Identification system, identification method, and identification device

Abstract

To provide a technique capable of identifying an object.SOLUTION: An identification system includes: an object detection part for detecting a plurality of objects; a radio wave irradiation part for sequentially irradiating a plurality of objects detected by the object detection part with radio waves; a radio wave detection part which is provided on each of the plurality of objects, and detects radio waves irradiated by the radio wave irradiation part; and an identification part for identifying at least one object among the plurality of objects, using time-series data of the radio wave detected by the radio wave detection part.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to an identification system, an identification method, and an identification device.

Background Art

[0002] Patent Document 1 discloses a method of identifying a vehicle by transmitting a request to execute an operation of a device provided in the vehicle, such as turning on the headlights, to the vehicle via a wireless communication network provided in a parking lot, and checking whether the vehicle has executed the operation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional technology, in order to identify a vehicle, some operation must be executed on the vehicle. Therefore, there is a problem that the process for identifying the vehicle becomes complicated. In addition, there is a problem that the vehicle cannot be identified when the device for executing the operation of the vehicle is not mounted on the vehicle. Such problems are common not only in vehicles but also in other objects such as moving bodies.

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, an identification system is provided. The identification system includes an object detection unit that detects a plurality of objects, a radio wave irradiation unit that sequentially irradiates radio waves to the plurality of objects detected by the object detection unit, a radio wave detection unit that is provided for each of the plurality of objects and detects the radio waves irradiated by the radio wave irradiation unit, and an identification unit that identifies at least one of the plurality of objects using the time-series data of the radio waves detected by the radio wave detection unit. According to this aspect, the identification system can sequentially irradiate radio waves to the plurality of objects detected by the multi-object detection unit. Then, the identification system can identify at least one of the plurality of objects using the time-series data of the radio waves detected by the radio wave detection units provided for each of the plurality of objects. By doing so, the object can be identified without causing any operation on the object. Thereby, even when a device for executing an operation is not attached to the object, the identification system can identify the object. (2) In the above aspect, the time-series data is the reception timing of the radio waves specified by the intensity change of the radio waves, and is data in which the reception timings of the radio waves in each of the plurality of objects are arranged in time-series order. The identification unit may identify the object by collating the order in which the radio waves are irradiated to each of the plurality of objects with the time-series data. According to this aspect, the identification system can identify the object by collating the order in which radio waves are irradiated to each of the plurality of objects with the time-series data in which the reception timings of the radio waves in each of the plurality of objects are arranged in time-series order. (3) In the above aspect, the object is a moving body that can move by autonomous driving, and the identification system further includes a control unit that controls the operation of the object. The identification unit may identify the object that is the control target among the plurality of objects detected by the object detection unit. According to this aspect, the identification system can identify the object that is the control target. (4) According to the second aspect of the present disclosure, an identification method is provided. The identification method includes an object detection step of detecting a plurality of objects, a radio wave irradiation step of sequentially irradiating radio waves to the plurality of objects detected in the object detection step, a radio wave detection step of detecting the radio waves irradiated in the radio wave irradiation step for each of the plurality of objects, and an identification step of identifying at least one of the plurality of objects using the time-series data of the radio waves detected in the radio wave detection step. According to this aspect, radio waves can be sequentially irradiated to the plurality of objects detected by the multi-object detection unit. Then, at least one of the plurality of objects can be identified using the time-series data of the radio waves detected by the radio wave detection units provided for the plurality of objects respectively. In this way, the objects can be identified without causing any operation on the objects. Thereby, even when a device for executing an operation is not attached to the object, the object can be identified. (5) According to the third aspect of the present disclosure, an identification device is provided. The identification device includes an identification unit that identifies at least one of the plurality of objects using the time-series data of the radio waves detected by the radio wave detection units provided for the plurality of objects respectively, and the radio waves are sequentially irradiated to the plurality of objects detected by the object detection unit by the radio wave irradiation unit. According to this aspect, the identification device can identify at least one of the plurality of objects using the time-series data of the radio waves sequentially irradiated to the plurality of objects. In this way, the objects can be identified without causing any operation on the objects. Thereby, even when a device for executing an operation is not attached to the object, the object can be identified. The present disclosure can be implemented in various forms other than the above-described identification system, identification method, and identification device. For example, it can be implemented in the form of a position specifying device that specifies the position of an object using the identification result by the identification device, a manufacturing method of the identification system, the identification device, and the position specifying device, a control method of the identification system, the identification device, and the position specifying device, a computer program that realizes the control method, a non-transitory recording medium on which the computer program is recorded, and the like.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0008] A. First Embodiment: FIG. 1 is a conceptual diagram showing the configuration of a traveling system 50 according to the first embodiment. The traveling system 50 is a system for moving a moving body without depending on the traveling operation of a passenger on the moving body. The traveling system 50 includes one or more vehicles 100 as moving bodies, an identification system 6, a position specifying device 65, and a remote control device 70. The identification system 6 identifies at least one object among a plurality of objects. In the present embodiment, the object is the vehicle 100. The identification system 6 includes an identification device 60, one or more access points 80, and one or more object detection units 90. The identification device 60 identifies the vehicle 100. The position specifying device 65 specifies the position of the vehicle 100 using the identification result by the identification device 60. The remote control device 70 remotely controls the operation of the vehicle 100 using the position and the like of the vehicle 100. In the present embodiment, the functions of the identification device 60, the position specifying device 65, and the remote control device 70 are realized by the server 200.

