Controlling device

Abstract

To provide a controlling device with a technique avoiding oppression of communication bandwidth through performing a remote control to travel a vehicle and an inspection.SOLUTION: A controlling device controlling a movable body travelling by unmanned operation and the movable body performs communication for travel control of the movable body by unmanned operation and communication for inspection inspecting the movable body through the same channel. The controlling device comprises: a position acquisition part which acquires positional information indicating a current position of the movable body; a storage part which stores first information representing one or more inspections of the movable body on a travel route where the movable body is planned to travel and locations respectively corresponding to the inspections where the inspection is performed on the travel route, and stores second information which is related to the inspection to represent communication load for the inspection; and a determination part which determines whether the unmanned operation of the movable body is possible or not based on the positional information, the first information, and the second information.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a control device. [Background technology]

[0002] Patent Document 1 describes a vehicle that is the object of manufacture and that runs under remote control in a manufacturing process for manufacturing a vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-538619 Summary of the Invention [Problem to be solved by the invention]

[0004] During the manufacturing process, an incomplete vehicle may be remotely controlled to travel between multiple processes, or a running vehicle may be inspected from a remote location. In such cases, the vehicle may communicate with a control device located in a remote location via a DLC connector. In such a case, communication for both driving control and inspection may constrict the communication bandwidth, potentially resulting in communication failure. Therefore, there has been a demand for technology that can prevent communication bandwidth from being constricted by remote control for vehicle driving and inspection. [Means for solving the problem]

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

[0006] (1) According to a first aspect of the present disclosure, there is provided a control device for controlling a mobile object traveling in an unmanned driving manner. The control device and the mobile object communicate with each other via a single line for controlling the unmanned driving of the mobile object and for inspecting the mobile object. The control device includes a position acquisition unit that acquires position information indicating the current position of the mobile object, a memory unit that stores one or more inspections to be performed on the mobile object along a planned travel route of the mobile object, first information associated with each inspection and indicating points on the travel route where the inspections will be performed, the inspections, and second information associated with each inspection and indicating a communication load for communication for the inspections, and a determination unit that determines whether to cause the mobile object to travel in the unmanned driving manner based on the position information, the first information, and the second information. According to the above embodiment, by using location information indicating the current location of the mobile body, first information indicating one or more tests to be performed on the mobile body along the planned travel route and the locations where the tests will be performed, and second information indicating the communication load in the tests to be performed on the mobile body, it is possible to easily determine whether or not to continue traveling of the mobile body. (2) In the control device of the above form, the discrimination unit may identify the next test to be performed based on the location information and the first information, and may determine, based on the identified test and the second information, that the communication load in performing the identified test satisfies a predetermined condition, not to allow the mobile body to travel in the unmanned driving mode. According to the above-described embodiment, if the communication load during the inspection satisfies a predetermined condition, the mobile object is not allowed to travel in an unmanned driving mode. Therefore, communication for controlling the travel of the mobile object is limited, and pressure on the communication band can be avoided. (3) In the control device of the above aspect, the second information may further include information indicating whether the mobile body needs to travel for the inspection. The determination unit may identify the inspection to be performed next based on the location information and the first information, determine whether the mobile body can travel for the identified inspection based on the second information, and, if the identified inspection requires the mobile body to travel, cause the mobile body to travel by the unmanned operation, and determine to perform only the inspection items that require travel based on the second information, out of multiple inspection items included in the identified inspection. (4) In the control device of the above aspect, the second information further includes information indicating which of the inspections and the movement of the mobile body should be prioritized. The determination unit may identify the inspection to be performed next based on the location information and the first information, and if it determines that the specified inspection should be prioritized over the movement of the mobile body, perform the specified inspection without moving the mobile body, and if it determines that the movement of the mobile body should be prioritized over the execution of the specified inspection, cause the mobile body to move, and when the mobile body arrives at its destination, stop communication for controlling the movement of the mobile body, and then perform the inspection. According to the above aspect, it is possible to easily determine which of the movement of the mobile body and the execution of the inspection should take priority. (5) In the control device of the above form, the control device may further include at least one of a notification unit that notifies a user that the moving body will be driven in an unmanned manner when the determination unit determines that the moving body will be driven in an unmanned manner, and an output unit that outputs this fact as a log when the determination unit determines that the moving body will be driven in an unmanned manner.

