Route determination device, route determination method and towing vehicle

Abstract

To provide a route determination device for determining a route of a vehicle or a towed vehicle based on the presence / absence of a power supply port in the vehicle.SOLUTION: Provided is a route determination device comprising: an acquisition section for acquiring information relating to the presence / absence of a power supply port in a first vehicle including a power supply port and a second vehicle which does not include a power supply port; a route determination section for determining a route along which the first vehicle or the second vehicle self-travels or is towed, based on the information; and an instruction section which gives instructions to the first vehicle and the second vehicle. The route of the first vehicle includes a power supply device on the route.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a route determination device, a route determination method, and a towing vehicle.

Background Art

[0002] Patent Document 1 discloses a guidance method for guiding a vehicle to a parking lot according to the attributes of the vehicle.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the presence or absence of a power supply port was not included in the attributes. Therefore, an object of the present disclosure is to provide a route determination device that determines a route of a vehicle or a towed vehicle based on the presence or absence of a power supply port of the vehicle.

Means for Solving the Problems

[0005] The route determination device of the present disclosure includes an acquisition unit that acquires information regarding the presence or absence of a power supply port of a first vehicle having a power supply port and a second vehicle not having a power supply port; a route determination unit that determines a route for the first vehicle or the second vehicle to travel or be towed based on the information; and an instruction unit that gives an instruction to the first vehicle and the second vehicle.

[0006] With the above configuration, a route determination device that determines a route of a vehicle or a towed vehicle based on the presence or absence of a power supply port of the vehicle can be provided.

[0007] The route determination device of the present disclosure The route of the first vehicle is characterized by having a power supply device on the route.

[0008] With the above configuration, a vehicle having a power supply port can pass through a route having a power supply device.

[0009] The route determination device of the present disclosure The route of the second vehicle is characterized by not having a power supply device on the route.

[0010] With the above configuration, a vehicle not having a power supply port can pass through a route not having a power supply device.

[0011] The route determination device of the present disclosure The route determination device is characterized by including a transmission unit that transmits the determined route to the first vehicle, the second vehicle, the vehicle that towes the first vehicle, or the vehicle that tows the second vehicle.

[0012] With the above configuration, by transmitting the determined route to the vehicle, the vehicle can pass through the determined route.

[0013] The route determination device of the present disclosure Based on the determined route, a control instruction value creation unit that creates a control instruction value for the first vehicle, the second vehicle, the vehicle that tows the first vehicle, or the vehicle that tows the second vehicle, Based on the determined route, a transmission unit that transmits a control instruction value for the first vehicle, the second vehicle, the vehicle that tows the first vehicle, or the vehicle that tows the second vehicle, and is characterized by including the transmission unit.

[0014] With the above configuration, the vehicle to which the control instruction value is transmitted can pass through the determined route.

[0015] The route determination device of the present disclosure At the vehicle manufacturing factory or the port where the vehicle is loaded onto a ship, the instruction unit is characterized by instructing the first vehicle and the second vehicle.

[0016] The above configuration is an example of the place where the route determination device of the present disclosure is applied.

[0017] The route determination device of the present disclosure further includes a SOC information acquisition unit that acquires information on the SOC (State of Charge) of the first vehicle, and the route determination unit is characterized by determining a route based on the information and the SOC information.

[0018] With the above configuration, a route can be determined in consideration of the SOC of the vehicle.

[0019] The route determination device of the present disclosure When the SOC of the first vehicle is less than or equal to a predetermined value, the route of the first vehicle is characterized by having a power supply device on the route.

[0020] With the above configuration, when the SOC is not sufficient, the vehicle can pass through a route having a power supply device.

[0021] The route determination device of the present disclosure When at least one of the following conditions is satisfied: being the second vehicle or being the first vehicle with an SOC greater than or equal to a predetermined value, the route of the first vehicle or the second vehicle is characterized by not having a power supply device on the route.

[0022] With the above configuration, when the SOC is sufficient, the vehicle can pass through a route without a power supply device.

[0023] The route determination method of the present disclosure acquires information regarding the presence or absence of a power supply port of a first vehicle having a power supply port and a second vehicle not having a power supply port, and based on the information, determines a route for the first vehicle or the second vehicle to travel or be towed. A route determination method for issuing instructions to the first vehicle and the second vehicle.

[0024] With the above configuration, a route determination method can be provided that determines the route of a vehicle or a towed vehicle based on the presence or absence of a power supply port of the vehicle.

[0025] The vehicle that tows the first vehicle of the present disclosure is A vehicle that tows the first vehicle according to the route determined by the route determination device according to claim 1.

[0026] With the above configuration, a vehicle that tows the first vehicle according to the route determined by the route determination device can be provided.

Advantages of the Invention

[0027] According to the present disclosure, a route determination device can be provided that determines the route of a vehicle or a towed vehicle based on the presence or absence of a power supply port of the vehicle.

