Control device, control system and control method

Abstract

To provide a technology capable of controlling a movable body in an autonomous-running production.SOLUTION: A control device that controls the motion of a movable object that can move by an unmanned driving includes: an obtaining unit that obtains process information representing a manufacturing process being executed on the movable body; an identifying unit that identifies in which movement mode the movable body is caused to move between an engine movement mode to move the movable body using an engine and a motor movement mode to move the movable body using a motor with reference to the process information; and a control unit that causes the movable body to move in accordance with the identified movement mode.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] Conventionally, vehicles that travel within a manufacturing system for producing vehicles are known to travel autonomously or under remote control (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In autonomous production of vehicles using the running of vehicles by autonomous driving, hybrid vehicles having an engine and a motor as driving power sources may be produced. However, a control method for hybrid vehicles during autonomous production has not yet been proposed. Such problems are common not only to hybrid vehicles but also to hybrid moving bodies having a motor and an engine as driving power sources.

Means for Solving the Problems

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

[0006] (1) According to the first aspect of the present disclosure, a control device is provided. A control device for controlling the operation of a moving body capable of moving by autonomous driving includes an acquisition unit that acquires process information indicating a manufacturing process being executed on the moving body, an engine moving mode in which the moving body moves using an engine, and a motor moving mode in which the moving body moves using a motor. A specifying unit that specifies, using the process information, which of the moving modes is used to move the moving body, and a control unit that moves the moving body according to the specified moving mode. According to this aspect, the control device can specify which of the engine moving mode and the motor moving mode is used to move the moving body using the process information. And the control device can move the moving body according to the specified moving mode. As described above, in the process of manufacturing a hybrid moving body including an engine and a motor by self-propelled production, the control device can control the operation of the hybrid moving body according to the manufacturing process. (2) In the above aspect, in the manufacturing process specified by the process information, when it is assumed that there are more than a predetermined number of people within a predetermined distance range from the moving body, the specifying unit may specify to move the moving body in the motor moving mode. According to this aspect, in the manufacturing process specified by the process information, when it is assumed that there are more than a predetermined number of people within a predetermined distance range from the moving body, the control device can move the moving body in the motor moving mode. By doing so, it is possible to suppress the deterioration of the working environment due to exhaust gas when workers engaged in the manufacture of the moving body work around the moving body. (3) In the above-described embodiment, in the manufacturing process specified by the process information, when it is assumed that there are less than a predetermined number of people within a predetermined distance range from the moving body, the specifying unit may specify to move the moving body in the engine moving mode. According to this embodiment, in the manufacturing process specified by the process information, when it is assumed that there are less than a predetermined number of people within a predetermined distance range from the moving body, the control device can move the moving body in the engine moving mode. By doing so, the moving body can be moved while suppressing the consumption of the battery power without affecting the state of the battery that supplies power to the motor. (4) In the above-described embodiment, when the manufacturing process specified by the process information is a manufacturing process that is executed before the manufacturing process of mounting the exhaust gas treatment device on the moving body, the specifying unit may specify to move the moving body in the motor moving mode. According to this embodiment, when the manufacturing process specified by the process information is a manufacturing process that is executed before the manufacturing process of mounting the exhaust gas treatment device on the moving body, the control device can move the moving body in the motor moving mode. By doing so, since the exhaust gas cannot be treated using the exhaust gas treatment device, it is possible to suppress the deterioration of the working environment due to the exhaust gas. (5) In the above-described embodiment, when the manufacturing process specified by the process information is a manufacturing process that is executed after the manufacturing process of mounting the exhaust gas treatment device on the moving body, the specifying unit may specify to move the moving body in the engine moving mode. According to this embodiment, when the manufacturing process specified by the process information is a manufacturing process that is executed after the manufacturing process of mounting the exhaust gas treatment device on the moving body, the control device can move the moving body in the engine moving mode. By doing so, the moving body can be moved while suppressing the consumption of the battery power without affecting the state of the battery that supplies power to the motor. (6) In the above-described form, when the target value of the moving speed of the moving body in the manufacturing process specified by the process information is less than a predetermined speed, the specifying unit may specify to move the moving body in the motor moving mode. According to this form, when the target value of the moving speed of the moving body in the manufacturing process specified by the process information is less than a predetermined speed, the control device can move the moving body in the motor moving mode. By doing so, when the manufacturing process being executed on the moving body is a manufacturing process that requires more precise speed control, the control device can move the moving body in the motor moving mode. (7) In the above-described form, when the target value of the moving speed of the moving body in the manufacturing process specified by the process information is greater than or equal to a predetermined speed, the specifying unit may specify to move the moving body in the engine moving mode. According to this form, when the target value of the moving speed of the moving body in the manufacturing process specified by the process information is greater than or equal to a predetermined speed, the control device can move the moving body in the engine moving mode. By doing so, when the manufacturing process being executed on the moving body is a manufacturing process that does not require precise speed control, the control device can move the moving body while suppressing the consumption of the battery power without affecting the state of the battery that supplies power to the motor. (8) In the above-described form, when the manufacturing process specified by the process information is a manufacturing process that requires driving of the engine, the specifying unit may specify to move the moving body in the engine moving mode. According to this form, when the manufacturing process specified by the process information is a manufacturing process that requires driving of the engine, the control device can move the moving body in the engine moving mode. (9) In the above-described embodiment, the manufacturing process that requires driving of the engine may be at least any one of an engine inspection process for inspecting the functions of the engine, a preprocessing process for performing preprocessing for correctly evaluating the functions of the engine in the engine inspection process, a processing device inspection process for inspecting the functions of the exhaust gas treatment device, and a liquid leakage inspection process for inspecting liquid leakage generated by driving of the engine. According to this embodiment, when the manufacturing process specified by the process information is at least any one of the engine inspection process, the preprocessing process, the processing device inspection process, and the liquid leakage inspection process, the control device can move the moving body in the engine movement mode. (10) According to a second embodiment of the present disclosure, a control system is provided. The control system includes a moving body movable by autonomous driving, an acquisition unit that acquires process information indicating a manufacturing process being executed on the moving body, a specific unit that specifies which of an engine movement mode of moving using an engine and a motor movement mode of moving using a motor is used to move the moving body, using the process information, and a control unit that moves the moving body in the specified movement mode. According to this embodiment, the control system can specify which of the engine movement mode and the motor movement mode is used to move the moving body, using the process information. And the control system can move the moving body in the specified movement mode. As described above, the control system can control the operation of the hybrid moving body according to the manufacturing process in the process of manufacturing the hybrid moving body including an engine and a motor by self-propelled production. (11) According to the third aspect of the present disclosure, a control method is provided. The control method for controlling the operation of a moving body capable of moving by autonomous driving includes an acquisition step of acquiring process information indicating a manufacturing process being executed on the moving body, a specific step of specifying, using the process information, which of an engine moving mode in which the moving body moves using an engine and a motor moving mode in which the moving body moves using a motor is used to move the moving body, and a control step of moving the moving body according to the specified moving mode. According to this aspect, it is possible to specify, using the process information, which of the engine moving mode and the motor moving mode is used to move the moving body. And the moving body can be moved according to the specified moving mode. As described above, in the process of manufacturing a hybrid moving body including an engine and a motor by self-propelled production, the operation of the hybrid moving body can be controlled according to the manufacturing process. The present disclosure can be realized in various forms other than the above-described control device, control system, and control method. For example, it can be realized in the form of a manufacturing method of a control device and a control system, a control method of a control device and a control system, a computer program for realizing the control method, a non-transitory recording medium recording the computer program, and the like.

