Vehicle manufacturing method, server supporting manufacturing of vehicle, vehicle, and system

Abstract

To provide a technology making it possible to attain both a manufacturing speed and working precision.SOLUTION: In the present disclosure, one and the other of a halt condition where a vehicle halts and a movement condition where the vehicle is autonomously moving are referred to as a first vehicle condition and second vehicle condition. One and the other of an operator and robot are referred to as a first working entity and second working entity. A vehicle manufacturing method includes (a) a step at which the first working entity performs work on a vehicle in the first vehicle condition, and (b) a step at which the second working entity performs work on the vehicle in the second vehicle condition.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to the autonomous production technology of vehicles.

Background Art

[0002] Patent Document 1 discloses an autonomous production method in which a vehicle travels autonomously or remotely within a manufacturing system for producing a vehicle. In vehicle production, work by workers and work by robots are often used. The implementation methods of these operations have a great influence on the manufacturing speed and work accuracy.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, conventionally, there has been no sufficient consideration regarding the compatibility between the manufacturing speed and work accuracy in autonomous production. Therefore, a technology that achieves both manufacturing speed and work accuracy is desired.

Means for Solving the Problems

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

[0006] (1) According to a first aspect of the present disclosure, a method for manufacturing a vehicle is provided. In this manufacturing method, one of a stopped state in which the vehicle is stopped and a moving state in which the vehicle is moving by self-driving is referred to as a first vehicle state and the other is referred to as a second vehicle state, and one of a worker and a robot is referred to as a first working entity and the other is referred to as a second working entity. The manufacturing method includes: (a) a step of performing an operation on the vehicle by the first working entity in the first vehicle state; and (b) a step of performing an operation on the vehicle by the second working entity in the second vehicle state after the step (a). In this manufacturing method, the vehicle state and the working entity can be made suitable for their respective operations, and both the manufacturing speed and the working accuracy can be achieved. (2) In the above manufacturing method, the first vehicle state may be the moving state, the first working entity may be the worker, the second vehicle state may be the stopped state, and the second working entity may be the robot. A worker, who is a human, can easily cooperate with a self-driving vehicle by walking and can perform operations without sacrificing the manufacturing speed during moving operations. On the other hand, in the case of a robot, difficult cooperative control is not required for stopped operations, and failures in operations can be prevented. As a result, both the manufacturing speed and the working accuracy can be achieved. (3) In the above manufacturing method, the first vehicle state may be the stopped state, the first working entity may be the robot, the second vehicle state may be the moving state, and the second working entity may be the worker. A worker, who is a human, can easily cooperate with a self-driving vehicle by walking and can perform operations without sacrificing the manufacturing speed during moving operations. On the other hand, in the case of a robot, difficult cooperative control is not required for stopped operations, and failures in operations can be prevented. As a result, both the manufacturing speed and the working accuracy can be achieved. (4) In the above manufacturing method, the first vehicle state may be the stopped state, the first working entity may be the worker, the second vehicle state may be the moving state, and the second working entity may be the robot. Since the work done by humans is a stop-work, it does not require skilled workability. Therefore, work accuracy can be ensured. Also, by having the robot perform the moving work, the manufacturing speed can be secured. As a result, it is possible to achieve both the manufacturing speed and work accuracy. (5) In the above manufacturing method, the first vehicle state may be the moving state, the first working entity may be the robot, the second vehicle state may be the stopped state, and the second working entity may be the worker. Since the work done by humans is a stop-work, it does not require skilled workability. Therefore, work accuracy can be ensured. Also, by having the robot perform the moving work, the manufacturing speed can be secured. As a result, it is possible to achieve both the manufacturing speed and work accuracy. (6) In the above manufacturing method, in the process where the work is performed by the worker among the process (a) and the process (b), it may be possible to switch between the work in the stopped state and the work in the moving state according to the attributes of the worker related to work efficiency. According to this manufacturing method, the stop-work and the moving work can be appropriately switched according to the attributes of the worker related to work efficiency. (7) In the above manufacturing method, in at least one of the process (a) and the process (b), it may be possible to switch between the work in the stopped state and the work in the moving state according to the tact time in each process. According to this manufacturing method, the stop-work and the moving work can be appropriately switched according to the tact time. (8) In the above manufacturing method, in at least one of the process (a) and the process (b), it may be possible to switch between the work in the stopped state and the work in the moving state according to the type of the vehicle. According to this manufacturing method, the stop-work and the moving work can be appropriately switched according to the type of the vehicle. (9) In the above manufacturing method, in at least one of the process (a) and the process (b), it may be possible to switch between the work in the stopped state and the work in the moving state according to the difficulty level of the work on the vehicle. According to this manufacturing method, the stop operation and the moving operation can be appropriately switched according to the difficulty level of the work. (10) According to the second aspect of the present disclosure, a server for assisting in the manufacture of a vehicle is provided. The server includes a position information generation unit that generates vehicle position information indicating the position of the vehicle using the detection result of an external sensor located outside the vehicle, and a remote control unit that remotely controls the running of the vehicle according to the vehicle position information. One of a stopped state in which the vehicle has stopped and a moving state in which the vehicle is moving by self-driving is referred to as a first vehicle state and the other is referred to as a second vehicle state, and one of a worker and a robot is referred to as a first working entity and the other is referred to as a second working entity. The manufacturing process of the vehicle includes (a) a step of performing work on the vehicle by the first working entity in the first vehicle state, and (b) a step of performing work on the vehicle by the second working entity in the second vehicle state after the step (a). The remote control unit remotely controls the running of the vehicle in each of the step (a) and the step (b). According to this server, the vehicle state and the working entity can be made suitable for their respective works, and both the manufacturing speed and the working accuracy can be achieved. (11) According to the third aspect of the present disclosure, a vehicle is provided. The vehicle includes a position information generation unit that generates vehicle position information indicating the position of the vehicle using the detection result of an external sensor located outside the vehicle, and