Brief Description of the Drawings

[0028]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0029] Embodiment Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the invention according to the claims is not limited to the following embodiments. Also, not all of the configurations described in the embodiments are essential as means for solving the problems. For the sake of clarity of explanation, the following description and drawings have been appropriately omitted and simplified. In each drawing, the same elements are denoted by the same reference numerals, and duplicate explanations are omitted as necessary.

[0030] (Explanation of Route Determination Device According to Embodiment) FIG. 1 is a schematic diagram showing an overview of a route determination device according to an embodiment. The route determination device according to the embodiment will be described with reference to FIG. 1.

[0031] As shown in FIG. 1, consider a situation where a vehicle 100a having a power supply port and a vehicle 100b not having a power supply port are mixed and driven and carried without a person boarding. Such a situation occurs, for example, at a vehicle manufacturing factory or a port where vehicles are loaded onto a ship.

[0032] The vehicle 100a having a power supply port is, for example, the first vehicle 100a. The vehicle not having a power supply port is, for example, the second vehicle 100b. The first vehicle 100a and the second vehicle 100b are collectively referred to as the vehicle 100.

[0033] The first vehicle 100a having a power supply port is, for example, provided with a power supply port. Also, the first vehicle 100a may be provided with a coil for power reception instead of the power supply port. The first vehicle 100a is an electric vehicle such as a battery type or a plug-in hybrid type.

[0034] The power supply target is not limited to the first vehicle 100a and may be a moving body other than a vehicle. In the present embodiment, the moving body is the first vehicle 100a, and more specifically, it is a battery electric vehicle (BEV). Note that the moving body is not limited to an electric vehicle, and for example, it may be an electric motorcycle, an electric bicycle, an electric kick scooter, a hybrid vehicle, or a fuel cell vehicle. Further, the moving body may be a vehicle having wheels or a vehicle having an endless track, and for example, it may be any vehicle such as a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, or a construction vehicle. Further, the moving body is not limited to the first vehicle 100a and may be an electric vertical takeoff and landing aircraft (so-called flying car).

[0035] The second vehicle 100b that does not have a power supply port is a vehicle equipped with an engine such as a hybrid vehicle or a gasoline vehicle, for example. The second vehicle 100b that does not have a power supply port is a vehicle that operates without being supplied with power by the power supply device 700.

[0036] The power supply device 700 supplies power to the first vehicle 100a. The first vehicle 100a has a power supply port of a specification corresponding to the destination or a power receiving coil for non-contact power supply. The power supply device 700 has different types of connectors according to the specification of the power supply port. The connector has a shape corresponding to the power supply port. Further, the power supply device 700 may be provided with a power supply coil for non-contact power supply. The power supply coil for non-contact power supply is arranged at a position corresponding to the location of the power receiving coil of the vehicle, usually in the ground or in contact with the ground.

[0037] The power supply device 700 includes a power supply unit 720 and a power supply unit control unit 740 (illustrated in FIG. 2). The power supply unit 720 is a connector, a power supply coil, or the like. The power supply unit control unit 740 supplies a voltage corresponding to the connector to the power supply unit 720. Further, the power supply unit control unit controls to supply power to the connector or the power supply coil created by the control value creation unit of the server 200.

[0038] The power supply device 700 connects a connector to the power supply port. For example, the power supply device 700 has an arm mechanism for connecting the connector to the power supply port. The arm mechanism has a plurality of joint motors and an end effector for holding the connector. The arm mechanism selects a connector suitable for the power supply port from among a plurality of connectors and inserts it into the power supply port. Thereby, the power supply device 700 can supply a power supply voltage to the power supply port. Thus, the power supply device 700 can supply power to the battery of the first vehicle 100a.

[0039] The external sensor 300 is various sensors such as an infrastructure camera and LiDAR installed in a facility such as a factory. Of course, two or more external sensors 300 may be installed, and two or more types of sensors may be used in combination. The external sensor 300 is a camera that images the vehicle 100 while it is moving or stopped. The external sensor 300 may be LiDAR. The external sensor 300 transmits the detection result to the server 200. The detection result transmitted by the external sensor 300 may be the captured image or the information extracted from the image. For example, when the external sensor 300 has an image processing function, the external sensor 300 transmits the information extracted by the image processing to the server 200.

[0040] The server 200 (illustrated in FIG. 2) is an information processing device having a memory and a processor, and functions as a route determination device for determining a route. For example, the server 200 receives the detection result of the external sensor 300. The server 200 determines a route according to the detection result and the like.

[0041] The server 200 acquires type information regarding the type of the power supply port from the external sensor 300 or the first vehicle 100a. Then, the server 200 creates a control value for performing power supply to the vehicle 100 according to the type information. The type information is, for example, information for specifying a connector or a non-contact power reception unit corresponding to the power supply port from among a plurality of connectors or non-contact power supply units.

[0042] In the case of non-contact power supply, the position of the power receiving coil of the vehicle 100 is aligned with the position of the power supply coil of the power supply device 700. Electric power is transmitted to the power receiving coil by the induced electromotive force of the power supply coil to supply power to the vehicle 100.