Brief Description of the Drawings

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Modes for Carrying Out the Invention

[0008] A. First Embodiment: FIG. 1 is a conceptual diagram showing the configuration of a control system 50 in the first embodiment. The control system 50 is a system that controls the operation of a hybrid moving body in the process of producing a hybrid moving body having an engine and a motor as driving power sources by self-propelled production. "Self-propelled production" is a production method in which a moving body is produced by using "self-propelled conveyance" that conveys the moving body by utilizing the movement of the moving body by unmanned driving. In self-propelled conveyance, for example, in a factory FC that manufactures a moving body, at least a part of the conveyance of the moving body is realized by self-propelled conveyance. The configuration for realizing self-propelled conveyance is also referred to as a "vehicle remote control autonomous driving conveyance system".

[0009] The control system 50 includes one or more hybrid vehicles 100 as hybrid-type moving bodies, a server 200, and one or more external sensors 300. The hybrid vehicle 100 is an automobile that travels by the driving force of at least one of an engine and a motor. In the present embodiment, the hybrid vehicle 100 is a plug-in hybrid electric vehicle (PHEV) that can charge a main battery that supplies power to the motor with power from an external power source. The hybrid vehicle 100 has an engine moving mode in which it moves using the engine and a motor moving mode in which it moves using the motor. The motor moving mode includes a "fully electric moving mode" in which the motor is used as a driving force source with the engine stopped and a "hybrid moving mode" in which the engine and the motor are used as driving force sources. Hereinafter, the hybrid vehicle 100 will be simply referred to as the "vehicle 100".

[0010] In the present disclosure, a "moving body" means an object that can move, and 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. 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".

[0011] Vehicle 100 is configured to be capable of traveling by autonomous driving. "Autonomous driving" means driving without being dependent 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".

[0012] In this specification, "remote control" includes "full remote control" in which all of the 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.

[0013] The control system 50 is used in the factory FC where vehicle 100 is manufactured. The reference coordinate system of factory FC is the global coordinate system GC, and any position within factory FC can be expressed in terms of the X, Y, and Z coordinates 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.

[0014] Figure 2 is a block diagram showing the configuration of the control 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.

[0015] Figure 3 is a diagram showing the detailed configuration of the vehicle 100 in the first embodiment. The vehicle 100 includes an engine 151, a fuel tank 152, a fuel pump 153, a fuel supply pipe 154, and an exhaust gas treatment device 155.

[0016] The engine 151 is an internal combustion engine that uses gasoline or the like as fuel. The engine 151 is the first driving force source of the vehicle 100. The driving force generated from the engine 151 is transmitted to the wheels 157 via a speed reducer 156. The fuel tank 152 stores fuel. The fuel pump 153 sucks up the fuel in the fuel tank 152 and supplies it to the engine 151 via the fuel supply pipe 154.

[0017] The exhaust gas treatment device 155 is a device that treats the exhaust gas generated by the driving of the engine 151. The exhaust gas treatment device 155 is, for example, an EGR (Exhaust Gas Recirculation) device that takes in a part of the exhaust gas from the exhaust passage and recirculates it to the intake passage.

[0018] The vehicle 100 further includes a power split mechanism 160, a first motor 161 and a second motor 162 as motor generators, a main battery 163, a charger 164, a vehicle-side connector 165, an inverter 166, and a first converter 167.

[0019] The power split mechanism 160 distributes the driving force generated from the engine 151 to the output shaft 168 and the first motor 161. The power split mechanism 160 is, for example, a planetary gear mechanism including a sun gear, pinion gears, a carrier, and a ring gear.

[0020] The first motor 161 generates a driving force using at least one of the electric power stored in the main battery 163 and the electric power generated by the second motor 162. The first motor 161 is the second driving force source of the vehicle 100. The driving force generated from the first motor 161 is transmitted to the wheels 157 via the speed reducer 156. When the vehicle 100 is braked, the first motor 161 is driven by the wheels 157 via the speed reducer 156. Thereby, the first motor 161 performs regenerative power generation.

[0021] The second motor 162 generates electricity using the driving force of the engine 151 split by the power split mechanism 160. The electric power generated by the second motor 162 using the driving force of the engine 151 is used to charge the main battery 163 or drive the first motor 161.

[0022] The main battery 163 drives the first motor 161. Further, the main battery 163 supplies electric power to the auxiliary battery 171. The main battery 163 is a secondary battery capable of repeated charging and discharging. The main battery 163 is, for example, a lithium-ion battery.

[0023] The charger 164 converts an alternating current supplied from an external power source 900 such as a commercial power source into a direct current and outputs it to the main battery 163. The charger 164 controls the amount of electric power charged to the main battery 163 according to a control signal from a hybrid ECU 110c described later.

[0024] The vehicle-side connector 165 is a connection member for connecting the charger 164 to the external power source 900. The vehicle-side connector 165 is connected to the charger 164 and is configured to be connectable to a power-source-side connector 957 connected to the external power source 900.

[0025] The inverter 166 performs current control while converting the DC current of the main battery 163 and the AC current of the first motor 161 and the second motor 162.

[0026] The first converter 167 performs power conversion between the main battery 163 and the inverter 166. Specifically, the first converter 167 boosts the output voltage of the main battery 163 and supplies the boosted power to the first motor 161. Further, the first converter 167 steps down the voltage of the power generated by the first motor 161 and the second motor 162 and supplies the stepped-down power to the main battery 163. The first converter 167 is connected between the main battery 163 and the inverter 166.

[0027] The vehicle 100 further includes an accessory battery 171, one or more accessories 172, and a second converter 173.

[0028] The accessory battery 171 supplies power to one or more accessories 172 mounted on the vehicle 100 via an accessory power line 174. The accessory 172 is an electrical device that operates with the output power of the accessory battery 171. The accessory 172 is, for example, a room lamp or a car navigation device. The output voltage of the accessory battery 171 is lower than the output voltage of the main battery 163. The accessory battery 171 is charged by receiving power supply from the main battery 163 via the second converter 173.