a control unit that controls the running of the vehicle according to the vehicle position information. One of a stopped state in which the vehicle has stopped and a moving state in which the vehicle is moving by self-driving is referred to as a first vehicle state and the other is referred to as a second vehicle state, and one of a worker and a robot is referred to as a first working entity and the other is referred to as a second working entity. The manufacturing process of the vehicle includes (a) a step of performing work on the vehicle by the first working entity in the first vehicle state, and (b) a step of performing work on the vehicle by the second working entity in the second vehicle state after the step (a). The control unit controls the running of the vehicle in each of the step (a) and the step (b). According to this vehicle, the vehicle state and the working entity can be made suitable for their respective operations, and both the manufacturing speed and the working accuracy can be achieved simultaneously. (12) According to a fourth aspect of the present disclosure, a system is provided. This system includes a server and an external sensor located outside the vehicle. The server includes a position information generation unit that generates vehicle position information indicating the position of the vehicle using the detection result of the external sensor, and a remote control unit that remotely controls the running of the vehicle according to the vehicle position information. One of a stopped state in which the vehicle has stopped and a moving state in which the vehicle is moving by self-driving is referred to as a first vehicle state and the other is referred to as a second vehicle state, and one of a worker and a robot is referred to as a first working entity and the other is referred to as a second working entity. The manufacturing process of the vehicle includes (a) a step of performing an operation on the vehicle by the first working entity in the first vehicle state, and (b) a step of performing an operation on the vehicle by the second working entity in the second vehicle state after the step (a). The remote control unit remotely controls the running of the vehicle in each of the step (a) and the step (b). According to this system, the vehicle state and the working entity can be made suitable for their respective operations, and both the manufacturing speed and the working accuracy can be achieved simultaneously. (13) According to a fifth aspect of the present disclosure, a method for manufacturing a vehicle is provided. In this manufacturing method, one of a stopped state in which the vehicle is stopped and a moving state in which the vehicle is moving by self-driving and the other are referred to as a first vehicle state and a second vehicle state, and one of an operator and a robot and the other are referred to as a first working entity and a second working entity. The manufacturing method includes: (a) a step of performing an operation on the vehicle by the first working entity in at least one of the first vehicle state and the second vehicle state; and (b) a step of performing an operation on the vehicle by the second working entity in at least one of the first vehicle state and the second vehicle state after the step (a). In at least one of the step (a) and the step (b), the operation in the stopped state and the operation in the moving state are switched according to at least one of an attribute of the operator related to work efficiency, a tact time in each step, a type of the vehicle, and a difficulty level of the operation on the vehicle. In this manufacturing method, the vehicle state and the working entity can be made suitable for each operation, and both the manufacturing speed and the working accuracy can be achieved. In addition, the stopped operation and the moving operation can be appropriately switched according to various situations. (14) According to a sixth aspect of the present disclosure, a method for manufacturing a vehicle is provided. When classifying an operator into a first type of operator and a second type of operator having a higher work efficiency than the first type of operator, when the first type of operator is the working entity, a step of performing an operation on the vehicle in a stopped state in which the vehicle is stopped; and when the second type of operator is the working entity, a step of performing an operation on the vehicle in a moving state in which the vehicle is moving by self-driving. is included. According to this manufacturing method, the stopped operation and the moving operation can be appropriately applied according to the work efficiency of the operator. (15) According to a seventh aspect of the present disclosure, a method for manufacturing a vehicle is provided. When classifying an operation step on the vehicle into a first type of operation step and a second type of operation step having a shorter tact time than the first type of operation step, the first type of operation step is executed in a stopped state in which the vehicle is stopped, and the second type of operation step is executed in a moving state in which the vehicle is moving by self-driving. According to this manufacturing method, stop operations and movement operations can be appropriately applied according to the tact time. (16) According to the eighth aspect of the present disclosure, a vehicle manufacturing method is provided. This manufacturing method includes, when classifying the vehicle into a first type of vehicle and a second type of vehicle with a lower work difficulty level than the first type of vehicle, a step of performing work on the first type of vehicle in a stopped state where the first type of vehicle has stopped when the first type of vehicle is the work target, and a step of performing work on the second type of vehicle in a moving state where the second type of vehicle is moving by self-driving when the second type of vehicle is the work target. According to this manufacturing method, stop operations and movement operations can be appropriately applied according to the vehicle type. (17) According to the ninth aspect of the present disclosure, a vehicle manufacturing method is provided. This manufacturing method includes, when classifying the work on the vehicle into a first type of work and a second type of work with a lower difficulty level than the first type of work, a step of performing the first type of work in a stopped state where the vehicle has stopped, and a step of performing the second type of work in a moving state where the vehicle is moving by self-driving. According to this manufacturing method, stop operations and movement operations can be appropriately applied according to the work difficulty level.

Brief Description of the Drawings

[0007]

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Mode for Carrying Out the Invention

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

[0009] In the present disclosure, a "moving body" means an object that can move, and examples thereof include vehicles and electric vertical take-off and landing aircraft (so-called flying cars). The vehicle may be a vehicle that travels on wheels or a vehicle that travels on an endless track, and examples thereof include passenger cars, trucks, buses, motorcycles, four-wheel vehicles, tanks, and construction vehicles. The vehicle includes battery electric vehicles (BEVs), gasoline vehicles, hybrid vehicles, and fuel cell vehicles. 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".

[0010] Vehicle 100 is configured to be capable of traveling by autonomous driving. "Autonomous driving" means driving without relying on the driving operations of passengers. Driving operations refer to operations related to at least any one of "driving forward", "turning", and "stopping" of vehicle 100. Autonomous driving is realized by automatic or manual remote control using a device located outside vehicle 100, or by autonomous control of vehicle 100. A passenger who does not perform driving operations may board vehicle 100 while it is traveling autonomously. Passengers who do not perform driving operations include, for example, simply a person sitting on the seat of vehicle 100, or a person performing tasks 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 "driver-operated driving".