[0043] As shown in FIG. 1, the first vehicle 100a having a power supply port passes through a route with a power supply device on the route in order to be supplied with power by the power supply device after leaving the vehicle manufacturing factory. The second vehicle 100b having no power supply port passes through a route without a power supply device on the route because there is no need to be supplied with power by the power supply device. Both vehicles 100 are destined for the yard. The yard is a place where a large number of vehicles are lined up and stored before loading onto a ship or before shipment.

[0044] The leading vehicle may tow and move a plurality of the first vehicles 100a or the second vehicles 100b. Such running is called "car-like running". Therefore, car-like running can be achieved by determining the route of the vehicle towing a plurality of the first vehicles 100a or the vehicle towing a plurality of the second vehicles 100b, which is the leading vehicle, and having the remaining vehicles follow.

[0045] In order for the first vehicle 100a or the second vehicle 100b to follow the leading vehicle, the same control instruction value may be input to the first vehicle 100a or the second vehicle 100b. Further, an imaging device may be mounted on the first vehicle 100a and the second vehicle 100b, and the vehicle may be run according to the image. Further, the first vehicle 100a and the second vehicle 102b may follow the leading vehicle using the external sensor 300.

[0046] The information of the SOC of the first vehicle 100a may be acquired, and the route may be determined based on the SOC information. For example, when the SOC of the first vehicle 100a is equal to or less than a predetermined value, the route of the first vehicle has a power supply device on the route.

[0047] For example, when the SOC of the first vehicle 100a is equal to or higher than a predetermined value, in order to prevent overcharging, the route of the first vehicle 100a does not have a power feeding device on the route. That is, when at least one of the conditions that the vehicle is the second vehicle or the first vehicle with an SOC equal to or higher than the predetermined value is satisfied, the routes of the first vehicle or the second vehicle do not have a power feeding device on the route.

[0048] The server 200 determines the routes of the first vehicle 100a, the second vehicle 100b, the vehicle towing the first vehicle 100a, or the vehicle towing the second vehicle 100b in consideration of these conditions. And the server 200 includes an instruction unit that gives instructions to the first vehicle 100a and the second vehicle 100b to move according to the instructions.

[0049] (Description of the configuration of the route determination device according to the embodiment) FIG. 2 is a block diagram showing the configuration of the route determination device according to the embodiment. The configuration of the route determination device according to the embodiment will be described with reference to FIG. 2.

[0050] The route determination device is, for example, the server 200. The server 200 includes a calculation unit 231, a route determination unit 232, a control instruction creation unit 233, a detection unit 234, an information acquisition unit 235, and a control value creation unit 236. Further, the server 200 includes a communication device 205 for transmitting and receiving data to and from the first vehicle 100a, the second vehicle 100b, the external sensor 300, the power feeding device 700, etc. Note that the server 200 is not limited to a physically single device and may be distributed. For example, a database or the like may be a storage device provided separately from the processor, a cloud server, or the like. The route determination device is not limited to the server 200, and an ECU (Electronic Control Unit) mounted on a vehicle may have its function.

[0051] The external sensor 300 includes a communication device 330 that transmits and receives data to and from the server 200. The communication device 330 transmits the captured image captured by the external sensor 300 to the server 200. The communication device 330 may transmit not only the captured image but also information obtained from the captured image to the server 200. That is, the communication device 330 transmits the detection result detected by the external sensor 300. Note that the communication device 330 may be built into the external sensor 300 or may be a separate unit. Also, the communication device 330 may be shared by a plurality of external sensors 300. That is, when a plurality of external sensors 300 are installed, one communication device 330 may transmit data to the server 200.

[0052] The calculation unit 231 calculates position information indicating the position and orientation of the vehicle based on the captured image. For example, the calculation unit 231 can obtain the global coordinates and orientation of XYZ in the map of the factory. At least a part of the processing in the calculation unit 231 may be provided in the external sensor 300. For example, the external sensor 300 may have a processor that performs image processing. In this case, the position information indicating the position of the vehicle 100 and the like is transmitted from the communication device 330 to the communication device 205.

[0053] The position of the vehicle 100 and the orientation of the vehicle 100 may be estimated using a captured image acquired by an external sensor 300 provided at a location different from the vehicle 100. The position of the vehicle 100 can be obtained, for example, by calculating the coordinates of the measurement points of the moving object in the image coordinate system using the outer shape of the vehicle 100 detected from the captured image and converting the calculated coordinates into coordinates in the global coordinate system. The orientation of the vehicle 100 can be estimated, for example, based on the direction of the movement vector of the moving object calculated from the position change of the feature points of the moving object between frames of the captured image using the optical flow method. The orientation of the vehicle 100 may be calculated, for example, using the output results of a speed sensor, a yaw rate sensor, etc. mounted on the vehicle 100.

[0054] The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model that utilizes artificial intelligence. As the detection model, for example, a trained machine learning model that is learned to realize either semantic segmentation or instance segmentation can be mentioned. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) learned by supervised learning using a learning dataset can be used. The learning dataset has, for example, a plurality of training images including moving objects and a correct label indicating whether each region in the training image is a region indicating a moving object or a region other than the moving object. 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 and the correct label by backpropagation (error backpropagation method).