[0029] The second converter 173 is a step-down DC / DC converter that steps down the voltage of the output power of the main battery 163 and supplies the stepped-down power to the accessory battery 171. The second converter 173 is connected between the main battery 163 and the accessory battery 171.

[0030] The vehicle 100 further includes an engine ECU 110a, a motor ECU 110b, and a hybrid ECU 110c.

[0031] The engine ECU 110a controls the operation of the engine 151. The motor ECU 110b controls the operations of the first motor 161, the second motor 162, and the inverter 166, the charge / discharge state of the main battery 163, etc. The hybrid ECU 110c controls the entire vehicle 100 by mutually managing and controlling the engine ECU 110a, the motor ECU 110b, etc. In FIG. 3, each of the ECUs 110a to 110c is illustrated as a separate configuration, but it may be configured as a vehicle control device 110 that integrates two or more of the ECUs 110a to 110c. In the present embodiment, without distinguishing each of the ECUs 110a to 110c, the vehicle control device 110 that integrates each of the ECUs 110a to 110c will be described.

[0032] As shown in FIG. 2, 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. An actuator group 120 and a communication device 130 are connected to the input / output interface 113. The processor 111 realizes various functions including the function as the vehicle control unit 115 by executing the program PG1 stored in the memory 112.

[0033] The vehicle control unit 115 makes the vehicle 100 travel by controlling the actuator group 120. The vehicle control unit 115 can make the vehicle 100 travel by controlling the actuator group 120 using the travel control signal received from the server 200. The travel control signal is a control signal for making the vehicle 100 travel. In the present embodiment, the travel control signal includes the acceleration and the steering angle of the vehicle 100 as parameters. In other embodiments, the travel 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.

[0034] Server 200 has a function as a control device 20 that controls the operation of vehicle 100 in the process of manufacturing vehicle 100 by self-propelled production. 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 devices outside server 200 is connected to the input / output interface 203. The communication device 205 can communicate with 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 functions as an acquisition unit 211, a specification unit 212, and a remote control unit 213 by executing a program PG2 stored in the memory 202.

[0035] The acquisition unit 211 acquires process information indicating the manufacturing process being executed on vehicle 100. The process information is, for example, a process ID indicating the manufacturing process being executed on vehicle 100. The process ID is an identifier assigned to each manufacturing process so as not to overlap among a plurality of manufacturing processes. The process information is generated, for example, by detecting feature points capable of identifying a plurality of manufacturing processes from a captured image of vehicle 100 and specifying the manufacturing process being executed on vehicle 100. The process information may be generated by specifying the manufacturing process being executed on vehicle 100 using manufacturing management information indicating the manufacturing status of each vehicle 100 in factory FC.

[0036] The specifying unit 212 specifies, using process information, whether to move the vehicle 100 in either the engine travel mode or the motor travel mode. For example, the specifying unit 212 acquires, in the mode database DB, the travel mode associated with the manufacturing process specified by the process information, thereby specifying whether to move the vehicle 100 in either the engine travel mode or the motor travel mode. The mode database DB is a database that associates, for each manufacturing process, the travel mode that the vehicle 100 should adopt between the engine travel mode and the motor travel mode.

[0037] For example, in a manufacturing process where there are a predetermined number or more of workers within a predetermined distance range from the vehicle 100, moving the vehicle 100 in the engine travel mode may deteriorate the working environment due to exhaust gas. Therefore, when it is assumed that there are a predetermined number or more of people within a predetermined distance range from the vehicle 100 in the manufacturing process specified by the process information, the specifying unit 212 specifies to move the vehicle 100 in the motor travel mode.

[0038] However, in the motor travel mode, the power of the main battery 163 is consumed or the main battery 163 deteriorates. In contrast, in the engine travel mode, by refueling the consumed fuel, the vehicle 100 can be moved while suppressing the consumption of the power of the main battery 163 without affecting the state of the main battery 163. Therefore, when it is assumed that there are less than a predetermined number of people within a predetermined distance range from the vehicle 100 in the manufacturing process specified by the process information, the specifying unit 212 specifies to move the vehicle 100 in the engine travel mode.

[0039] In this embodiment, a first mode database DB1 as a mode database is pre-stored in the memory 202 of the server 200. In the first mode database DB1, a motor movement mode is associated with a manufacturing process in which there are a predetermined number or more of workers within a predetermined distance range from the vehicle 100. In the first mode database DB1, an engine movement mode is associated with a manufacturing process in which there are less than a predetermined number of workers within a predetermined distance range from the vehicle 100. The specifying unit 212 specifies which movement mode, the engine movement mode or the motor movement mode, is to move the vehicle 100 by acquiring the movement mode associated with the manufacturing process specified by the process information in the first mode database DB1.

[0040] The remote control unit 213 moves the vehicle 100 according to the specified movement mode. The remote control unit 213 acquires the detection result by a sensor, generates a travel control signal for controlling the actuator group 120 of the vehicle 100 using the detection result, and transmits the travel control signal to the vehicle 100, thereby causing the vehicle 100 to travel by remote control. The remote control unit 213 may generate and output not only the travel control signal but also a control signal for controlling an actuator that operates various auxiliary machines 172 provided in the vehicle 100, various equipment such as a wiper, a power window, and a lamp. That is, the remote control unit 213 may operate such various equipment and various auxiliary machines 172 by remote control.

[0041] The external sensor 300 is a sensor located outside the vehicle 100. The external sensor 300 in this 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.

[0042] Specifically, the external sensor 300 is constituted by a camera. The camera as the external sensor 300 images the vehicle 100 and outputs a captured image as a detection result.

[0043] Figure 4 is a flowchart showing the processing procedure of the driving control of the vehicle 100 in the first embodiment. In the processing procedure of Figure 4, the processor 201 of the server 200 functions as an acquisition unit 211, a specification unit 212, and a remote control unit 213 by executing the program PG2. Further, the processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing the program PG1.

[0044] In step S1, the processor 201 of the server 200 acquires vehicle position information 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 driving control signal. In the present embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S1, the processor 201 acquires the vehicle position information using the captured image obtained from the camera which is the external sensor 300.

[0045] 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 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, inside or outside the control 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 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 by backpropagation (error backpropagation method) so as to reduce the error between the output result by the detection model DM and the label. Further, the processor 201 can obtain 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.

[0046] In step S2, the processor 201 of the server 200 determines the target position that the vehicle 100 should head to next. 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 a node indicating the starting point, a node indicating the passing point, a node indicating the destination, and links connecting each node. The processor 201 uses the vehicle position information and the reference route RR to determine the target position that the vehicle 100 should head to next. The processor 201 determines the target position on the reference route RR ahead of the current position of the vehicle 100.

[0047] In step S3, the processor 201 of the server 200 generates a driving control signal for driving the vehicle 100 toward the determined target position. The processor 201 calculates the driving speed of the vehicle 100 from the change in the position of the vehicle 100 and compares the calculated driving speed with the target speed. Generally, 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.