[0011] In this specification, "remote control" includes "full remote control" in which all operations of vehicle 100 are completely determined from outside vehicle 100, and "partial remote control" in which some operations of vehicle 100 are determined from outside vehicle 100. Also, "autonomous control" includes "full autonomous control" in which vehicle 100 autonomously controls its own operations without receiving any information from a device outside vehicle 100, and "partial autonomous control" in which vehicle 100 autonomously controls its own operations using information received from a device outside vehicle 100.

[0012] In this embodiment, system 50 is used in factory FC where vehicle 100 is manufactured. The reference coordinate system of factory FC is global coordinate system GC, and any position within factory FC can be expressed in terms of the X, Y, and Z coordinates in global coordinate system GC. Factory FC includes a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a roadway TR on which vehicle 100 can travel. A plurality of external sensors 300 and a plurality of robots 400 are installed along roadway TR in factory FC. The positions of each external sensor 300 in factory FC are adjusted in advance. Vehicle 100 moves from the first location PL1 to the second location PL2 through roadway TR by autonomous driving.

[0013] FIG. 2 is a block diagram showing the configuration of system 50. Vehicle 100 includes a vehicle control device 110 for controlling each part of vehicle 100, an actuator group 120 including one or more actuators driven under the control of vehicle control device 110, and a communication device 130 for communicating with an external device such as server 200 by wireless communication. Actuator group 120 includes an actuator of a driving device for accelerating vehicle 100, an actuator of a steering device for changing the traveling direction of vehicle 100, and an actuator of a braking device for decelerating vehicle 100.

[0014] 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. Processor 111, memory 112, and input / output interface 113 are connected to be communicable bidirectionally via internal bus 114. Actuator group 120 and communication device 130 are connected to input / output interface 113. Processor 111 realizes various functions including the function as vehicle control unit 115 by executing program PG1 stored in memory 112.

[0015] Vehicle control unit 115 runs vehicle 100 by controlling actuator group 120. Vehicle control unit 115 can run vehicle 100 by controlling actuator group 120 using the driving control signal received from server 200. The driving control signal is a control signal for running vehicle 100. In the present embodiment, the driving control signal includes the acceleration and steering angle of vehicle 100 as parameters. In other embodiments, the driving control signal may include the speed of vehicle 100 as a parameter instead of or in addition to the acceleration of vehicle 100.

[0016] 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 communicably connected bidirectionally via the internal bus 204. A communication device 205 for communicating with various external devices of 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 the external sensor 300 and the robot 400 by wired or wireless communication. The processor 201 realizes various functions including functions as a position information generation unit 210 and a remote control unit 220 by executing a program PG2 stored in the memory 202.

[0017] The position information generation unit 210 acquires detection results by sensors and generates vehicle position information using the detection results. The remote control unit 220 generates a travel control signal for controlling the actuator group 120 of the vehicle 100 according to the vehicle position information, and transmits the travel control signal to the vehicle 100, thereby causing the vehicle 100 to travel by remote control. The remote control unit 220 may generate and output not only the travel control signal but also a control signal for controlling actuators for operating various auxiliary machines provided in the vehicle 100 and various equipment such as wipers, power windows, and lamps. That is, the remote control unit 220 may operate such various equipment and various auxiliary machines by remote control.

[0018] The external sensor 300 is a sensor located outside the vehicle 100. The external sensor 300 in the present embodiment is a sensor that captures the vehicle 100 from outside the vehicle 100. The external sensor 300 includes a communication device (not shown) and can communicate with other devices such as the server 200 by wired or wireless communication.

[0019] Specifically, the external sensor 300 is composed of a camera. The camera as the external sensor 300 images the vehicle 100 and outputs a captured image as a detection result.

[0020] In this embodiment, the manufacturing process of the vehicle 100 includes work with a human operator as the working entity and work with the robot 400 as the working entity. These operations mainly involve the assembly of parts. Also, as the state of the vehicle 100 during operation, it can take either of two vehicle states: a stopped state where the vehicle 100 has stopped, or a moving state where the vehicle 100 is moving by self-driving. As combinations of the working entity and the vehicle state, any of the four process patterns described below can be used.

[0021] FIG. 3 is an explanatory diagram showing the first process pattern P1 of the manufacturing process of the vehicle 100. The vehicle 100 passes through the first work area WA11 and the second work area WA12 in this order along the reference path RR, and receives assembly in each area. In the first work area WA11, the operator WM performs the assembly work in a moving state where the vehicle 100 is moving by self-driving. This work process is called "moving assembly". In moving assembly, since the work is carried out while the vehicle 100 is continuously running at a low speed, the work can be carried out without sacrificing the manufacturing speed.

[0022] In the second work area WA12, the robot 400 performs the assembly work in a stopped state where the vehicle 100 has stopped. This work process is called "stopped assembly". In stopped assembly, the vehicle 100 stops when it arrives at a preset work position, the assembly is carried out while the vehicle 100 is stopped, and the vehicle 100 resumes moving after the assembly is completed. In stopped assembly, since the work is carried out with the vehicle 100 stopped, it is possible to perform work with a high degree of difficulty, and the work accuracy can be improved. Also, stopped assembly has the advantage that coordinated control of the running of the vehicle 100 and the operation of the robot 400 is not required.

[0023] The moving assembly has the advantage that the manufacturing speed is faster than that of the stationary assembly. However, when performing the moving assembly with the robot 400, it may not be possible to properly assemble the parts unless the running of the vehicle 100 and the operation of the robot 400 are coordinated. On the other hand, the stationary assembly has the advantage that the working accuracy can be improved. In the first process pattern P1, since the operator WM performs the stationary assembly and the robot 400 performs the moving assembly, it is possible to achieve both high manufacturing speed and working accuracy.