[0009] The object detection unit 90 detects a plurality of vehicles 100. In the present embodiment, the object detection unit 90 is an external sensor 300. 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 the outside of 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. Specifically, the external sensor 300 is configured by a camera. The camera as the external sensor 300 images the vehicle 100 and outputs a captured image as a detection result.

[0010] The access point 80 communicably connects the vehicle 100 and the server 200 via a network. The access point 80 includes a radio wave irradiation unit 81 that irradiates radio waves to a plurality of vehicles 100 detected by the object detection unit 90. In the present embodiment, the radio wave irradiation unit 81 irradiates radio waves to the plurality of vehicles 100 detected by the external sensor 300 in order.

[0011] FIG. 2 is a diagram for explaining the radio wave irradiation mode. In FIG. 2, a case where four vehicles 100A to 100D exist within the detection range RG of the external sensor 300 is illustrated. The radio wave irradiation unit 81 irradiates radio waves in the directions D1 to D4 in which the vehicles 100 exist in order. The radio wave irradiation unit 81 irradiates radio waves in desired directions D1 to D4, for example, using beamforming technology. In this case, the radio wave irradiation unit 81 has a plurality of antennas. The radio wave irradiation unit 81 changes the phase and transmission power for each antenna to control the directivity of the radio waves, thereby irradiating the radio waves in the desired directions D1 to D4. In the example shown in FIG. 2, the radio wave irradiation unit 81 irradiates radio waves in the order of the first direction D1, the second direction D2, the third direction D3, and the fourth direction D4. The first direction D1 is the direction from the access point 80 toward the first vehicle 100A. The second direction D2 is the direction from the access point 80 toward the second vehicle 100B. The third direction D3 is the direction from the access point 80 toward the third vehicle 100C. The fourth direction D4 is the direction from the access point 80 toward the fourth vehicle 100D.

[0012] In the present disclosure, a "mobile body" means an object that can move, for example, a vehicle or an electric vertical takeoff and landing aircraft (so-called flying car). The vehicle may be a vehicle that travels on wheels or a vehicle that travels 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, and a construction vehicle. The vehicle includes a battery electric vehicle (BEV), a gasoline vehicle, a hybrid vehicle, and a fuel cell vehicle. When the mobile body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "mobile body", and the expression "travel" can be appropriately replaced with "move".

[0013] Vehicle 100 is configured to be able to travel by autonomous driving. "Autonomous driving" means driving without depending on the driving operations of passengers. The driving operations refer to operations related to at least any one of "running", "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. In vehicle 100 traveling by autonomous driving, a passenger who does not perform driving operations may board. 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 called "drivered driving".

[0014] 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 a part of the operations of vehicle 100 is determined from outside vehicle 100. Further, "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.