[0048] 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.

[0049] 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 cycle. According to the control system 50 in the present embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using conveying equipment such as a crane or a conveyor.

[0050] FIG. 5 is a flowchart showing a control method of the vehicle 100 during self-driving production in the first embodiment. The flow shown in FIG. 5 is repeatedly executed at predetermined time intervals, for example, during a period in which control by autonomous driving is being executed.

[0051] In step S101, the remote control unit 213 of the server 200 transmits an image request signal for acquiring a captured image to an external sensor 300 that is scheduled to include the vehicle 100 in its detection range. The external sensor 300 that has received the image request signal transmits the captured image to the server 200 in step S102.

[0052] When the server 200 acquires the captured image (step S103: Yes), in step S104, the remote control unit 213 of the server 200 acquires vehicle position information using the detection result output from the external sensor 300. In step S105, the acquisition unit 211 acquires process information. In step S106, the specifying unit 212 specifies, using the process information, whether to move the vehicle 100 in the engine movement mode or the motor movement mode. If it is assumed that there are more than a predetermined number of people within a predetermined distance range from the vehicle 100 in the manufacturing process specified by the process information (step S106: Yes), the specifying unit 212 executes step S107. In step S107, the specifying unit 212 specifies to move the vehicle 100 in the motor movement mode. If it is assumed that there are less than a predetermined number of people within a predetermined distance range from the vehicle 100 in the manufacturing process specified by the process information (step S106: No), the specifying unit 212 executes step S108. In step S108, the specifying unit 212 specifies to move the vehicle 100 in the engine movement mode. In step S109, the remote control unit 213 determines the target position that the vehicle 100 should head to next using the vehicle position information and the reference route RR. In step S110, the remote control unit 213 generates a driving control signal for causing the vehicle 100 to travel toward the determined target position according to the specified movement mode. In step S111, the remote control unit 213 transmits the generated driving control signal to the vehicle 100.

[0053] In step S112, the vehicle control unit 115 of the vehicle control device 110 controls the actuator group 120 using the received driving control signal, thereby causing the vehicle 100 to travel at the acceleration and steering angle represented by the driving control signal.

[0054] According to the first embodiment described above, the server 200 can identify, using the process information, whether to move the vehicle 100 in the engine movement mode or the motor movement mode. Then, the server 200 can move the vehicle 100 in the identified movement mode. In this way, in the process of manufacturing the hybrid vehicle 100 by self-propelled production, the server 200 can control the operation of the hybrid vehicle 100 according to the manufacturing process.

[0055] Also, according to the first embodiment described above, when it is assumed that there are less than a predetermined number of people within a predetermined distance range from the vehicle 100 in the manufacturing process identified by the process information, the server 200 can execute the following processing. In this case, the server 200 can identify moving the vehicle 100 in the engine movement mode. By doing so, the vehicle 100 can be moved while suppressing the consumption of the power of the main battery 163 without affecting the state of the main battery 163.

[0056] Also, according to the first embodiment described above, when it is assumed that there are a predetermined number of people or more within a predetermined distance range from the vehicle 100 in the manufacturing process identified by the process information, the server 200 can execute the following processing. In this case, the server 200 can identify moving the vehicle 100 in the motor movement mode. By doing so, it is possible to prevent the working environment from deteriorating due to exhaust gas when an operator engaged in the manufacture of the vehicle 100 works around the vehicle 100.

[0057] In addition, when the manufacturing process identified by the process information is a manufacturing process executed indoors, the specifying unit 212 may specify moving the vehicle 100 in the motor movement mode. By doing so, it is possible to further prevent the working environment from deteriorating due to exhaust gas when an operator works around the vehicle 100.

[0058] B. Second Embodiment: FIG. 6 is a block diagram showing the configuration of the control system 50a in the second embodiment. The control system 50a includes one or more vehicles 100, one or more external sensors 300, and a server 200a having the function as the control device 20a. In this embodiment, a part of the control method of the vehicle 100 during autonomous production is different from that in the first embodiment. Other configurations of the control system 50a are the same as those in the first embodiment unless otherwise specified. The same components as those in the first embodiment are denoted by the same reference numerals and the description thereof is omitted.

[0059] The server 200a is configured by a computer including a processor 201a, a memory 202a, an input / output interface 203, and an internal bus 204. By executing a program PG2a stored in the memory 202a, the processor 201a realizes various functions including the functions as an acquisition unit 211, a specifying unit 212a, and a remote control unit 213.

[0060] When the manufacturing process being executed on the vehicle 100 is a manufacturing process before the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100, moving the vehicle 100 in the engine movement mode may deteriorate the working environment due to exhaust gas. Therefore, when the manufacturing process specified by the process information is a manufacturing process executed before the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100, the specifying unit 212a specifies to move the vehicle 100 in the motor movement mode. When the manufacturing process specified by the process information is the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100, the specifying unit 212a specifies to move the vehicle 100 in the motor movement mode. When the manufacturing process specified by the process information is a manufacturing process executed after the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100, the specifying unit 212a specifies to move the vehicle 100 in the engine movement mode.

[0061] In this embodiment, a second mode database DB2 as a mode database is pre-stored in the memory 202a of the server 200a. In the second mode database DB2, a motor movement mode is associated with a manufacturing process that is executed before the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100. In the second mode database DB2, a motor movement mode is associated with the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100. In the second mode database DB2, an engine movement mode is associated with a manufacturing process that is executed after the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100. The specifying unit 212a specifies which of the engine movement mode and the motor movement mode is used to move the vehicle 100 by acquiring the movement mode associated with the manufacturing process specified by the process information in the second mode database DB2.

[0062] FIG. 7 is a flowchart showing a control method of the vehicle 100 during self-propelled production in the second embodiment. The flow shown in FIG. 7 is repeatedly executed at predetermined time intervals, for example, during a period in which control by autonomous driving is being executed.

[0063] In step S201, the remote control unit 213 of the server 200a transmits an image request signal for acquiring a captured image to an external sensor 300 that is scheduled to include the vehicle 100 in its detection range. The external sensor 300 that has received the image request signal transmits the captured image to the server 200a in step S202.

[0064] When the server 200a acquires the captured image (step S203: Yes), in step S204, the remote control unit 213 of the server 200a acquires vehicle position information using the detection result output from the external sensor 300. In step S205, the acquisition unit 211 acquires process information. In step S206, the specifying unit 212a specifies, using the process information, whether to move the vehicle 100 in either the engine movement mode or the motor movement mode. If the manufacturing process specified by the process information is a manufacturing process executed before the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100 (step S206: Yes), the specifying unit 212a executes step S207. In step S207, the specifying unit 212a specifies to move the vehicle 100 in the motor movement mode. If the manufacturing process specified by the process information is a manufacturing process executed after the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100 (step S206: No), the specifying unit 212a executes step S208. In step S208, the specifying unit 212a specifies to move the vehicle 100 in the engine movement mode. In step S209, the remote control unit 213 determines the target position to which the vehicle 100 should next head using the vehicle position information and the reference route RR. In step S210, the remote control unit 213 generates a travel control signal for causing the vehicle 100 to travel toward the determined target position in accordance with the specified movement mode. In step S211, the remote control unit 213 transmits the generated travel control signal to the vehicle 100.