[0024] In the present disclosure, the process of the work performed by one working entity is referred to as a "unit process" or "individual process". In the example of FIG. 3, the process in the first working area WA11 and the process in the second working area WA12 each include two unit processes. Generally, when N1 and N2 are each integers of 2 or more, it is preferable that the process in the first working area WA11 includes N1 unit processes and the process in the second working area WA12 includes N2 unit processes. However, N1 and N2 may each be 1. One working entity usually corresponds to one operator WM or one robot 400. However, one working entity may be constituted by a plurality of cooperating operators WM, or may be constituted by a plurality of cooperating robots 400.

[0025] FIG. 4 is an explanatory diagram showing the second process pattern P2 of the manufacturing process of the vehicle 100. In the first working area WA21, the robot 400 performs the stationary assembly. In the second working area WA22, the operator WM performs the moving assembly. This second process pattern P2 also has the same advantages as the first process pattern P1.

[0026] FIG. 5 is an explanatory diagram showing the third process pattern P3 of the manufacturing process of the vehicle 100. In the first working area WA31, the operator WM performs the stationary assembly. In the second working area WA32, the robot 400 performs the moving assembly.

[0027] The moving assembly by the operator WM is a highly difficult task that requires proficiency. On the other hand, if the coordinated control between the vehicle 100 and the robot 400 can be appropriately established, the moving assembly by the robot 400 can easily ensure the working accuracy. In the third process pattern P3, since the operator WM performs the stationary assembly, even if the proficiency of the operator WM is not so high, the working accuracy can be ensured. Also, since the robot 400 performs the moving assembly, the manufacturing speed can be ensured. As a result, it is possible to achieve both the manufacturing speed and the working accuracy.

[0028] FIG. 6 is an explanatory diagram showing the fourth process pattern P4 of the manufacturing process of the vehicle 100. In the first work area WA41, the robot 400 performs the moving assembly. In the second work area WA42, the operator WM performs the stationary assembly. This fourth process pattern P4 also has the same advantages as the third process pattern P3.

[0029] The entire manufacturing process of the vehicle 100 preferably includes one or more of the above-described four process patterns P1 to P4. In the following description, each of the stationary assembly and the moving assembly is also referred to as a "working mode".

[0030] In each of the above-described four process patterns P1 to P4, the two working modes of the stationary assembly and the moving assembly may be mutually changed according to various conditions. As a method for changing the working mode, one or more of the following methods can be adopted. <Method M1 for changing the working mode> Switch between the stationary assembly and the moving assembly according to the attributes of the operator related to the working efficiency. For example, if the worker is an inexperienced person, it is a stop assembly, and if the worker is a skilled person with a higher work efficiency than an inexperienced person, it is changed to a moving assembly. Also, if a person with a disability is the worker, since the work efficiency is low, the moving assembly is changed to a stop assembly. The attributes of the worker related to work efficiency are registered in advance in the work database WD of the server 200 together with the position of the worker in the factory. For example, an inexperienced person may be registered as a first type of worker, and a skilled person may be registered as a second type of worker. Or, a person with a disability may be registered as a first type of worker, and other people may be registered as a second type of worker. According to this change method M1, the stop assembly and the moving assembly can be appropriately switched according to the attributes of the worker related to work efficiency.

[0031] <Change method M2 of working mode> Switch between stop assembly and moving assembly according to the tact time in each work process. For example, if the tact time of that work process is long, since a long time can be spent on that work process, the moving assembly is changed to a stop assembly. On the other hand, if the tact time of that work process is short, since a long time cannot be spent on that work process, the stop assembly is changed to a moving assembly. The tact time of each work process is registered in advance in the work database WD of the server 200. For example, a work process with a tact time equal to or greater than a predetermined reference value may be registered as a first type of work process, and a work process with a tact time less than the reference value may be registered as a second type of work process. Note that "work process" means a unit process implemented by one work entity. According to this change method M2, the stop assembly and the moving assembly can be appropriately switched according to the tact time.

[0032] <Change method M3 of working mode> Switch between stop assembly and moving assembly according to the type of vehicle 100. For example, in the case of vehicle 100 where the assembly work is difficult, the moving assembly is changed to a stationary assembly. On the other hand, in the case of vehicle 100 where the assembly work is easy, the stationary assembly is changed to a moving assembly. The type of vehicle 100 is registered in advance in the work database WD of the server 200. For example, a vehicle with a relatively high assembly work difficulty may be registered as a first type vehicle, and a vehicle with a lower assembly work difficulty than the first type vehicle may be registered as a second type vehicle. According to this change method M3, the stationary assembly and the moving assembly can be appropriately switched according to the type of vehicle 100.

[0033] <Change method M4 of working mode> Switch between stationary assembly and moving assembly according to the difficulty of the work on the vehicle. For example, in the case of a high-difficulty work, the moving assembly is changed to a stationary assembly. On the other hand, in the case of a low-difficulty work, the stationary assembly is changed to a moving assembly. The difficulty of the work is set according to various factors. For example, the work inside the vehicle 100 is more difficult than the work related to the appearance of the vehicle 100. Also, a work with a narrow working space is more difficult than a work with a wide working space. The difficulty of the work is registered in advance in the work database WD stored in the memory 202 of the server 200. For example, a work with a difficulty equal to or higher than a predetermined reference value may be registered as a first type work, and a work with a difficulty lower than the reference value may be registered as a second type work. Here, "work" means the work in a unit process implemented by one work subject. According to this change method M4, the stationary assembly and the moving assembly can be appropriately switched according to the difficulty of the work.

[0034] It is possible to adopt one or more of the above four change methods M1 to M4. When multiple change methods are adopted, when a stationary assembly is recommended in accordance with one of the change methods, it is preferable to perform the work by stationary assembly.