[0015] As shown in FIG. 1, in this embodiment, the driving system 50 is used in a factory FC that manufactures vehicle 100. The reference coordinate system of factory FC is the global coordinate system GC, and any position in factory FC can be expressed by the coordinates of X, Y, and Z in the 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 road TR on which vehicle 100 can travel. A plurality of external sensors 300 are installed along the road TR in factory FC. The positions of the respective external sensors 300 in factory FC are adjusted in advance. Vehicle 100 moves from the first location PL1 to the second location PL2 through the road TR by autonomous driving.

[0016] FIG. 3 is a block diagram showing the configuration of the driving system 50 in the first embodiment. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 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.

[0017] The vehicle control device 110 is constituted 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 so as 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.

[0018] The vehicle control unit 115 causes the vehicle 100 to travel by controlling the actuator group 120. The vehicle control unit 115 can cause the vehicle 100 to travel by controlling the actuator group 120 using the driving control signal received from the server 200. The driving control signal is a control signal for causing the vehicle 100 to 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.

[0019] Vehicle 100 further includes a radio wave detection unit 190. The radio wave detection unit 190 detects the radio waves irradiated by the radio wave irradiation unit 81. Then, the radio wave detection unit 190 associates vehicle identification information representing the host vehicle 100 with the reception timing of the radio waves specified by the change in the intensity of the radio waves, and transmits the information to the server 200. The vehicle identification information is a unique identifier assigned so as not to overlap among the vehicles 100 in order to identify a plurality of vehicles 100. The vehicle identification information is, for example, a vehicle identification number (VIN: Vehicle Identification Number).

[0020] FIG. 4 is a schematic diagram showing the detection results of the radio wave detection units 190 provided in the respective vehicles 100A to 100D shown in FIG. 2. In FIG. 4, the detection results in the case where radio waves are irradiated in the order of the first direction D1, the second direction D2, the third direction D3, and the fourth direction D4 shown in FIG. 2 are illustrated. The reception timings TI1 to TI4 of the radio waves are, for example, the timings at which the intensity of the radio waves shows the maximum value in the intensity transition data DS1 to DS4 representing the transition of the intensity of the radio waves. The reception timings TI1 to TI4 of the radio waves may be the timings at which the intensity of the radio waves changes by a certain amount or more from a predetermined initial value.

[0021] As shown in FIG. 3, the server 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected to be communicable bidirectionally via the internal bus 204. A communication device 205 for communicating with various devices external to 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. The processor 201 realizes various functions including the functions as a layout situation acquisition unit 211, an irradiation instruction unit 212, an identification unit 213, a position specification unit 214, and a remote control unit 215 by executing a program PG2 stored in the memory 202.

[0022] The arrangement status acquisition unit 211 uses the detection results output from the external sensor 300 to acquire the number of vehicles 100 existing within the detection range RG of the external sensor 300 and the positions of the respective vehicles 100.

[0023] Based on the positions of the respective vehicles 100 acquired by the arrangement status acquisition unit 211, the irradiation instruction unit 212 determines the directions D1 to D4 in which radio waves are to be irradiated by specifying the relative positions of the respective vehicles 100 with respect to the access point 80. Then, the irradiation instruction unit 212 determines the order in which radio waves are to be irradiated in each of the directions D1 to D4. Then, the irradiation instruction unit 212 instructs the access point 80 about the directions D1 to D4 in which radio waves are to be irradiated and the order in which radio waves are to be irradiated in each of the directions D1 to D4.

[0024] The identification unit 213 uses the time-series data DT of the radio waves detected by the radio wave detection unit 190 provided in each vehicle 100 to identify at least one vehicle 100 among the plurality of vehicles 100. As shown in FIG. 4, in the present embodiment, the time-series data DT is data in which the reception timings TI1 to TI4 of the radio waves in each of the plurality of vehicles 100A to 100D are arranged in time-series order. The identification unit 213 identifies the plurality of vehicles 100A to 100D, for example, by collating the order in which radio waves are irradiated to each of the plurality of vehicles 100A to 100D with the time-series data DT. Thereby, the identification unit 213 identifies the target vehicle 100T that is the control target of the remote control unit 215 among the plurality of vehicles 100A to 100D detected by the external sensor 300.