[0065] In step S212, the vehicle control unit 115 of the vehicle control device 110 controls the actuator group 120 using the received travel control signal, thereby causing the vehicle 100 to travel at the acceleration and steering angle represented by the travel control signal.

[0066] According to the second embodiment described above, when the manufacturing process specified by the process information is a manufacturing process that is executed after the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100, the server 200a can execute the following processing. In this case, the server 200a can specify to move the vehicle 100 in the engine moving mode. By doing so, the vehicle 100 can be moved while suppressing the consumption of the power of the main battery 163 without affecting the state of the main battery 163.

[0067] Also, according to the second embodiment described above, when the manufacturing process specified by the process information is a manufacturing process that is executed before the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100, the server 200a can execute the following processing. In this case, the server 200a can specify to move the vehicle 100 in the motor moving mode. By doing so, since the exhaust gas cannot be processed using the exhaust gas treatment device 155, it is possible to suppress the deterioration of the working environment due to the exhaust gas.

[0068] Also, according to the second embodiment described above, when the manufacturing process specified by the process information is the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100, the server 200a can specify to move the vehicle 100 in the motor moving mode. By doing so, when the exhaust gas treatment device 155 is being mounted on the vehicle 100 and the exhaust gas cannot be processed, it is possible to suppress the deterioration of the working environment due to the exhaust gas.

[0069] In addition, in other embodiments, when the manufacturing process specified by the process information is the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100, the specifying unit 212a may specify to move the vehicle 100 in the engine moving mode. Also, when the manufacturing process specified by the process information is the manufacturing process of mounting the exhaust gas treatment device 155 on the vehicle 100, the remote control unit 213 may stop the vehicle 100 without moving it.

[0070] C. Third Embodiment: FIG. 8 is a block diagram showing the configuration of the control system 50b in the third embodiment. The control system 50b includes one or more vehicles 100, one or more external sensors 300, and a server 200b having a function as a control device 20b. In this embodiment, a part of the control method of the vehicle 100 during autonomous production is different from that in the first embodiment. Other configurations of the control system 50b are the same as those in the first embodiment unless otherwise specified. The same components as those in the first embodiment are denoted by the same reference numerals and the description thereof is omitted.

[0071] The server 200b is configured by a computer including a processor 201b, a memory 202b, an input / output interface 203, and an internal bus 204. By executing a program PG2b stored in the memory 202b, the processor 201b realizes various functions including functions as an acquisition unit 211, a specification unit 212b, and a remote control unit 213.

[0072] Generally, the torque responses of motors 161 and 162 are faster than that of engine 151. Also, generally, motors 161 and 162 can obtain generated torque more accurately than engine 151. Therefore, by moving vehicle 100 in motor drive mode, the running speed of vehicle 100 can be controlled more precisely than when moving vehicle 100 in engine drive mode. For example, in a manufacturing process that requires precise speed control when moving vehicle 100, the target value of the running speed of vehicle 100 is set to a value less than a predetermined speed. Thus, when the target value of the running speed of vehicle 100 in the manufacturing process specified by the process information is less than the predetermined speed, specifying unit 212b specifies to move vehicle 100 in motor drive mode. A manufacturing process that requires precise speed control when moving vehicle 100 is, for example, an assembly process in which at least one of an operator and a robot moves vehicle 100 at an extremely low speed in order to assemble parts to vehicle 100. A manufacturing process that requires precise speed control when moving vehicle 100 may be a slope conveyance process in which vehicle 100 is run while maintaining a low speed on a slope from a first location PL1 to a second location PL2 in a conveyance process. The conveyance process is a manufacturing process in which vehicle 100 is conveyed without an object to be worked performing work on vehicle 100.

[0073] On the other hand, in a manufacturing process that does not require precise speed control when moving the vehicle 100, the target value of the traveling speed of the vehicle 100 is set to a value equal to or higher than a predetermined speed. Therefore, when the target value of the traveling speed of the vehicle 100 in the manufacturing process specified by the process information is equal to or higher than the predetermined speed, the specifying unit 212b specifies that the vehicle 100 is moved in the engine movement mode. A manufacturing process that does not require precise speed control when moving the vehicle 100 is, for example, a manufacturing process that does not require precise speed control when moving the vehicle 100. A manufacturing process that does not require precise speed control when moving the vehicle 100 is, for example, a flat road conveyance process in which the vehicle 100 travels on a flat road from the first location PL1 to the second location PL2 in the conveyance process. A manufacturing process that does not require precise speed control when moving the vehicle 100 may be a yard conveyance process in which the vehicle 100 is moved to a storage location such as a yard after the inspection process is completed in the conveyance process.

[0074] In the present embodiment, a third mode database DB3 as a mode database DB is stored in advance in the memory 202b of the server 200b. In the third mode database DB3, a motor movement mode is associated with a manufacturing process in which a value less than a predetermined speed is set as the target value of the traveling speed of the vehicle 100. In the third mode database DB3, an engine movement mode is associated with a manufacturing process in which a value equal to or higher than a predetermined speed is set as the target value of the traveling speed of the vehicle 100. The specifying unit 212b specifies which of the engine movement mode and the motor movement mode the vehicle 100 is moved by by acquiring the movement mode associated with the manufacturing process specified by the process information in the third mode database DB3.

[0075] FIG. 9 is a flowchart showing a control method of the vehicle 100 during self-propelled production in the third embodiment. The flow shown in FIG. 9 is repeatedly executed at predetermined time intervals, for example, during a period in which control by autonomous driving is being executed.

[0076] In step S301, the remote control unit 213 of the server 200b transmits an image request signal for acquiring a captured image to an external sensor 300 that is scheduled to include the vehicle 100 within its detection range. The external sensor 300 that has received the image request signal transmits the captured image to the server 200b in step S302.