[0035] Further, the content of each of the above-described modification methods M1 to M4 may be used as an initial setting. When using the content of the modification method M1 as the initial setting, the work of each process may be performed only by the worker WM without using the robot 400. Further, when using the content of any of the modification methods M2 to M4 as the initial setting, the worker performing the work of each process may be the worker WM or the robot 400.

[0036] FIG. 7 is a flowchart showing a processing procedure of the traveling control of the vehicle 100 in the first embodiment. In the processing procedure of FIG. 7, the processor 201 of the server 200 functions as the position information generation unit 210 and the remote control unit 220 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.

[0037] In step S1, the processor 201 of the server 200 generates 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 traveling control signal. In the present embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S1, the processor 201 acquires the vehicle position information using the captured image acquired from the camera which is the external sensor 300.

[0038] Specifically, in step S1, the processor 201 detects the outer shape of the vehicle 100 from, for example, a captured image, calculates the coordinates of the measurement points of the vehicle 100 in the coordinate system of the captured image, that is, the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby obtaining the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, within or outside the system 50 and is pre-stored in the memory 202 of the server 200. Examples of the detection model DM include a trained machine learning model trained to implement 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 training of the CNN, it is preferable that the parameters of the CNN are updated so as to reduce the error between the output result by the detection model DM and the label by backpropagation (error backpropagation method). Further, the processor 201 can obtain the orientation of the vehicle 100, for example, by estimating based on the direction of the movement vector of the vehicle 100 calculated from the position change of the feature points of the vehicle 100 between frames of the captured image using the optical flow method.

[0039] In step S2, the processor 201 of the server 200 determines whether the current position of the vehicle 100 is a parking position. The "parking position" means a work position where stop assembly is performed. The parking positions on the reference route RR are registered in advance in the work database WD. If the vehicle 100 has not reached the parking position, the process proceeds to step S6, and the processor 201 of the server 200 creates a driving control signal and transmits it to the vehicle 100 to continue the movement of the vehicle 100. This step S6 is executed, for example, as follows.

[0040] In step S6, the processor 201 of the server 200 first determines the target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by the coordinates of X, Y, and Z in the global coordinate system GC. In the memory 202 of the server 200, a reference route RR, which is the route along which the vehicle 100 should travel, is stored in advance. The route is represented by nodes indicating the starting point, nodes indicating passing points, nodes indicating the destination, and links connecting each node. The processor 201 determines the target position to which the vehicle 100 should next head 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.

[0041] Next, the processor 201 of the server 200 generates a driving control signal for driving the vehicle 100 toward the determined target position. The processor 201 calculates the driving speed of the vehicle 100 from the change in the position of the vehicle 100 and compares the calculated driving speed with the target speed. Overall, when the driving speed is lower than the target speed, the processor 201 determines the acceleration so that the vehicle 100 accelerates, and when the driving speed is higher than the target speed, the processor 201 determines the acceleration so that the vehicle 100 decelerates. Also, when the vehicle 100 is located on the reference route RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the reference route RR, and when the vehicle 100 is not located on the reference route RR, in other words, when the vehicle 100 has deviated from the reference route RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 returns to the reference route RR.

[0042] The processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats operations such as 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.

[0043] In step S11, the processor 111 of vehicle 100 receives a driving control signal transmitted from server 200. In step S12, the processor 111 of vehicle 100 controls the actuator group 120 using the received driving control signal, thereby driving 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 system 50 in this embodiment, vehicle 100 can be driven by remote control, and vehicle 100 can be moved without using conveying facilities such as a crane or a conveyor.

[0044] In step S2, when vehicle 100 has reached the stop position, it proceeds to step S3, and the processor 201 of server 200 stops vehicle 100. Specifically, the processor 201 of server 200 creates a driving control signal for stopping vehicle 100 and transmits it to vehicle 100. When vehicle 100 stops, a stop assembly is carried out. Here, it is assumed that the assembly is carried out by robot 400. In this case, after step S3, it is preferable for the processor 201 of server 200 to transmit information indicating that vehicle 100 has stopped at the stop position or information permitting the start of work of robot 400 to robot 400. Alternatively, robot 400 may detect that vehicle 100 has stopped at the stop position using a sensor such as a camera and autonomously start work.

[0045] In step S21, robot 400 performs an assembly. When the assembly is completed, in step S22, robot 400 determines whether the assembly is successful or failed. This determination is preferably executed using a sensor for detecting the assembly state. In step S23, robot 400 transmits information indicating whether the assembly is successful or failed to server 200. Note that instead of robot 400, worker WM may execute the processes of steps S21 to S23.

[0046] In step S4, the processor 201 of the server 200 determines whether it has received information indicating that the assembly has been successful. If it has received information indicating that the assembly has been successful, it proceeds to step S5, where the processor 201 of the server 200 creates a driving control signal and transmits it to the vehicle 100 to resume the movement of the vehicle 100. The process of creating the driving control signal is substantially the same as the process of step S6 described above. After this, the processes from step S1 onwards are restarted at predetermined intervals.

[0047] On the other hand, if it has received information indicating that the assembly has failed, it proceeds from step S4 to step S7, where the processor 201 of the server 200 notifies the administrator of the occurrence of a problem. The notification to the administrator can be made, for example, by generating a warning sound in the factory or by displaying a notice of the occurrence of a problem on a display board posted in the factory. Alternatively, a warning may be sent from the server 200 to the administrator's terminal device.

[0048] As described above, in the first embodiment, since the vehicle 100 is manufactured using one or more of the four process patterns P1 to P4, the vehicle state and the working entity can be made suitable for each operation, and both the manufacturing speed and the working accuracy can be achieved.

[0049] B. Second Embodiment: FIG. 8 is a flowchart showing the processing procedure of vehicle driving control in the second embodiment. The system configuration and device configuration in the second embodiment are the same as those in the first embodiment. Since the processing procedures of the vehicle 100 and the robot 400 are the same as those in the first embodiment, the illustration is omitted, and FIG. 8 shows only the processing procedure of the server 200.