[0025] For example, in the arrangement shown in FIG. 2, when radio waves are irradiated in the order of the first direction D1, the second direction D2, the third direction D3, and the fourth direction D4, the reception timings TI1 to TI4 of the radio waves are assumed to be as follows. In this case, among the plurality of vehicles 100A to 100D existing within the detection range RG of the external sensor 300, the first vehicle 100A is irradiated with radio waves earliest. Therefore, the reception timing TI1 of the radio waves of the first vehicle 100A is assumed to be the earliest among the plurality of vehicles 100A to 100D existing within the detection range RG of the external sensor 300. The fourth vehicle 100D is irradiated with radio waves latest among the plurality of vehicles 100A to 100D existing within the detection range RG of the external sensor 300. Therefore, the reception timing TI4 of the radio waves of the fourth vehicle 100D is assumed to be the latest among the plurality of vehicles 100A to 100D existing within the detection range RG of the external sensor 300. The second vehicle 100B is irradiated with radio waves later than the first vehicle 100A and earlier than the third vehicle 100C. Therefore, the reception timing TI2 of the radio waves of the second vehicle 100B is assumed to be later than the first vehicle 100A and earlier than the third vehicle 100C. The third vehicle 100C is irradiated with radio waves later than the second vehicle 100B and earlier than the fourth vehicle 100D. Therefore, the reception timing TI3 of the radio waves of the third vehicle 100C is assumed to be later than the second vehicle 100B and earlier than the fourth vehicle 100D. From the above, in the arrangement shown in FIG. 2, when radio waves are irradiated in the order of the first direction D1, the second direction D2, the third direction D3, and the fourth direction D4, the time-series data DT is assumed to be as follows. In this case, as shown in FIG. 4, the time-series data DT is assumed to be data indicating that radio waves are received in the order of the first vehicle 100A, the second vehicle 100B, the third vehicle 100C, the fourth vehicle 100D, and the fourth vehicle 100D.

[0026] Therefore, the identification unit 213 collates the order when each of the plurality of vehicles 100A to 100D is irradiated with radio waves with the time-series data DT, and associates vehicle identification information with each of the vehicles 100A to 100D in the captured image. Thereby, the identification unit 213 identifies the plurality of vehicles 100A to 100D. Then, the identification unit 213 specifies, as the target vehicle 100T, the vehicle 100 with which the vehicle identification information of the preset target vehicle 100T among the plurality of vehicles 100A to 100D detected by the external sensor 300 is associated. Thereby, the identification unit 213 identifies the target vehicle 100T from non-target vehicles 100N other than the target vehicle 100T.

[0027] The position specifying unit 214 specifies the position of each vehicle 100 by associating vehicle identification information with the position of each vehicle 100 acquired by the arrangement situation acquisition unit 211 using the identification result of the vehicle 100 by the identification unit 213. Thereby, the position specifying unit 214 specifies the position of the target vehicle 100T.

[0028] The remote control unit 215 generates a travel control signal for controlling the actuator group 120 of the vehicle 100 using the detection result by the sensor, and transmits the travel control signal to the vehicle 100, thereby causing the vehicle 100 to travel by remote control.

[0029] Note that at least some functions of the server 200 may be realized by the vehicle control device 110 or may be realized by the external sensor 300.

[0030] FIG. 5 is a flowchart showing a processing procedure for travel control of the vehicle 100 in the first embodiment. The flow shown in FIG. 5 is executed, for example, after the identification of the target vehicle 100T is completed. In the processing procedure of FIG. 5, the processor 201 of the server 200 functions as the arrangement situation acquisition unit 211, the irradiation instruction unit 212, the identification unit 213, the position specifying unit 214, and the remote control unit 215 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.

[0031] In step S1, the processor 201 of the server 200 acquires vehicle position information using the detection results output from the external sensor 300. The vehicle position information is the position information that serves as the basis for generating the driving control signal. In this 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 obtained from the camera which is the external sensor 300.

[0032] Specifically, in step S1, 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 the coordinates in the global coordinate system GC, thereby acquiring the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into the detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the driving system 50 and is stored in advance in the memory 202 of the server 200. Examples of the detection model DM include a trained machine learning model 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 learning dataset can be used. The learning 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 acquire the orientation of the vehicle 100 by estimating, for example, 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.