[0077] When the server 200b has acquired the captured image (step S303: Yes), in step S304, the remote control unit 213 of the server 200b acquires vehicle position information using the detection result output from the external sensor 300. In step S305, the acquisition unit 211 acquires process information. In step S306, the specifying unit 212b specifies, using the process information, whether to move the vehicle 100 in either the engine movement mode or the motor movement mode. When the target value of the traveling speed of the vehicle 100 in the manufacturing process specified by the process information is less than a predetermined speed (step S306: Yes), the specifying unit 212b executes step S307. In step S307, the specifying unit 212b specifies to move the vehicle 100 in the motor movement mode. When the target value of the traveling speed of the vehicle 100 in the manufacturing process specified by the process information is greater than or equal to the predetermined speed (step S306: No), the specifying unit 212b executes step S308. In step S308, the specifying unit 212b specifies to move the vehicle 100 in the engine movement mode. In step S309, the remote control unit 213 determines the target position to which the vehicle 100 should next head using the vehicle position information and the reference route RR. In step S310, the remote control unit 213 generates a traveling control signal for causing the vehicle 100 to travel toward the determined target position according to the specified movement mode. In step S311, the remote control unit 213 transmits the generated traveling control signal to the vehicle 100.

[0078] In step S312, the vehicle control unit 115 of the vehicle control device 110 controls the actuator group 120 using the received traveling control signal, and causes the vehicle 100 to travel at the acceleration and steering angle represented by the traveling control signal.

[0079] According to the above-described third embodiment, when the target value of the traveling speed of the vehicle 100 in the manufacturing process specified by the process information is equal to or higher than a predetermined speed, the server 200b can move the vehicle 100 in the engine movement mode. By doing so, when the manufacturing process being executed on the vehicle 100 is a manufacturing process that does not require precise speed control, the server 200b can move the vehicle 100 in the engine movement mode. Thereby, the vehicle 100 can be moved while suppressing the consumption of the power of the main battery 163 without affecting the state of the main battery 163.

[0080] Further, according to the above-described third embodiment, when the target value of the traveling speed of the vehicle 100 in the manufacturing process specified by the process information is less than a predetermined speed, the server 200b can specify to move the vehicle 100 in the motor movement mode. By doing so, when the manufacturing process being executed on the vehicle 100 is a manufacturing process that requires more precise speed control, the server 200b can move the vehicle 100 in the motor movement mode.

[0081] In other embodiments, when the manufacturing process specified by the process information is a manufacturing process that needs to precisely control the traveling position of the vehicle 100, the specifying unit 212b may specify to move the vehicle 100 in the motor movement mode.

[0082] D. Fourth Embodiment: FIG. 10 is a block diagram showing the configuration of a control system 50c in the fourth embodiment. The control system 50c includes one or more vehicles 100, one or more external sensors 300, and a server 200c having a function as a control device 20c. In this embodiment, a part of the method for controlling the vehicle 100 during self-propelled production is different from that in the first embodiment. Regarding other configurations of the control system 50c, unless otherwise particularly described, they are the same as those in the first embodiment. The same components as those in the first embodiment are denoted by the same reference numerals and the description thereof is omitted.

[0083] The server 200c is configured by a computer including a processor 201c, a memory 202c, an input / output interface 203, and an internal bus 204. By executing the program PG2c stored in the memory 202c, the processor 201c realizes various functions including functions as an acquisition unit 211, a specifying unit 212c, and a remote control unit 213.

[0084] In the process of manufacturing the vehicle 100, depending on the work content of the manufacturing process, it may be necessary to drive the engine 151. Therefore, when the manufacturing process specified by the process information is a manufacturing process that requires driving of the engine 151, the specifying unit 212c specifies to move the vehicle 100 in the engine movement mode. The manufacturing process that requires driving of the engine 151 is, for example, at least any one of an engine inspection process, a pre-treatment process, a processing device inspection process, and a liquid leakage inspection process.

[0085] The engine inspection process is a manufacturing process for inspecting the function of the engine 151. The engine inspection process is performed, for example, in a drum test process which is one of the inspection processes for inspecting the vehicle 100. The drum test process is a manufacturing process for inspecting the engine 151, meters, brakes, etc. by running the vehicle 100 on a rotatable roller. In the engine inspection process, it is necessary to drive the engine 151 to inspect the function of the engine 151.

[0086] The pre-treatment process is a manufacturing process for performing pre-treatment for correctly evaluating the function of the engine 151 in the engine inspection process. The pre-treatment process includes, for example, a warming process and an air bleeding process.

[0087] In the engine inspection process, in order to correctly evaluate the function of engine 151, it is necessary to adjust the state of engine 151 to a predetermined warm state before starting the engine inspection process. The warm-up process is a manufacturing process that adjusts the state of engine 151 to a predetermined warm state. In the warm-up process, it is necessary to drive engine 151 in order to adjust the state of engine 151 to a predetermined warm state.

[0088] Also, in the engine inspection process, in order to correctly evaluate the function of engine 151, it is necessary to remove the air generated in the fuel supply pipe 154 from the fuel tank 152 shown in FIG. 3 to engine 151 before starting the engine inspection process. The air bleeding process is a manufacturing process that removes the air generated in the fuel supply pipe 154 from the fuel tank 152 to engine 151. In the case of the vehicle 100 having a gasoline engine, in the air bleeding process, for example, the air bleeding of the fuel pump 153 is performed. In the case of the vehicle 100 having a common rail type diesel engine, in the air bleeding process, for example, the air bleeding in the common rail system is performed. In the air bleeding process, it is necessary to drive the fuel pump 153. The driving of the fuel pump 153 requires the driving of engine 151.

[0089] The exhaust gas treatment device inspection process is a manufacturing process that inspects the function of the exhaust gas treatment device 155. In order to inspect the function of the exhaust gas treatment device 155, it is necessary for exhaust gas to be generated as the object of treatment. Therefore, in the exhaust gas treatment device inspection process, it is necessary to drive engine 151.

[0090] The liquid leakage inspection process is a manufacturing process that inspects the liquid leakage generated by the driving of engine 151. In the liquid leakage inspection process, it is a manufacturing process that inspects whether liquids such as fuel, engine oil, and refrigerant are leaking from pumps mounted on the vehicle 100 such as the fuel pump 153 and the water pump. Therefore, in the liquid leakage inspection process, it is necessary to drive engine 151.

[0091] In the present embodiment, a fourth mode database DB4 as a mode database is pre-stored in the memory 202c of the server 200c. In the fourth mode database DB4, a motor movement mode is associated with each of the engine inspection process, the pre-treatment process, the processing device inspection process, and the liquid leakage inspection process. In the fourth mode database DB4, an engine movement mode is associated with manufacturing processes other than the engine inspection process, the pre-treatment process, the processing device inspection process, and the liquid leakage inspection process. The specifying unit 212c specifies which movement mode, the engine movement mode or the motor movement mode, is to move the vehicle 100 by acquiring the movement mode associated with the manufacturing process specified by the process information in the fourth mode database DB4.

[0092] FIG. 11 is a flowchart showing a method for controlling the vehicle 100 during self-propelled production in the fourth embodiment. The flow shown in FIG. 11 is repeatedly executed at predetermined time intervals, for example, during a period in which control by autonomous driving is being executed.

[0093] In step S401, the remote control unit 213 of the server 200c transmits an image request signal for acquiring a captured image to an external sensor 300 that is scheduled to include the vehicle 100 in its detection range. The external sensor 300 that has received the image request signal transmits the captured image to the server 200c in step S402.