[0050] In the above-described first embodiment, the parking positions on the reference route RR were registered in advance in the work database WD. On the other hand, in the second embodiment, for each work process on the reference route RR, whether it is to be carried out in the work mode of stop assembly or movement assembly is registered in advance in the work database WD. Also, the working entity for each work process is registered in advance in the work database WD.

[0051] In the process of FIG. 8, a flag indicating the working mode of assembly is used. Flag = 1 indicates stop assembly, and flag = 2 indicates moving assembly. The initial value of the flag is 0.

[0052] In step S31, the processor 201 of the server 200 generates vehicle position information using the detection result output from the external sensor 300. This step S31 is the same as step S1 in FIG. 7. In step S32, the processor 201 of the server 200 determines whether the flag is 0. If the flag is not 0, the process proceeds to step S35 described later. Since the flag is 0 in the initial setting, the process proceeds from step S32 to step S33.

[0053] In step S33, the processor 201 of the server 200 identifies the current process of the vehicle 100. This process can be executed by referring to the work database WD using the position of the vehicle 100 indicated by the vehicle position information. Alternatively, the process of step S33 may be performed using the production management information of the vehicle 100.

[0054] In step S34, the processor 201 of the server 200 identifies whether the next process is stop assembly (flag = 1) or moving assembly (flag = 2). This process can be executed by referring to the work database WD. If the flag = 1, the process proceeds from step S35 to step S36, and the processes after step S36 are executed. On the other hand, if the flag = 2, the process proceeds from step S35 to step S41, and the processes after step S41 are executed.

[0055] Steps S36 to S38 are the same processes as steps S3 to S5 in FIG. 7. That is, in step S36, the processor 201 of the server 200 stops the vehicle. After the vehicle stops, the assembly by the robot 400 is carried out. In step S37, the processor 201 of the server 200 determines whether information indicating that the assembly has been successful has been received. If information indicating that the assembly has been successful has been received, the process proceeds to step S38, where the processor 201 of the server 200 creates a travel control signal and transmits it to the vehicle 100 to resume the movement of the vehicle 100. After the movement of the vehicle 100 is resumed, in step S39, the flag is corrected to the initial value of 0. On the other hand, if information indicating that the assembly has failed is received, the process proceeds to step S40, where the processor 201 of the server 200 contacts the administrator to notify of the occurrence of a problem.

[0056] In step S35, when the flag = 2 (mobile assembly), the processes after step S41 are executed. In step S41, the processor 201 of the server 200 determines whether the vehicle 100 has reached the assembly completion position. This determination process can be executed by referring to the work database WD using the position of the vehicle 100 indicated by the vehicle position information. If the vehicle has not reached the assembly completion position, the process proceeds to step S45, where the processor 201 of the server 200 creates a travel control signal and transmits it to the vehicle 100 to continue the movement of the vehicle 100. Note that in mobile assembly, the assembly by the robot 400 or the worker WM is carried out while the movement of the vehicle 100 continues.

[0057] When the assembled complete position is reached, the process proceeds from step S41 to step S42, and the processor 201 of the server 200 determines whether information indicating that the assembly has been successful has been received. This information is transmitted from the terminal device of the robot 400 or the worker WM. When information indicating that the assembly has been successful is received, the process proceeds to step S43, and the processor 201 of the server 200 creates a travel control signal and transmits it to the vehicle 100 to continue the movement of the vehicle 100. In step S44, the flag is corrected to the initial value of 0. On the other hand, when information indicating that the assembly has failed is received, the process proceeds to step S46, and the processor 201 of the server 200 stops the vehicle 100 and notifies the manager of the occurrence of a problem.

[0058] This second embodiment also has substantially the same effects as the first embodiment. Further, in the second embodiment, by using a flag indicating the working mode, it is possible to appropriately execute the stop assembly and the moving assembly respectively.

[0059] C. Third Embodiment: FIG. 9 is a block diagram showing the configuration of the system 50 in the third embodiment. The differences from the configuration of the first embodiment shown in FIG. 2 are mainly the following three points. (1) The function of the position information generation unit 116 is added to the function of the processor 111 of the vehicle 100. (2) A reference route RR, a detection model DM, and a work database WD are added to the memory 112 of the vehicle 100. (3) The functions of the position information generation unit 210 and the remote control unit 220 are omitted from the function of the processor 201 of the server 200.

[0060] The position information generation unit 116 of the vehicle 100 has the same function as the position information generation unit 210 of the server 200 in the first embodiment. That is, the position information generation unit 116 generates vehicle position information using the detection results of the external sensor 300. The vehicle control unit 115 generates a travel control signal according to the vehicle position information, and controls the operation of the actuator group 120 according to the travel control signal.

[0061] FIG. 10 is a flowchart showing the processing procedure of the driving control of the vehicle 100 in the third embodiment, and substantially corresponds to FIG. 7 of the first embodiment. In the third embodiment, since the vehicle 100 itself creates the vehicle position information and the driving control signal, the processing of the server 200 is unnecessary. The processing procedure of the robot 400 is the same as that in FIG. 7.

[0062] Steps S51 to S57 in FIG. 10 substantially correspond to steps S1 to S7 in FIG. 7, and thus the description thereof is omitted. However, since communication between the vehicle 100 and the server 200 is unnecessary, it is omitted.

[0063] This third embodiment also exhibits substantially the same effects as the first embodiment. Further, in the third embodiment, the vehicle 100 can be driven by the autonomous control of the vehicle 100 without remotely controlling the vehicle 100 by the server 200. The autonomous control of the vehicle 100 in the third embodiment can also be applied to the second embodiment described above.

[0064] D. Other Embodiments: (D1) 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 server 200 or the vehicle 100 may acquire 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.