[0033] In step S2, the processor 201 of the server 200 determines the target position that the vehicle 100 should next head towards. 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 that the vehicle 100 should travel, is stored in advance. The route is represented by nodes indicating the starting point, nodes indicating passing points, nodes indicating the destination, and links connecting each node. The processor 201 determines the target position that the vehicle 100 should next head towards using the vehicle position information and the reference route RR. The processor 201 determines the target position on the reference route RR ahead of the current position of the vehicle 100.

[0034] In step S3, the processor 201 of the server 200 generates a driving control signal for driving the vehicle 100 towards 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.

[0035] 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.

[0036] In step S5, the processor 111 of the vehicle 100 receives a 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 period. According to the driving system 50 in the present embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using a conveying facility such as a crane or a conveyor.

[0037] FIG. 6 is a flowchart showing a method for identifying the target vehicle 100T. When the target vehicle 100T is driven by remote control and a plurality of vehicles 100 exist within the detection range RG of the external sensor 300, it is necessary to identify the target vehicle 100T from the non-target vehicles 100N before starting the driving of the target vehicle 100T. Therefore, the flow shown in FIG. 6 is executed, for example, before starting the driving of the target vehicle 100T.

[0038] When a predetermined start condition is satisfied (step S101: Yes), the arrangement status acquisition unit 211 of the server 200 executes step S102. In step S102, the arrangement status acquisition unit 211 transmits an image request signal for acquiring a captured image to the external sensor 300 that is planned to include the target vehicle 100T in the detection range RG. The external sensor 300 that has received the image request signal transmits the captured image to the server 200 in step S103.

[0039] When no vehicle 100 is detected from the captured image (step S104: No), the identification unit 213 of the server 200 makes a determination as shown in step S105. In step S105, the identification unit 213 determines that the driving of the target vehicle 100T should not be started because the target vehicle 100T cannot be identified.

[0040] When the vehicle 100 is detected from the captured image (step S104: Yes), the arrangement status acquisition unit 211 of the server 200 executes step S106. In step S106, the arrangement status acquisition unit 211 uses the captured image to acquire the number of vehicles 100 existing within the detection range RG of the external sensor 300 and the positions of each vehicle 100. In step S107, based on the positions of each vehicle 100 acquired by the arrangement status acquisition unit 211, the irradiation instruction unit 212 determines the directions D1 to D4 for irradiating radio waves by specifying the relative positions of the vehicles 100 with respect to the access point 80. In step S108, the irradiation instruction unit 212 determines the order when irradiating radio waves in each direction D1 to D4. In step S109, the irradiation instruction unit 212 instructs the access point 80 about the directions D1 to D4 for irradiating radio waves and the order when irradiating radio waves in each direction D1 to D4.

[0041] In step S110, the radio wave irradiation unit 81 of the access point 80 irradiates radio waves in the directions D1 to D4 where the vehicle 100 exists in order according to the instruction received from the irradiation instruction unit 212 of the server 200. In step S111, the radio wave detection unit 190 of the vehicle 100 detects the radio waves irradiated by the radio wave irradiation unit 81. In step S112, the radio wave detection unit 190 associates the vehicle identification information representing the own vehicle 100 with the reception timings TI1 to TI4 of the radio waves specified by the change in the intensity of the radio waves and transmits it to the server 200.

[0042] When the reception timings TI1 to TI4 of any of the vehicles 100 detected from the captured image cannot be acquired within a predetermined time (step S113: No), the identification unit 213 determines that the travel of the target vehicle 100T should not be started as shown in step S105. Note that when it is determined as "No" in step S113, the identification system 6 may execute steps S110 to S112 again to attempt to acquire the reception timings TI1 to TI4 of all the vehicles 100 detected from the captured image again.

[0043] When the reception timings TI1 to TI4 of all the vehicles 100 detected from the captured image can be acquired within a predetermined time (step S113: Yes), the identification unit 213 of the server 200 executes step S114. In step S114, the identification unit 213 generates time-series data DT by arranging the reception timings TI1 to TI4 of the radio waves received from the vehicle 100 in chronological order. In step S115, the identification unit 213 collates the order in which radio waves are irradiated to each of the plurality of vehicles 100 with the time-series data DT, and associates vehicle identification information with each vehicle 100 in the captured image. Thereby, the identification unit 213 identifies the target vehicle 100T.