[0094] When the server 200c acquires the captured image (step S403: Yes), in step S404, the remote control unit 213 of the server 200c acquires vehicle position information using the detection result output from the external sensor 300. In step S405, the acquisition unit 211 acquires process information. In step S406, the specifying unit 212c specifies, using the process information, whether the vehicle 100 is to be moved in the engine movement mode or the motor movement mode. When the manufacturing process specified by the process information is a manufacturing process that requires driving of the engine 151 (step S406: Yes), the specifying unit 212c executes step S407. In step S407, the specifying unit 212c specifies that the vehicle 100 is to be moved in the engine movement mode. When the manufacturing process specified by the process information is not a manufacturing process that requires driving of the engine 151 (step S406: No), the specifying unit 212c executes step S408. In step S408, the specifying unit 212c specifies that the vehicle 100 is to be moved in the motor movement mode. In step S409, the remote control unit 213 determines the target position to which the vehicle 100 should next head using the vehicle position information and the reference route RR. In step S410, the remote control unit 213 generates a travel control signal for causing the vehicle 100 to travel toward the determined target position according to the specified movement mode. In step S411, the remote control unit 213 transmits the generated travel control signal to the vehicle 100.

[0095] In step S412, the vehicle control unit 115 of the vehicle control device 110 controls the actuator group 120 using the received travel control signal, thereby causing the vehicle 100 to travel at the acceleration and steering angle represented by the travel control signal.

[0096] According to the fourth embodiment described above, when the manufacturing process specified by the process information is a manufacturing process that requires driving of the engine 151, the server 200c can move the vehicle 100 in the engine movement mode.

[0097] Further, according to the fourth embodiment, when at least one of the manufacturing processes specified by the process information is an engine inspection process, a pretreatment process, a processing apparatus inspection process, or a liquid leakage inspection process, the server 200c can move the vehicle 100 in the engine movement mode.

[0098] E. Fifth Embodiment: FIG. 12 is an explanatory diagram showing a schematic configuration of a control system 50v in the fifth embodiment. The control system 50v includes one or more vehicles 100v equipped with a vehicle control device 110v having a function as a control device 20v, and one or more external sensors 300. In this embodiment, the control system 50v is different from the first embodiment in that it does not include a server 200. Also, the vehicle 100v in this embodiment can travel by autonomous control of the vehicle 100v. Regarding other configurations, they are the same as those in the first embodiment unless otherwise specified.

[0099] In this embodiment, the processor 111v of the vehicle control device 110v functions as an acquisition unit 116, a specification unit 117, and a vehicle control unit 115v by executing a program PG1v stored in the memory 112v. The acquisition unit 116 acquires process information. The specification unit 117 specifies which movement mode, the engine movement mode or the motor movement mode, to move the vehicle 100 by using the process information. The vehicle control unit 115v moves the vehicle 100 in the specified movement mode. The vehicle control unit 115v can acquire the output result from the sensor, generate a travel control signal using the output result, and output the generated travel 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, a reference route RR, and a mode database DB are stored in advance in the memory 112v.

[0100] FIG. 13 is a flowchart showing a processing procedure of the travel control of the vehicle 100v in the second embodiment. In the processing procedure of FIG. 13, the processor 111v of the vehicle 100v functions as an acquisition unit 116, a specifying unit 117, and a vehicle control unit 115v by executing the program PG1.

[0101] 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 travel control signal for causing the vehicle 100v to travel toward the determined target position. In step S904, the processor 111v controls the actuator group 120 using the generated travel control signal, thereby causing the vehicle 100v to travel according to the parameters represented by the travel control signal. The processor 111v repeats the acquisition of vehicle position information, the determination of the target position, the generation of the travel control signal, and the control of the actuator at a predetermined cycle. According to the control system 50v in the present embodiment, the vehicle 100v can be caused to travel by the autonomous control of the vehicle 100v without remotely controlling the vehicle 100v by the server 200.

[0102] FIG. 14 is a flowchart showing a control method of the vehicle 100v during self-driving production in the fifth embodiment. The flow shown in FIG. 14 is repeatedly executed at predetermined time intervals, for example, during a period in which control by driverless operation is being executed.

[0103] In step S501, the vehicle control unit 115v of the vehicle control device 110v transmits an image request signal for acquiring a captured image to an external sensor 300 which is scheduled to include the vehicle 100v within its detection range. The external sensor 300 that has received the image request signal transmits the captured image to the vehicle 100v in step S502.

[0104] When the vehicle 100v acquires a captured image (step S503: Yes), in step S504, the vehicle control unit 115v of the vehicle control device 110v acquires vehicle position information using the detection result output from the external sensor 300. In step S505, the acquisition unit 116 acquires process information. In step S506, the specifying unit 117 specifies, using the process information, whether to move the vehicle 100v in the engine movement mode or the motor movement mode. If it is assumed that there are more than a predetermined number of people within a predetermined distance range from the vehicle 100v in the manufacturing process specified by the process information (step S506: Yes), the specifying unit 117 executes step S507. In step S507, the specifying unit 117 specifies to move the vehicle 100v in the motor movement mode. If it is assumed that there are less than a predetermined number of people within a predetermined distance range from the vehicle 100v in the manufacturing process specified by the process information (step S506: No), the specifying unit 117 executes step S508. In step S508, the specifying unit 117 specifies to move the vehicle 100v in the engine movement mode. In step S509, the vehicle control unit 115v determines the target position to which the vehicle 100v should next head using the vehicle position information and the reference route RR. In step S510, the vehicle control unit 115v generates a travel control signal for causing the vehicle 100v to travel toward the determined target position according to the specified movement mode. In step S511, the vehicle control unit 115v controls the actuator group 120 using the generated travel control signal, thereby causing the vehicle 100v to travel according to the parameters represented by the travel control signal.

[0105] According to the fifth embodiment described above, the vehicle control device 110v can identify whether to move the vehicle 100v in the engine moving mode or the motor moving mode by using the process information. Then, the vehicle control device 110v can move the vehicle 100v according to the identified moving mode. In this way, in the process of manufacturing the hybrid vehicle 100v by self-propelled production, the vehicle control device 110v can control the operation of the hybrid vehicle 100v according to the manufacturing process.

[0106] F. Other embodiments: F-1. Other embodiment 1: In the above embodiments, the vehicles 100 and 100v are plug-in hybrid vehicles. However, the present disclosure is not limited thereto. The vehicles 100 and 100v may be, for example, hybrid vehicles 100 and 100v that do not have mechanisms 164 and 165 for charging the main battery 163 with power from an external power source 900, or may be fuel cell vehicles equipped with a fuel cell as the main battery 163.