[0065] (D2) In the first embodiment described above, the processing from the acquisition of the vehicle position information to the generation of the driving control signal is executed by the server 200. On the other hand, at least a part of the processing from the acquisition of the vehicle position information to the generation of the driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be used.

[0066] (1) The server 200 may acquire vehicle position information, determine a target position to which the vehicle 100 should next head, and generate a route from the current position of the vehicle 100 represented in the acquired vehicle position information to the target position. The server 200 may generate a route to a target position between the current position and the destination, or may generate a route to the destination. The server 200 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a driving control signal so that the vehicle 100 travels on the route received from the server 200, and may control the actuator group 120 using the generated driving control signal.

[0067] (2) The server 200 may acquire vehicle position information and transmit the acquired vehicle position information to the vehicle 100. The vehicle 100 may determine a target position to which the vehicle 100 should next head, generate a route from the current position of the vehicle 100 represented in the received vehicle position information to the target position, generate a driving control signal so that the vehicle 100 travels on the generated route, and may control the actuator group 120 using the generated driving control signal.

[0068] (3) In the above forms (1) and (2), 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 operation state of each part of the vehicle 100, and a sensor that detects the surrounding environment of 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.

[0069] (D3) In the above third embodiment, 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. For example, 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. 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.

[0070] (D4) In the above-described third embodiment, the vehicle 100 acquires vehicle position information using the detection results of the external sensor 300. In contrast, an internal sensor is mounted on the vehicle 100, and the vehicle 100 acquires vehicle position information using the detection results of the internal sensor, determines the target position to which the vehicle 100 should next head, generates a route from the current position of the vehicle 100 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 100 can travel without using the detection results of the external sensor 300 at all. Note that the vehicle 100 may acquire the target arrival time and traffic jam information from outside the vehicle 100 and reflect the target arrival time and traffic jam information in at least one of the route and the driving control signal. Further, all of the functional configurations of the system 50 may be provided in the vehicle 100. That is, the processing realized by the system 50 in the present disclosure may be realized by the vehicle 100 alone.

[0071] (D5) 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.

[0072] In each of the above-described embodiments, the vehicle 100 only needs to be configured to be movable by autonomous driving. For example, it may be in the form of a platform having the configuration described below. Specifically, the vehicle 100 only needs to include at least a vehicle control device 110 and an actuator group 120 in order to perform three functions of "running", "turning", and "stopping" by autonomous driving. When the vehicle 100 acquires information from the outside for autonomous driving, the vehicle 100 may further include a communication device 130. That is, the vehicle 100 that can be moved by autonomous driving does not necessarily have to have at least a part of the interior parts such as a driver's seat and a dashboard, and does not necessarily have to have at least a part of the exterior parts such as a bumper and a fender, and does not necessarily have to have a body shell. In this case, until the vehicle 100 is shipped from the factory FC, the remaining parts such as the body shell may be attached to the vehicle 100, or the vehicle 100 may be shipped from the factory FC in a state where the remaining parts such as the body shell are not attached to the vehicle 100, and then the remaining parts such as the body shell may be attached to the vehicle 100. Each part may be attached from any direction such as the upper side, the lower side, the front side, the rear side, the right side, or the left side of the vehicle 100, and they may be attached from the same direction or from different directions. Note that the positioning of the platform form can also be performed in the same manner as the vehicle 100 in the first embodiment.

[0073] (D7) The vehicle 100 may be manufactured by combining a plurality of modules. A module means a unit composed of one or more parts grouped according to the configuration and functions of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the central part of the platform, and a rear module that constitutes the rear part of the platform. Note that the number of modules constituting the platform is not limited to three, and may be two or less or four or more. In addition to or instead of the platform, parts of the vehicle 100 different from the platform may be modularized. Further, 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, 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.

[0074] (D8) Using the running of the vehicle 100 by autonomous driving to transport the vehicle 100 is also called "self-propelled transport". Further, the configuration for realizing self-propelled transport is also called "vehicle remote control autonomous driving transport system". Further, the production method of producing the vehicle 100 using self-propelled transport is also called "self-propelled production". In self-propelled production, for example, in the factory FC that manufactures the vehicle 100, at least a part of the transport of the vehicle 100 is realized by self-propelled transport.

[0075] In each of the above-described 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 the various functions in each of the above-described embodiments, for example, various circuits such as integrated circuits and discrete circuits may be used.

[0076] The present disclosure is not limited to the above-described embodiments, and can be realized in various configurations without departing from the gist thereof. For example, the technical features in the embodiments corresponding to the technical features in each form described in the summary of the invention can be appropriately replaced or combined in order to solve 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.

Description of Reference Numerals

[0077] 50…System, 100…Vehicle, 110…Vehicle control device, 111…Processor, 112…Memory, 113…Input / output interface, 114…Internal bus, 115…Vehicle control unit, 116…Position information generation unit, 120…Actuator group, 130…Communication device, 200…Server, 201…Processor, 202…Memory, 203…Input / output interface, 204…Internal bus, 205…Communication device, 210…Position information generation unit, 220…Remote control unit, 300…External sensor, 400…Robot

Claims

1. A method for manufacturing a vehicle, comprising: When one of a stopped state in which the vehicle is stopped and a moving state in which the vehicle is moving by self-propulsion is called a first vehicle state and the other is called a second vehicle state, and one of a worker and a robot is called a first working entity and the other is called a second working entity, the manufacturing method includes: (a) a step of performing an operation on the vehicle by the first working entity in the first vehicle state; (b) a step of performing an operation on the vehicle by the second working entity in the second vehicle state after the step (a). A manufacturing method comprising the above steps.

2. The manufacturing method according to claim 1, wherein the first vehicle state is the moving state, the first working entity is the worker, the second vehicle state is the stopped state, and the second working entity is the robot. A manufacturing method.