[0007] The present disclosure can be realized in various forms, such as a remote control system, a vehicle control device, a remote automatic driving method, and a vehicle manufacturing method. [Brief explanation of the drawings]

[0008] [Figure 1]FIG. 1 is a conceptual diagram showing a system configuration according to a first embodiment. [Figure 2] 1 is a block diagram showing a schematic configuration of a system according to a first embodiment. [Figure 3] FIG. 10 is an explanatory diagram showing examples of test items. [Figure 4] FIG. 10 is an explanatory diagram showing an example of an implementation location. [Figure 5] FIG. 10 is an explanatory diagram showing an example of an inspection load. [Figure 6] 4 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. [Figure 7] 4 is a flowchart showing a processing procedure relating to an inspection in the first embodiment. [Figure 8] FIG. 11 is an explanatory diagram showing an example of an inspection load in the third embodiment. [Figure 9] 11 is a flowchart showing the first half of a processing procedure relating to an inspection in the third embodiment. [Figure 10] 11 is a flowchart showing the latter half of the processing procedure relating to the inspection in the third embodiment. [Figure 11] FIG. 13 is an explanatory diagram showing an example of an inspection load in the fourth embodiment. [Figure 12] 10 is a flowchart showing a processing procedure relating to an inspection in the fourth embodiment. [Figure 13] FIG. 10 is an explanatory diagram illustrating a case where a vehicle is evacuated to an evacuating area. DETAILED DESCRIPTION OF THE INVENTION

[0009] A. First embodiment: FIG. 1 is a conceptual diagram showing the configuration of a system 50 in the first embodiment. The system 50 is used to move a vehicle 100, which is a mobile object, in an unmanned manner in a factory FC that manufactures mobile objects. The system 50 includes one or more vehicles 100, a server 200, and a plurality of external sensors 300. The vehicle 100 is a BEV (Battery Electric Vehicle).

[0010] The vehicle 100 is configured to be capable of traveling in an unmanned manner. "Unmanned driving" refers to driving that does not depend on the driving operation of a passenger. Driving operation refers to operations related to at least one of "running," "turning," and "stopping" of the vehicle 100. Unmanned driving is achieved by automatic remote control using a device located outside the vehicle 100. A passenger who does not operate the vehicle while traveling in an unmanned manner may be on board the vehicle 100. Passengers who do not operate the vehicle include, for example, a person who simply sits in a seat in the vehicle 100, or a person who is on board the vehicle 100 and performing work other than driving operations, such as assembly, inspection, or operating switches. Note that driving in which a passenger operates the vehicle is sometimes called "manned driving."

[0011] In this specification, "remote control" includes "full remote control" in which all of the operation of vehicle 100 is completely determined from outside vehicle 100, and "partial remote control" in which some of the operation of vehicle 100 is determined from outside vehicle 100.

[0012] The reference coordinate system of the factory FC is a global coordinate system GC, and any position within the factory FC can be expressed by X, Y, and Z coordinates in the global coordinate system GC. The factory FC has a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a road TR along which the vehicle 100 can travel. A plurality of external sensors 300 are installed along the road TR in the factory FC. The position of each external sensor 300 in the factory FC is adjusted in advance. The vehicle 100 moves from the first location PL1 to the second location PL2 along the road TR in an unmanned operation.

[0013] The vehicle 100 is manufactured through multiple processes. The first location PL1 is a location where the work of assembling the vehicle 100 is carried out. For example, at the first location PL1, an assembly robot (not shown) performs the work of assembling parts. At the first location PL1, the vehicle 100 with the parts assembled is in the form of a completed vehicle. The vehicle 100 moves from the first location PL1 to the second location PL2 in an unmanned manner.

[0014] At the second location PL2, an inspection is carried out on the vehicle 100, which is in the completed vehicle state before shipping. After the inspection is completed, the vehicle 100 is driven unmanned along the track TR to a completed vehicle yard (not shown).