[0107] F-2. Other embodiment 2: 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 vehicle 100. In this case, the servers 200, 200a to 200c and the vehicles 100, 100v may obtain the vehicle position information by template matching using the three-dimensional point cloud data as the detection result and the reference point cloud data prepared in advance.

[0108] F-3. Other embodiment 3: In each of the embodiments from the first embodiment to the fourth embodiment described above, the servers 200, 200a to 200c execute 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 adopted.

[0109] (1) The servers 200, 200a to 200c may acquire vehicle position information, determine a 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 servers 200, 200a to 200c may generate a route to a target position between the current position and the destination, or may generate a route to the destination. The servers 200, 200a to 200c 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 servers 200, 200a to 200c, and control the actuator group 120 using the generated driving control signal.

[0110] (2) The servers 200, 200a to 200c 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 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.

[0111] (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 servers 200, 200a to 200c 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.

[0112] F-4. Other Embodiment 4: In the fifth 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.

[0113] F-5. Other Embodiment 5: In the fifth embodiment described above, 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 may control 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 a target arrival time and traffic jam information from outside the vehicle 100v and reflect the target arrival time and traffic jam information in at least one of the route and the driving control signal. Further, all of the functional configurations of the control system 50v may be provided in the vehicle 100v. That is, the processes realized by the control system 50v in the present disclosure may be realized by the vehicle 100v alone.

[0114] F-6. Other Embodiment 6: In each of the first to fourth embodiments described above, the servers 200, 200a to 200c automatically generate the driving control signal to be transmitted to the vehicle 100. In contrast, the servers 200, 200a to 200c 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 a captured image output from the external sensor 300, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the servers 200, 200a to 200c by wired communication or wireless communication, and the servers 200, 200a to 200c may generate a driving control signal corresponding to the operation applied to the control device.

[0115] F-7. Other Embodiment 7: 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.

[0116] F-8. Other Embodiment 8: 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 functions 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. Further, 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 grills, 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, or at least a part of the module may be integrally formed as one part by casting. The molding method of integrally forming at least a part of the module as one part is also called gigacasting or megacasting. By using gigacasting, each part of a moving body that was conventionally formed by joining a plurality of parts can be formed as one part. For example, the above-mentioned front module, central module, and rear module may be manufactured using gigacasting.

[0117] F-9. Other Embodiment 9: In each of the above embodiments, some or all of the functions and processes realized software may be realized hardware. Also, some or all of the functions and processes realized hardware may be realized software. 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.

[0118] 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 of the forms 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. Further, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

Description of Reference Numerals

[0119] 20, 20a to 20c, 20v... control device, 50, 50a to 50c, 50v... control system, 100, 100v... vehicle, 110, 110v... vehicle control device, 110a... engine ECU, 110b... motor ECU, 110c... hybrid ECU, 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, 116, 211... acquisition unit, 117, 212, 212a to 212c... specifying unit, 120... actuator group, 130... communication device of vehicle, 151... engine, 152... fuel tank, 153... fuel pump, 154... fuel supply pipe, 155... exhaust gas treatment device, 156... reduction gear, 157... wheel, 160... power split mechanism, 161... first motor, 162... second motor, 163... main battery, 164... charger, 165... vehicle-side connector, 166... inverter, 167... first converter, 168... output shaft, 171... auxiliary battery, 172... auxiliary machine, 173... second converter, 174... auxiliary machine power line, 200, 200a to 200c... server, 201, 201a to 201c... processor of server, 202, 202a to 202c... memory of server, 203... input / output interface of server, 204... internal bus of server, 205... communication device of server, 213... remote control unit, 300... external sensor, 900... external power source, 957... power source-side connector, DB... mode database, DB1... first mode database, DB2... second mode database, DB3... third mode database, DB4... fourth mode database, DM... detection model, FC... factory, GC... global coordinate system, PG1, PG1v, PG2, PG2a to PG2c... program, PL1... first location, PL2... second location, RR... reference route, TR... runway

Claims

1. A control device for controlling the operation of a moving body that can move by autonomous driving, comprising: an acquisition unit that acquires process information indicating a manufacturing process being executed on the moving body; a specifying unit that specifies, using the process information, which of an engine moving mode in which the moving body moves using an engine and a motor moving mode in which the moving body moves using a motor is used to move the moving body; a control unit that moves the moving body according to the specified moving mode.

2. The control device according to claim 1, wherein when it is assumed that there are a predetermined number or more of people within a predetermined distance range from the moving body in the manufacturing process specified by the process information, the specifying unit specifies to move the moving body in the motor moving mode.

3. The control device according to claim 1 or claim 2, wherein when it is assumed that there are less than a predetermined number of people within a predetermined distance range from the moving body in the manufacturing process specified by the process information, the specifying unit specifies to move the moving body in the engine moving mode.

4. The control device according to claim 1, wherein when the manufacturing process specified by the process information is a manufacturing process that is executed before the manufacturing process of mounting an exhaust gas treatment device on the moving body, the specifying unit specifies to move the moving body in the motor moving mode.

5. The control device according to claim 1 or claim 4, wherein when the manufacturing process specified by the process information is a manufacturing process that is executed after the manufacturing process of mounting an exhaust gas treatment device on the moving body, the specifying unit specifies to move the moving body in the engine moving mode.

6. The control device according to claim 1, wherein when a target value of the moving speed of the moving body in the manufacturing process specified by the process information is less than a predetermined speed, the specifying unit specifies to move the moving body in the motor moving mode.

7. The control device according to claim 1 or claim 6, wherein A control device that, when a target value of the moving speed of the moving body in the manufacturing process specified by the process information is equal to or higher than a predetermined speed, specifies moving the moving body in the engine moving mode.

8. The control device according to claim 1, wherein when the manufacturing process specified by the process information is a manufacturing process that requires driving of the engine, the specifying unit specifies moving the moving body in the engine moving mode.

9. The control device according to claim 1, wherein the manufacturing process that requires driving of the engine is an engine inspection process for inspecting the function of the engine, a preprocessing process for executing preprocessing for correctly evaluating the function of the engine in the engine inspection process, a processing device inspection process for inspecting the function of an exhaust gas treatment device, and / or a liquid leakage inspection process for inspecting liquid leakage generated by driving of the engine.

10. A control system comprising: a moving body capable of moving by autonomous driving; an acquisition unit that acquires process information indicating a manufacturing process being executed on the moving body; a specifying unit that specifies, using the process information, whether to move the moving body in an engine moving mode using an engine or in a motor moving mode using a motor; and a control unit that moves the moving body in the specified moving mode.

11. A control method for controlling the operation of a moving body capable of moving by autonomous driving, the method comprising: an acquisition step of acquiring process information indicating a manufacturing process being executed on the moving body; a specifying step of specifying, using the process information, whether to move the moving body in an engine moving mode using an engine or in a motor moving mode using a motor; and a control step of moving the moving body in the specified moving mode.

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