[0055] The route determination unit 232 determines the routes of the first vehicle 100a, the second vehicle 100b, the vehicle towing the first vehicle, and the vehicle towing the second vehicle based on the presence or absence of a power supply port. The presence or absence of the power supply port can be determined by whether there is a reply by diagnostic communication. This is because if there is a power supply port, since a data ID is recorded in the ECU, there is a reply to the inquiry from the server 200. If there is no power supply port, there is no reply because there is no ECU. Since this data ID is represented by a signal with a format of 8 bits, information on whether the power supply port is on the left or right can also be obtained at the same time.

[0056] In the case of the first vehicle 100a having a power supply port or the vehicle towing the first vehicle 100a, select a route having a power supply device on the route. In the case of the second vehicle 100b not having a power supply port or the vehicle towing the second vehicle 100b, select a route not having a power supply device on the route.

[0057] The route determination unit 232 may determine a route based on the state of the SOC of the first vehicle 100a. When the SOC is equal to or less than a predetermined value, since it is necessary to charge, a route having a power feeding device is selected. When the SOC is equal to or more than the predetermined value, since there is no need to charge, a route not having a power feeding device is selected.

[0058] The control instruction creation unit 233 creates, for example, a control instruction for controlling the first vehicle 100a or a vehicle towing the first vehicle 100a. Specifically, the control instruction creation unit 233 creates a control instruction for moving the first vehicle 100a to the power feeding position. The control instruction may be information indicating the speed, acceleration, steering angle, etc. of the first vehicle 100a or a vehicle towing the first vehicle 100a. Further, when the first vehicle 100a or a vehicle towing the first vehicle 100a is capable of autonomous movement, the control instruction may be a route from the current position on the map to the power feeding position or a route determined by the route determination unit 232. In this way, the control instruction creation unit 233 creates a control instruction regarding the movement of the first vehicle 100a.

[0059] The control instruction creation unit 233 creates, for example, a control instruction for controlling the second vehicle 100b or a vehicle towing the second vehicle 100b. Specifically, the control instruction creation unit 233 may create a control instruction for transporting the second vehicle 100b to the yard. The control instruction may be information indicating the speed, acceleration, steering angle, etc. of the second vehicle 100b or a vehicle towing the second vehicle 100b. Further, when the second vehicle 100b or a vehicle towing the second vehicle 100b is capable of autonomous movement, the control instruction may be a route from the current position on the map to the power feeding position or a route determined by the route determination unit 232. In this way, the control instruction creation unit 233 creates a control instruction regarding the movement of the second vehicle 100b.

[0060] The communication device 205 includes a transmission unit that transmits a control instruction to the vehicle 100. When the communication device 130 of the vehicle 100 receives the control instruction, the vehicle 100 moves in accordance with the control instruction. The vehicle 100 has an actuator group 120 and a vehicle control unit 115. The actuator group 120 includes a wheel motor for driving the wheels, a steering motor for controlling the steering angle, a brake for stopping the vehicle, and the like. The vehicle control unit 115 generates a control signal for controlling the actuator group 120 in accordance with the control instruction. The vehicle control unit 115 may be configured by an ECU.

[0061] The detection unit 234 detects that the vehicle 100 has stopped at the power supply position. For example, when an external sensor 300 for imaging the power supply position is provided, the detection unit 234 detects from the image of the external sensor 300 that the vehicle 100 has stopped at the power supply position. Alternatively, a signal indicating that the vehicle 100 has stopped at the power supply position may be transmitted. Further, the vehicle 100 may transmit identification information unique to the vehicle.

[0062] The information acquisition unit 235 acquires type information regarding the presence or absence of a power supply port of the vehicle 100. For example, the type information is information regarding the destination of the vehicle 100. The information acquisition unit 235 may acquire the type information from the image of the external sensor 300. The information acquisition unit 235 may acquire the type information from the identification information of the vehicle 100 stopped at the power supply position. For example, the information acquisition unit 235 accesses a database for factory production management to acquire production management information. Since the destination is registered for each vehicle in the production management information, the information acquisition unit 235 can read out the destination from the identification information of the vehicle 100 and the like.

[0063] Furthermore, when power supply information regarding a target SOC (State Of Charge) etc. is set at the time of shipment, the information acquisition unit 235 reads the power supply information from the database. The information acquisition unit 235 also serves as an SOC information acquisition unit. For example, when a target SOC at the time of shipment is set for each destination, power supply is performed so as to reach the target SOC. The set value may be only a lower limit value, or may be a range in which an upper limit value and a lower limit value are set. Also, the power supply device 700 is not limited to only supplying power so as to reach the target SOC, and may be made to consume power because it is higher than the target SOC. If the SOC is too high during the transportation process to the destination, the battery may deteriorate, and if it is low, there may be a power outage. Therefore, the SOC may be set within a predetermined range and then shipped.

