230... state specifying unit, 250... state determination unit, 300... external sensor, 400... notification unit, 401... display unit

Claims

1. A process specifying unit that specifies a manufacturing process to be executed for a vehicle capable of traveling by autonomous driving; A state specifying unit that specifies a start state defining the state of the vehicle at the timing when the specified manufacturing process is started; A control device comprising: a control unit that executes a state control process for controlling the vehicle so that the state of the vehicle becomes the start state.

2. The control device according to claim 1, comprising a state determination unit that executes a determination process for determining whether or not the state of the vehicle is the start state after the state control process is executed, wherein the control unit executes at least one of a stop process for stopping the travel of the vehicle, a retreat process for retreating the vehicle to a predetermined retreat location, and a notification process for notifying an abnormality when the state of the vehicle is different from the start state in the determination process.

3. The control device according to claim 2, wherein the control unit does not execute the stop process and the notification process when the number of executions of the retreat process is equal to or less than a predetermined reference number of times, and executes at least one of the stop process and the notification process when the number of executions is more than the reference number of times. Control device.

4. The control device according to claim 1, wherein the manufacturing process is a process of inspecting the wheel alignment of the vehicle, and the start state includes that the shift position of the vehicle is in the neutral range, that the foot brake and the parking brake of the vehicle are not operating, and that the steering angle of the vehicle is within a predetermined range.

5. The control device according to claim 1, wherein the manufacturing process is a process of inspecting the amount of side slip of the vehicle, and the start state includes that the vehicle speed of the vehicle is equal to or less than a predetermined value, that the shift position of the vehicle is in the neutral range, and that the steering angle of the vehicle is within a predetermined range.

6. The control device according to claim 1, wherein the manufacturing process is a process of inspecting the braking force of the braking device of the vehicle, and the start state includes that a brake different from the brake to be inspected in the vehicle is not operating, that the shift position of the vehicle is in the neutral range, and that the steering angle of the vehicle is within a predetermined range.

7. The control device according to claim 1, wherein the manufacturing process is a process of optically inspecting a headlamp provided in the vehicle, and the start state includes that the shift position of the vehicle is in the parking range, the control device.

8. The control device according to claim 7, wherein the start state includes that the shift position is in the neutral range immediately before the parking range, the control device.

9. The control device according to claim 1, wherein the manufacturing process is a process of inspecting an acceleration device provided in the vehicle by running the vehicle on a rotatable roller, and the start state includes that the vehicle speed of the vehicle is equal to or lower than a predetermined value and the steering angle of the vehicle is within a predetermined range, the control device.

10. The control device according to claim 1, wherein the manufacturing process is a process of inspecting a steering device provided in the vehicle, and the start state includes that the shift position of the vehicle is in the neutral range and the steering force applied to the steering device is equal to or lower than a predetermined value, the control device.

11. The control device according to claim 1, wherein the manufacturing process is a process of electrically connecting a predetermined component to a predetermined part of the vehicle, and the start state includes that no power is supplied to the part, the control device.

12. The control device according to any one of claims 1 to 11, wherein when the manufacturing process is a first manufacturing process, the start state includes a state for not disturbing a second manufacturing process different from the first manufacturing process, the control device.

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

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

15. The control device according to claim 13, wherein the second manufacturing process is a process of executing an operation using an optical sensor, and the start state includes that a lighting device provided in the vehicle is not lit, the control device.

16. The control device according to claim 13, wherein the second manufacturing process is a process of executing an operation using a radar, A control device, wherein the start state includes that no radio wave is transmitted from a radar provided in the vehicle.

17. A process identification step of identifying a manufacturing process to be executed on a vehicle capable of traveling by autonomous driving, A state identification step of identifying a start state defining the state of the vehicle at the timing when the identified manufacturing process is started, A state control step of controlling the vehicle so that the state of the vehicle becomes the start state. A control method for a vehicle comprising:

18. A process identification unit that identifies a manufacturing process to be executed on a vehicle capable of traveling by autonomous driving, A state identification unit that identifies a start state defining the state of the vehicle at the timing when the identified manufacturing process is started, A system comprising: a control unit that executes a state control process for controlling the vehicle so that the state of the vehicle becomes the start state.

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