[0044] When the association of vehicle identification information with any one of the vehicles 100 in the captured image is not completed within a predetermined time (step S116: No), the identification unit 213 determines that the travel of the target vehicle 100T should not be started as shown in step S105. When it is determined "No" in step S116, the identification system 6 may execute step S114 and step S115 again to attempt to identify the target vehicle 100T again.

[0045] When the association of vehicle identification information with all the vehicles 100 in the captured image is completed within a predetermined time (step S116: Yes), the identification unit 213 makes a determination as shown in step S117. In step S117, since the identification unit 213 can identify the target vehicle 100T, it determines that the travel of the target vehicle 100T may be started.

[0046] According to the first embodiment, the identification system 6 can identify the vehicle 100 by collating the order in which radio waves are irradiated to the plurality of vehicles 100 with the time-series data DT. By doing so, the vehicle 100 can be identified without causing the vehicle 100 to perform any operation. Thereby, even when a device for executing an operation is not mounted on the vehicle 100, the identification system 6 can identify the vehicle 100.

[0047] Also, according to the first embodiment, the identification system 6 can identify the target vehicle 100T to be controlled. By doing so, the vehicle position information of the target vehicle 100T can be obtained. Thereby, by using the vehicle position information of the target vehicle 100T to generate a driving control signal, the target vehicle 100T can be driven by remote control.

[0048] B. Second Embodiment: FIG. 7 is a block diagram showing the configuration of the driving system 50v in the second embodiment. The vehicle 100v in this embodiment can further travel by autonomous control of the vehicle 100v. Regarding other configurations, they are the same as those in the first embodiment unless otherwise specified.

[0049] In this embodiment, the processor 111v of the vehicle control device 110v functions as the vehicle control unit 115v by executing the program PG1v stored in the memory 112v. The vehicle control unit 115v can obtain the output result from the sensor, generate a driving control signal using the output result, and output the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100v to travel by autonomous control. In this embodiment, in addition to the program PG1v, a detection model DM and a reference route RR are stored in the memory 112v in advance.

[0050] FIG. 8 is a flowchart showing the processing procedure of the driving control of the vehicle 100v in the second embodiment. In the processing procedure of FIG. 8, the processor 111v of the vehicle 100v functions as the vehicle control unit 115v by executing the program PG1v.

[0051] In step S901, 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 S902, the processor 111v determines the target position to which the vehicle 100v should next head. In step S903, the processor 111v generates a driving control signal for driving the vehicle 100v toward the determined target position. In step S904, the processor 111v controls the actuator group 120 using the generated driving control signal, thereby driving the vehicle 100v according to the parameters represented by 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 driving system 50v in the present embodiment, the vehicle 100v can be driven by the autonomous control of the vehicle 100v without remotely controlling the vehicle 100v by the server 200.

[0052] C. Other Embodiments: C-1. Other Embodiment 1: When radio waves are irradiated from the radio wave irradiation unit 81 of the access point 80 in specific directions D1 to D4, and when a plurality of vehicles 100, 100v exist along the specific directions D1 to D4, the radio waves are irradiated in the following order. In this case, the radio waves are irradiated earlier to the vehicles 100, 100v that are closer to the access point 80, and are irradiated later to the vehicles 100, 100v that are farther from the access point 80. Thus, in this case, the identification unit 213 determines the order when irradiating radio waves to each of the plurality of vehicles 100, 100v according to the distance from the access point 80. Then, the identification unit 213 uses the determined order and the time-series data DT to identify the vehicles 100, 100v. In such a form, even when a plurality of vehicles 100, 100v exist in the directions D1 to D4 where the radio waves are irradiated, the vehicles 100, 100v can be identified.