[0064] The control value creation unit 236 creates a control value based on the type information. For example, the control value is data for specifying a connector corresponding to the destination. When the destination information included in the type information is for Japan, the control value is data for selecting a connector. Specifically, the control value may be data indicating the number of the connector, or may be data indicating the position of the connector etc.

[0065] The communication device 205 transmits the control value to the power supply device 700. When the communication device 710 of the power supply device 700 receives the control value, the power supply device 700 executes a power supply operation. Specifically, the power supply device 700 has an arm control unit. The arm control unit controls the arm mechanism so that the arm mechanism holds the connector specified by the control value. Then, the arm control unit controls the arm mechanism so as to connect the connector to the power supply port.

[0066] In this way, the control value creation unit 236 creates a control value according to the type information indicating the type of the power supply port. Therefore, the power supply device 700 can supply power to the first vehicle 100a using a connector that matches the power supply port.

[0067] Note that the communication between the communication device 205, the communication device 330, the communication device 710, and the communication device 130 may be wireless communication or wired communication. Note that at least a part of the functions of each block provided in the server 200 may be implemented in the vehicle 100, the external sensor 300, and the power supply device 700. The communication device 205, the communication device 330, the communication device 710, and the communication device 130 may have only one of the transmission function and the reception function.

[0068] (Explanation of the route determination method and the operation of the power supply device according to the embodiment) FIG. 3 is a flowchart 1 of the route determination method according to the embodiment. FIG. 4 is a flowchart 2 of the route determination method according to the embodiment. Hereinafter, the route determination method and the operation of the power supply device will be described with reference to FIGS. 3 and 4. As shown in FIG. 3, when the external sensor 300 captures an image of the vehicle 100, the image is transmitted to the server 200 (S301). The server 200 determines whether the image has been received (S302). If the image has not been received (No in S302), the process ends as it is. That is, it waits until an image is received from the external sensor 300.

[0069] When the server 200 receives an image from the external sensor 300 (Yes in S302), the calculation unit 231 calculates the position and orientation of the vehicle 100 from the image (S303). Then, the route determination unit 232 acquires information on the presence or absence of the power supply port of the vehicle and determines the route (S304). The control instruction creation unit 233 creates a control instruction from the route information, the position and orientation of the vehicle 100, and the communication device 205 transmits the control instruction to the vehicle 100 (S305).

[0070] It is determined whether the vehicle 100 has received a control instruction value from the server 200 (S306). If the vehicle 100 has not received the control instruction value (No in S306), the process ends. That is, the vehicle 100 waits until it receives the control instruction value. When the vehicle 100 has received the control instruction value (Yes in S306), vehicle control is performed based on the control instruction value (S307). That is, the vehicle control unit 115 controls the actuator group 120 such as the vehicle motor, the steering motor, and the brake. As a result, the vehicle 100 moves to the power supply position.

[0071] As shown in FIG. 4, next, the detection unit 234 determines whether the vehicle 100 is at the power supply position (S401). For example, the detection unit 234 determines whether the vehicle 100 is at the power supply position based on an image of the external sensor 300 around the power supply position. If the vehicle 100 is not at the power supply position (No in S401), the process ends. That is, the server 200 waits until the vehicle 100 moves to the power supply position.

[0072] When the vehicle 100 is at the power supply position (Yes in S401), the information acquisition unit 235 acquires information on the vehicle 100 (S402). When the detection unit 234 detects the vehicle 100 at the power supply position, the information acquisition unit 235 acquires the type information of the vehicle 100. For example, the vehicle 100 at the power supply position may transmit unique identification information to the server 200. The server 200 refers to the database and specifies the destination from the identification information. As a result, the information acquisition unit 235 can acquire type information according to the destination. Alternatively, type information may be acquired from an image of the external sensor 300 or the like. Further, the information acquisition unit 235 may acquire power supply information such as the SOC.

[0073] Then, the control value creation unit 236 creates a control value for the power supply device 700 based on the type information, and the communication device 205 transmits it to the power supply device 700 (S403). The control value can be information indicating a connector or the like. Alternatively, the control value can be, for example, the motor drive amount related to the operation of holding the connector and inserting it into the power supply port. For example, the control value may be information regarding the position of the power supply port or the connector. Furthermore, it may be a value regarding the insertion position and insertion direction of the connector.

[0074] The power supply device 700 determines whether it has received the control value (S404). If the power supply device 700 has not received the control value (No in S404), the process ends. That is, the power supply device 700 waits until it receives the control value. When the power supply device 700 receives the control value (Yes in S404), the control of the power supply unit of the power supply device 700 is performed based on the control value (S405). For example, the arm mechanism is driven so that the arm control unit grips the connector that matches the type information.

[0075] <A. Travel Control Example 1> FIG. 5 is a conceptual diagram showing the configuration of the system 50 in travel control example 1. The system 50 includes one or more vehicles 100 as moving bodies, a server 200, and one or more external sensors 300. Hereinafter, the server 200 will be described as the server 200.

[0076] Note that when the moving body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "moving body", and the expression "travel" can be appropriately replaced with "move".