3. The manufacturing method according to claim 1, wherein the first vehicle state is the stopped state, the first working entity is the robot, the second vehicle state is the moving state, and the second working entity is the worker. A manufacturing method.

4. The manufacturing method according to claim 1, wherein the first vehicle state is the stopped state, the first working entity is the worker, the second vehicle state is the moving state, and the second working entity is the robot. A manufacturing method.

5. The manufacturing method according to claim 1, wherein the first vehicle state is the moving state, the first working entity is the robot, the second vehicle state is the stopped state, and the second working entity is the worker. A manufacturing method.

6. The manufacturing method according to claim 1, wherein in the step in which the operation is performed by the worker among the step (a) and the step (b), the operation in the stopped state and the operation in the moving state are switched according to the attribute of the worker related to work efficiency.

7. The manufacturing method according to claim 1, wherein in at least one of the step (a) and the step (b), the operation in the stopped state and the operation in the moving state are switched according to the tact time in each step.

8. The manufacturing method according to claim 1, wherein in at least one of the step (a) and the step (b), the operation in the stopped state and the operation in the moving state are switched according to the type of the vehicle.

9. The manufacturing method according to claim 1, wherein A manufacturing method for switching between operations in a stopped state and operations in a moving state according to the difficulty level of operations on the vehicle in at least one of the processes (a) and (b).

10. A server for assisting in the manufacture of a vehicle, A position information generation unit that generates vehicle position information indicating the position of the vehicle using the detection results of external sensors located outside the vehicle; A remote control unit that remotely controls the running of the vehicle according to the vehicle position information; Comprising: When one of the stopped state in which the vehicle has stopped and the moving state in which the vehicle is moving by self-driving is called the first vehicle state and the other is called the second vehicle state, and one of the worker and the robot and the other are called the first working entity and the second working entity, The manufacturing process of the vehicle is (a) A process of performing an operation on the vehicle by the first working entity in the first vehicle state; (b) After the process (a), a process of performing an operation on the vehicle by the second working entity in the second vehicle state; Including: The remote control unit remotely controls the running of the vehicle in each of the processes (a) and (b). A server.

11. A vehicle, A position information generation unit that generates vehicle position information indicating the position of the vehicle using the detection results of external sensors located outside the vehicle; A control unit that controls the running of the vehicle according to the vehicle position information; Comprising: When one of the stopped state in which the vehicle has stopped and the moving state in which the vehicle is moving by self-driving is called the first vehicle state and the other is called the second vehicle state, and one of the worker and the robot and the other are called the first working entity and the second working entity, The manufacturing process of the vehicle is (a) A process of performing an operation on the vehicle by the first working entity in the first vehicle state; (b) After the process (a), a process of performing an operation on the vehicle by the second working entity in the second vehicle state; Including: The control unit controls the running of the vehicle in each of the processes (a) and (b). A vehicle.

12. A system, A server, External sensors located outside the vehicle, Including: The server is A position information generation unit that generates vehicle position information indicating the position of the vehicle using the detection results of the external sensors; A remote control unit that remotely controls the running of the vehicle according to the vehicle position information; Comprising: When one of a stopped state in which the vehicle has stopped and a moving state in which the vehicle is moving by self-propulsion is referred to as a first vehicle state and the other is referred to as a second vehicle state, and one of an operator and a robot is referred to as a first working entity and the other is referred to as a second working entity, The manufacturing process of the vehicle is (a) a step of performing work on the vehicle by the first working entity in the first vehicle state; (b) a step of performing work on the vehicle by the second working entity in the second vehicle state after the step (a); including The remote control unit remotely controls the running of the vehicle in each of the step (a) and the step (b). A system.

13. A method for manufacturing a vehicle, When one of a stopped state in which the vehicle has stopped and a moving state in which the vehicle is moving by self-propulsion is referred to as a first vehicle state and the other is referred to as a second vehicle state, and one of an operator and a robot is referred to as a first working entity and the other is referred to as a second working entity, The manufacturing method is (a) a step of performing work on the vehicle by the first working entity in at least one of the first vehicle state and the second vehicle state; (b) a step of performing work on the vehicle by the second working entity in at least one of the first vehicle state and the second vehicle state after the step (a); comprising In at least one of the step (a) and the step (b), According to at least one of the attributes of the operator related to work efficiency, the tact time in each process, the type of the vehicle, and the difficulty level of the work on the vehicle, a manufacturing method for switching between the work in the stopped state and the work in the moving state.

14. A method for manufacturing a vehicle, When classifying an operator into a first type of operator and a second type of operator having a higher work efficiency than the first type of operator, A step of performing work on the vehicle in a stopped state in which the vehicle has stopped when the first type of operator is the working entity; A step of performing work on the vehicle in a moving state in which the vehicle is moving by self-propulsion when the second type of operator is the working entity; A manufacturing method including.

15. A method for manufacturing a vehicle, When classifying the work process on the vehicle into a first type of work process and a second type of work process having a shorter tact time than the first type of work process, The first type of work process is executed in a stopped state in which the vehicle has stopped, Execute the second type of work process in a moving state where the vehicle is moving by self-propulsion. Manufacturing method.

16. A method for manufacturing a vehicle, When classifying the vehicle into a first type of vehicle and a second type of vehicle with a lower work difficulty than the first type of vehicle, When the first type of vehicle is the work target, a step of performing work on the first type of vehicle in a stopped state where the first type of vehicle has stopped; When the second type of vehicle is the work target, a step of performing work on the second type of vehicle in a moving state where the second type of vehicle is moving by self-propulsion; A manufacturing method including the above.

17. A method for manufacturing a vehicle, When classifying the work on the vehicle into a first type of work and a second type of work with a lower difficulty than the first type of work, A step of performing the first type of work in a stopped state where the vehicle has stopped; A step of performing the second type of work in a moving state where the vehicle is moving by self-propulsion; A manufacturing method including the above.

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