[0053] C-2. Other Embodiment 2: Radio waves may be irradiated from the radio wave irradiation units 81 of a plurality of access points 80 arranged at different locations in the directions D1 to D4 where the vehicles 100 and 100v are present. In this case, in addition to the order in which radio waves are irradiated in each of the directions D1 to D4, the reception timings TI1 to TI4 and the reception intensities of the radio waves are different according to the distances between the vehicles 100 and 100v and the access points 80. Therefore, the identification unit 213 identifies the vehicles 100 and 100v, for example, using the order in which each radio wave irradiation unit 81 irradiates radio waves to each of the plurality of vehicles 100 and 100v, the time-series data DT, the distances between each of the vehicles 100 and 100v and each access point 80, and the magnitude relationship of the reception intensities of the radio waves. In such a form, the vehicles 100 and 100v can be identified using the detection results of the radio waves irradiated from the radio wave irradiation units 81 of the plurality of access points 80 arranged at different locations.

[0054] C-3. Other Embodiment 3: In each of the above embodiments, the object to be identified is the vehicles 100 and 100v that can be moved by autonomous driving. In contrast, in other embodiments, the object may be an object other than the vehicles 100 and 100v. The object may be, for example, a moving body other than the vehicles 100 and 100v.

[0055] C-4. Other Embodiment 4: In each of the above embodiments, the external sensor 300 is not limited to a camera and may be, for example, a distance measuring device. The distance measuring device is, for example, 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 vehicles 100 and 100v. In this case, the server 200 and the vehicles 100 and 100v 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.

[0056] C-5. Other Embodiment 5: In the above-described first embodiment, the server 200 executes the processes from the acquisition of vehicle position information to the generation of a driving control signal. In contrast, at least a part of the processes from the acquisition of vehicle position information to the generation of a driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be used.

[0057] (1) The server 200 may acquire vehicle position information, determine the target position to which the vehicle 100 should next travel, and generate a route from the current position of the vehicle 100 represented by the acquired vehicle position information to the target position. The server 200 may generate a route to the 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.

[0058] (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 the target position to which the vehicle 100 should next travel, generate a route from the current position of the vehicle 100 represented by 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.

[0059] (3) In the forms (1) and (2) above, an internal sensor is mounted on the vehicle 100, 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 operating 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 (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 (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 (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 (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.

[0060] C-6. Other Embodiment 6: In the second embodiment above, an internal sensor is mounted on the vehicle 100v, 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.

[0061] C-7. Other Embodiment 7: In the above-described second embodiment, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. In contrast, an internal sensor is mounted on the vehicle 100v, and the vehicle 100v acquires vehicle position information using the detection results of the internal sensor, 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 along 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 results 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.

[0062] C-8. Other Embodiment 8: In the above-described first embodiment, the server 200 automatically generates the driving control signal to be transmitted to the vehicle 100. In contrast, the server 200 may generate the 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 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 driving control signal corresponding to the operation applied to the control device.

[0063] C-9. Other Embodiment 9: In each of the above embodiments, the vehicles 100 and 100v only need to be configured to be movable by autonomous driving. For example, they may be in the form of a platform having the configuration described below. Specifically, the vehicles 100 and 100v only need to include at least a vehicle control device 110 and 110v and an actuator group 120 in order to perform the three functions of "running", "turning", and "stopping" by autonomous driving. When the vehicles 100 and 100v acquire information from the outside for autonomous driving, the vehicles 100 and 100v may further include a communication device 130. That is, for the vehicles 100 and 100v that can be moved by autonomous driving, at least a part of the interior parts such as the driver's seat and the dashboard may not be installed, at least a part of the exterior parts such as the bumper and the fender may not be installed, and the body shell may not be installed. In this case, until the vehicles 100 and 100v are shipped from the factory FC, the remaining parts such as the body shell may be installed on the vehicles 100 and 100v, or after the vehicles 100 and 100v are shipped from the factory FC in a state where the remaining parts such as the body shell are not installed on the vehicles 100 and 100v, the remaining parts such as the body shell may be installed on the vehicles 100 and 100v. 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 vehicles 100 and 100v, and they may be installed 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 vehicles 100 and 100v in the first embodiment.