[0077] Vehicle 100 is configured to be capable of traveling by autonomous driving. "Autonomous driving" means driving without relying on the driving operations of passengers. Driving operations refer to operations related to at least any one of "driving forward", "turning", and "stopping" of vehicle 100. Autonomous driving is realized by automatic or manual remote control using a device located outside vehicle 100, or by autonomous control of vehicle 100. A passenger who does not perform driving operations may board vehicle 100 while it is traveling by autonomous driving. Passengers who do not perform driving operations include, for example, a person simply sitting on the seat of vehicle 100, or a person performing work different from driving operations, such as assembly, inspection, and operation of switches, while boarding vehicle 100. Note that driving by the driving operations of passengers is sometimes referred to as "drivered driving".

[0078] In this specification, "remote control" includes "full remote control" in which all operations of vehicle 100 are completely determined from outside vehicle 100, and "partial remote control" in which some operations of vehicle 100 are determined from outside vehicle 100. Also, "autonomous control" includes "full autonomous control" in which vehicle 100 autonomously controls its own operations without receiving any information from a device outside vehicle 100, and "partial autonomous control" in which vehicle 100 autonomously controls its own operations using information received from a device outside vehicle 100.

[0079] In this embodiment, system 50 is used in factory FC where vehicle 100 is manufactured. The reference coordinate system of factory FC is global coordinate system GC. That is, any position within factory FC is represented by the coordinates of X, Y, and Z in global coordinate system GC. Factory FC includes a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a runway TR on which vehicle 100 can travel. A plurality of external sensors 300 are installed along runway TR in factory FC. The positions of each external sensor 300 in factory FC are adjusted in advance. Vehicle 100 moves from the first location PL1 to the second location PL2 through runway TR by autonomous driving.

[0080] FIG. 6 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, and a communication device 130 for communicating with an external device such as the server 200 by wireless communication. The actuator group 120 includes 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.

[0081] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected to be communicable bidirectionally via the internal bus 114. The actuator group 120 and the communication device 130 are connected to the input / output interface 113. The processor 111 realizes various functions including the function as the vehicle control unit 115 by executing the program PG1 stored in the memory 112.

[0082] The vehicle control unit 115 runs the vehicle 100 by controlling the actuator group 120. The vehicle control unit 115 can run the vehicle 100 by controlling the actuator group 120 using the running control signal received from the server 200. The running control signal is a control signal for running the vehicle 100. In the present embodiment, the running control signal includes the acceleration and the steering angle of the vehicle 100 as parameters. In other embodiments, the running 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.

[0083] 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 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. By executing the program PG2 stored in the memory 202, the processor 201 realizes various functions including the function as the remote control unit 210.

[0084] The remote control unit 210 acquires the detection result by the 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 remote control unit 210 may generate and output not only the driving control signal but also a control signal for controlling an actuator for operating various auxiliary machines provided in the vehicle 100, various equipment such as a wiper, a power window, and a lamp. That is, the remote control unit 210 may operate such various equipment and various auxiliary machines by remote control.

[0085] 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 includes a communication device (not shown) and can communicate with other devices such as the server 200 by wired communication or wireless communication.

[0086] Specifically, the external sensor 300 is composed of a camera. The camera as the external sensor 300 captures an imaging image including the vehicle 100 and outputs the imaging image as a detection result.

[0087] FIG. 7 is a flowchart showing a processing procedure of the travel control of the vehicle 100 in the travel control example. In the processing procedure of FIG. 7, the processor 201 of the server 200 functions as the remote control unit 210 by executing the program PG2. Further, the processor 111 of the vehicle 100 functions as the vehicle control unit 115 by executing the program PG1.

[0088] In step S110, the processor 201 of the server 200 acquires the vehicle position information of the vehicle 100 by using the detection result output from the external sensor 300. The vehicle position information is the position information that serves as the basis for generating the 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 S110, the processor 201 acquires the vehicle position information by using the captured image acquired from the camera which is the external sensor 300.

[0089] Specifically, in step S110, the processor 201 detects the outer shape of the vehicle 100 from the captured image, for example, 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. 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 training 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.

[0090] In step S120, the processor 201 of the server 200 determines the target position to which the vehicle 100 should next head. In this 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 nodes indicating the departure point, nodes indicating passing points, nodes 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.

[0091] In step S130, 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 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 acceleration so that the vehicle 100 returns to the reference route RR.

[0092] In step S140, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats the acquisition of the position of the vehicle 100, the determination of the target position, the generation of the driving control signal, and the transmission of the driving control signal at a predetermined cycle.

[0093] In step S150, the processor 111 of the vehicle 100 receives a driving control signal transmitted from the server 200. In step S160, the processor 111 of the vehicle 100 controls the actuator group 120 by using the received driving control signal, so that the vehicle 100 travels 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 period. According to the system 50 in this example, 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.

[0094] <B:Driving Control Example 2> FIG. 8 is an explanatory diagram showing a schematic configuration of the system 50v in Driving Control Example 2. In this example, the system 50v is different from Driving Control Example 1 in that it does not include the server 200. Also, the vehicle 100v in the configuration can travel by autonomous control of the vehicle 100v. For other configurations, they are the same as those described above unless otherwise specified.

[0095] In this example, the processor 111v of the vehicle control device 110v functions as the vehicle control unit 115v by executing the program PG1 stored in the memory 112v. The vehicle control unit 115v can acquire the output result from the sensor, generate a driving control signal by using the output result, output the generated driving control signal, and operate the actuator group 120, so that the vehicle 100v can travel by autonomous control. In this example, in addition to the program PG1, a detection model DM and a reference route RR are stored in the memory 112v in advance.

[0096] FIG. 9 is a flowchart showing the processing procedure of the driving control of the vehicle 100v in Example 2. In the processing procedure of FIG. 9, the processor 111v of the vehicle 100v functions as the vehicle control unit 115v by executing the program PG1.

[0097] In step S210, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection result output from the camera which is an external sensor 300. In step S220, the processor 111v determines the target position to which the vehicle 100v should next head. In step S230, the processor 111v generates a driving control signal for driving the vehicle 100v toward the determined target position. In step S240, the processor 111v controls the actuator group 120 using the generated driving control signal, thereby driving the vehicle 100v according to the parameters represented in the driving control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target position, generation of the driving control signal, and control of the actuator at a predetermined cycle. According to the system 50v in this example, the vehicle 100v can be driven by the autonomous control of the vehicle 100v without remotely controlling the vehicle 100v by the server 200.

[0098] YY: Other driving control examples (YY1) In the above example, the external sensor 300 is a camera. In contrast, the external sensor 300 does not have to be a camera and may be, for example, LiDAR (Light Detection And Ranging). In this case, the detection result output by the external sensor 300 may be 3D point cloud data representing the vehicle 100. In this case, the server 200 and the vehicle 100 may acquire vehicle position information by template matching using the 3D point cloud data as the detection result and the reference point cloud data prepared in advance.

[0099] (YY2) In driving control example 1, the processing 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 processing 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).

[0100] (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 travel 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 travel control signal.

[0101] (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 travel control signal so that the vehicle 100 travels on the generated route, and control the actuator group 120 using the generated travel control signal.

[0102] (3) In the forms of (1) and (2) above, the vehicle 100 is equipped with an internal sensor, and the detection result output from the internal sensor may be used for at least one of the generation of the route and the generation of the driving control signal. The internal sensor is a sensor mounted on the vehicle 100. The internal sensor may include, for example, a sensor that detects the motion state of the vehicle 100, a sensor that detects the operation state of each part of the vehicle 100, and a sensor that detects the environment around the vehicle 100. Specifically, the internal sensor may include, for example, a camera, LiDAR, millimeter-wave radar, ultrasonic sensor, GPS sensor, acceleration sensor, gyro sensor, etc. For example, in the form of (1) above, the server 200 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the route when generating the route. In the form of (1) above, the vehicle 100 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal. In the form of (2) above, the vehicle 100 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the route when generating the route. In the form of (2) above, the vehicle 100 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal.

[0103] (YY3) In the driving control example 2, the vehicle 100v is equipped with an internal sensor, and the detection result output from the internal sensor 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 and reflect the detection result of the internal sensor in the route when generating the route. The vehicle 100v may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal.

[0104] (YY4)In the running control example 2, the vehicle 100v acquires vehicle position information using the detection result of the external sensor 300. On the other hand, an internal sensor is mounted on the vehicle 100v, and the vehicle 100v acquires vehicle position information using the detection result of the internal sensor, determines the target position to which the vehicle 100v should next go, generates a route from the current position of the vehicle 100v represented in the acquired vehicle position information to the target position, generates a running control signal for running the generated route, and may control the actuator group 120 using the generated running control signal. In this case, the vehicle 100v can run 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 running control signal. Also, all 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.

[0105] (YY5)In the running control example 1, the server 200 automatically generates the running control signal to be transmitted to the vehicle 100. On the other hand, the server 200 may generate the running 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 operator operates a control device including a display for displaying the 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 running control signal corresponding to the operation applied to the control device.

[0106] In each of the above driving control examples, the vehicle 100 only needs to be configured to be movable by autonomous driving. For example, it may be in the form of a platform having the configuration described below. Specifically, the vehicle 100 only needs to include at least a vehicle control device 110 and an actuator group 120 in order to perform 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 be moved by autonomous driving does not necessarily need to have at least some of the interior parts such as a driver's seat and a dashboard, and does not necessarily need to have at least some of the exterior parts such as a bumper and a fender, and does not necessarily need to have a body shell attached. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory FC, or the vehicle 100 may be shipped from the factory FC in a state where the remaining parts such as the body shell are not attached, and then the remaining parts such as the body shell may be attached to the vehicle 100. Each part may be attached from any direction such as the upper side, lower side, front side, rear side, right side, or left side of the vehicle 100, and they may be attached from the same direction or from different directions respectively. Note that the positioning of the platform form can also be performed in the same manner as the vehicle 100 in the first embodiment.