[0064] C-10. Other Embodiment 10: Vehicles 100 and 100v 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 function of the vehicle 100 or 100v. For example, the platform of the vehicle 100 or 100v 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. In addition to or instead of the platform, parts of the vehicle 100 or 100v that are different from the platform may be modularized. Also, each type of module 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 or 100v, 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 module by casting as one part. 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 the 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.

[0065] C-11. Other Embodiment 11: The use of the vehicles 100, 100v for driving by autonomous driving to transport the vehicles 100, 100v is also called "self-propelled transportation". Further, the configuration for realizing self-propelled transportation is also called "vehicle remote control autonomous driving transportation system". Also, the production method of producing the vehicles 100, 100v using self-propelled transportation is also called "self-propelled production". In self-propelled production, for example, in the factory FC that manufactures the vehicles 100, 100v, at least a part of the transportation of the vehicles 100, 100v is realized by self-propelled transportation.

[0066] C-12. Other Embodiment 12: In each of the above embodiments, 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 various functions in each of the above embodiments, for example, various circuits such as integrated circuits and discrete circuits may be used.

[0067] 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 of 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 some or all of the above-described problems, or to achieve some or all of the above-described effects. Also, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

Explanation of Reference Numerals

[0068] 6… Identification system, 50, 50v… Travel system, 60… Identification device, 65… Location determination device, 70… Remote control device, 80… Access point, 81… Radio wave irradiation unit, 90… Target detection unit, 100, 100v… Vehicle, 100A… First vehicle, 100B… Second vehicle, 100C… Third vehicle, 100D… Fourth vehicle, 100N… Non-target vehicle, 100T… Target vehicle, 110, 110v… Vehicle control device, 111, 111v… Processor of vehicle control device, 112, 112v… Memory of vehicle control device, 113… Input / output interface of vehicle control device, 114… Internal bus of vehicle control device, 115, 115v… Vehicle control unit, 120… Actuator group, 130… Communication device of vehicle, 190… Radio wave detection unit, 200… Server, 201… Processor of server, 202… Memory of server, 203… Input / output interface of server, 204… Internal bus of server, 205… Communication device of server, 211… Arrangement status acquisition unit, 212… Irradiation instruction unit, 213… Identification unit, 214… Location determination unit, 215… Remote control unit, 300… External sensor, D1… First direction, D2… Second direction, D3… Third direction, D4… Fourth direction, DM… Detection model, DS1~DS4… Intensity transition data, DT… Time series data, FC… Factory, GC… Global coordinate system, PG1, PG1v, PG2… Program, PL1… First location, PL2… Second location, RG… Detection range, RR… Reference route, TI1~TI4… Reception timing, TR… Track

Claims

1. An identification system comprising: an object detection unit that detects a plurality of objects; a radio wave irradiation unit that sequentially irradiates radio waves to the plurality of objects detected by the object detection unit; a radio wave detection unit provided for each of the plurality of objects to detect the radio waves irradiated by the radio wave irradiation unit; an identification unit that identifies at least one of the plurality of objects using time-series data of the radio waves detected by the radio wave detection unit.

2. The identification system according to Claim 1, wherein the time-series data is reception timings of the radio waves specified by intensity changes of the radio waves, and is data obtained by arranging the reception timings of the radio waves in each of the plurality of objects in time-series order, and the identification unit identifies the object by collating the order in which the radio waves are irradiated to each of the plurality of objects with the time-series data.

3. The identification system according to Claim 1, wherein the object is a moving body that can move by autonomous driving, the identification system further comprises a control unit that controls the operation of the object, and the identification unit identifies the object to be controlled by the control unit among the plurality of objects detected by the object detection unit.

4. An identification method comprising: an object detection step of detecting a plurality of objects; a radio wave irradiation step of sequentially irradiating radio waves to the plurality of objects detected in the object detection step; a radio wave detection step of detecting the radio waves irradiated in the radio wave irradiation step for each of the plurality of objects; an identification step of identifying at least one of the plurality of objects using time-series data of the radio waves detected in the radio wave detection step.

5. An identification device comprising: an identification unit that identifies at least one of the plurality of objects using time-series data of radio waves detected by radio wave detection units provided for each of the plurality of objects, wherein the radio waves are sequentially irradiated by a radio wave irradiation unit to the plurality of objects detected by an object detection unit.

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