[0107] (YY7) The vehicle 100 may be manufactured by combining a plurality of modules. A module means a unit composed of a plurality of parts grouped according to the parts 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 center 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. In addition to, or instead of, the parts constituting the platform, the parts constituting a portion of the vehicle 100 different from the platform may be modularized. Further, the various modules may include any exterior parts such as bumpers and grilles, and any interior parts such as seats and consoles. Further, not limited to the vehicle 100, any type of moving body may be manufactured by combining a plurality of modules. Such modules may be manufactured, for example, by joining a plurality of parts by welding or fixtures, etc., or by integrally molding at least a part of the parts constituting the module by casting as one part. The molding method of integrally molding one part, particularly a relatively large part, is also called gigacasting or megacasting. For example, the above-mentioned front module, center module, and rear module may be manufactured using gigacasting.

[0108] (YY8) Using the running of the vehicle 100 by autonomous driving to transport the vehicle 100 is also called "self-propelled transport". Further, 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 the factory FC that manufactures the vehicle 100, at least a part of the transport of the vehicle 100 is realized by self-propelled transport.

[0109] In each of the above-described travel control examples, some or all of the functions and processes realized software-wise may be realized hardware-wise. Also, some or all of the functions and processes realized hardware-wise may be realized software-wise. 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.

[0110] Also, some or all of the processing in the above-described external sensor 300, vehicle 100, server 200, external sensor 300, power supply robot 600, etc. can be realized as a computer program. Such a program can be stored using various types of non-transitory computer-readable media and supplied to a computer. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). Also, the program may be supplied to a computer by various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. A transitory computer-readable media can supply the program to a computer via a wired communication path such as electric wires and optical fibers, or a wireless communication path.

[0111] Note that the present invention is not limited to the above embodiments and can be appropriately changed without departing from the gist.

Explanation of Reference Numerals

[0112] 50 System, 100 Vehicle, 100v Vehicle, 110 Vehicle Control Device, 111 Processor, 111v Processor, 112 Memory, 112v Memory, 113 Input / Output Interface, 114 Internal Bus, 115 Vehicle Control Unit, 115v Vehicle Control Unit, 120 Actuator Group, 130 Communication Device, 140 Power Supply Port, 200 Server, 201 Processor, 202 Memory, 203 Input / Output Interface, 204 Internal Bus, 205 Communication Device, 210 Remote Control Unit, 231 Calculation Unit, 232 Route Determination Unit, 233 Control Instruction Creation Unit, 234 Detection Unit, 235 Information Acquisition Unit, 236 Control Value Creation Unit, 300 External Sensor, 330 Communication Device, 700 Power Supply Device, 710 Communication Device, 720 Power Supply Unit, 740 Power Supply Unit Control Unit

Claims

1. An acquisition unit that acquires information regarding the presence or absence of a power supply port of a first vehicle having a power supply port and a second vehicle not having a power supply port; A route determination unit that determines a route along which the first vehicle or the second vehicle travels or is towed based on the information; A route determination device comprising an instruction unit that gives an instruction to the first vehicle and the second vehicle.

2. The route of the first vehicle has a power supply device on the route. The route determination device according to claim 1.

3. The route of the second vehicle does not have a power supply device on the route. The route determination device according to claim 1 or 2.

4. A transmission unit that transmits the determined route to the first vehicle, the second vehicle, a vehicle that tows the first vehicle, or a vehicle that tows the second vehicle. The route determination device according to claim 1 or 2.

5. A control instruction creation unit that creates a control instruction value for the first vehicle, the second vehicle, a vehicle that tows the first vehicle, or a vehicle that tows the second vehicle based on the determined route; A transmission unit that transmits a control instruction value for the first vehicle, the second vehicle, a vehicle that tows the first vehicle, or a vehicle that tows the second vehicle based on the determined route. The route determination device according to claim 1 or 2.

6. At a vehicle manufacturing factory or a port where the vehicle is loaded onto a ship, the instruction unit gives an instruction to the first vehicle and the second vehicle. The route determination device according to claim 1 or 2.

7. Further comprising an SOC information acquisition unit that acquires information on the SOC (State of Charge) of the first vehicle, The route determination unit determines a route based on the information and the SOC information. The route determination device according to claim 1.

8. When the SOC of the first vehicle is equal to or less than a predetermined value, the route of the first vehicle has a power supply device on the route. The route determination device according to claim 7.

9. When at least one of the conditions that the vehicle is the second vehicle or the first vehicle with an SOC equal to or greater than a predetermined value is satisfied, the route of the first vehicle or the second vehicle does not have a power supply device on the route. The route determination device according to claim 7 or 8.

10. Acquires information regarding the presence or absence of a power supply port of a first vehicle having a power supply port and a second vehicle not having a power supply port, Based on the information, determine a route along which the first vehicle or the second vehicle travels or is towed, A route determination method for issuing instructions to the first vehicle and the second vehicle.

11. A vehicle that tows a first vehicle according to a route determined by the route determination device according to claim 1.

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