[0015] In this embodiment, one or more inspections are performed on the vehicle 100 assembled at the first location PL1 while the vehicle 100 is moving from the first location PL1 to the second location PL2.

[0016] 2 is a block diagram showing a schematic configuration of the system 50. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 including one or more actuators that are driven under the control of each vehicle control device 110, a communication device 130 for communicating with an external device such as a server 200 via wireless communication, and a diagnostic data collection unit 140.

[0017] The vehicle control device 110 is configured by an ECU (Electronic Control Unit) that includes 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 via the internal bus 114 to enable bidirectional communication. The input / output interface 113 is connected to an actuator group 120 and a communication device 130. The processor 111 executes a program PG1 stored in the memory 112 to realize various functions including a function as a vehicle control unit 115.

[0018] The actuator group 120 includes actuators for a drive device for accelerating the vehicle 100, actuators for a steering device for changing the direction of travel of the vehicle 100, actuators for a braking device for decelerating the vehicle 100, and the like.

[0019] The communication device 130 is, for example, a wireless communication device connected to a DLC (Data Link Connector) provided in the vehicle 100. The vehicle 100 and the server 200 communicate with each other via diagnostic communication. The diagnostic communication is communication used for fault diagnosis. For example, a diagnostic tool connected to the DLC provided in the vehicle 100 can acquire data from various ECUs provided in the vehicle 100 via an in-vehicle network.

[0020] In this embodiment, the vehicle 100 has an on-board diagnostics (OBD) function. The diagnostic data collection unit 140 diagnoses the operating state of the vehicle 100. The diagnostic data collection unit 140 is connected to the motor control ECU, transmission ECU, brake ECU, electric parking brake ECU, vehicle control device 110, etc. via an in-vehicle network.

[0021] Specifically, the diagnostic data collection unit 140 automatically checks the operating status of various devices, such as actuators, and various sensors provided in the vehicle 100 at predetermined intervals. When the diagnostic data collection unit 140 detects the occurrence of a malfunction, it stores malfunction information in a memory provided in the diagnostic data collection unit 140. The malfunction information is stored, for example, as a DTC code (Diagnostic Trouble Code).

[0022] The function of the diagnostic data collection unit 140 is realized, for example, by a diagnostic ECU provided in the vehicle 100. In this case, the diagnostic data collection unit 140 receives data indicating the states of various devices and detection values of sensors from each ECU that controls various devices provided in the vehicle 100. Examples of ECUs that control devices include a motor control ECU that controls an actuator of a drive device, a transmission ECU that controls a transmission, a brake ECU that controls an actuator of a braking device, and an electric parking brake ECU that controls an electric parking brake. Note that the motor control ECU, transmission ECU, brake ECU, electric parking brake ECU, etc. are not shown in FIG. 2.

[0023] Alternatively, the function of the diagnostic data collection unit 140 may be realized by a motor control ECU that controls the actuator of the drive device, a transmission ECU that controls the transmission, a brake ECU that controls the actuator of the braking device, and an electric parking brake ECU that controls the electric parking brake. In this case, each ECU stores the failure information.

[0024] In this embodiment, when the diagnostic data collection unit 140 receives a request message from the server 200, it transmits a response message to the server 200 in response to the request message. The request message is, for example, a message instructing the diagnosis of a specific device provided in the vehicle 100. The response message is, for example, a message notifying the result of the diagnosis of the device.

[0025] The vehicle control unit 115 controls the actuator group 120 using the driving control signal received from the server 200, thereby causing the vehicle 100 to drive. The driving control signal is a control signal for driving the vehicle 100. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the driving control signal may include the speed of the vehicle 100 as a parameter instead of or in addition to the acceleration of the vehicle 100.

[0026] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that captures the vehicle 100 from outside the vehicle 100. The external sensor 300 is equipped with a communication device (not shown) and can communicate with other devices such as the server 200 via wired communication or wireless communication. Specifically, the external sensor 300 is configured by a camera. The camera serving as the external sensor 300 captures an image of the vehicle 100 and outputs the captured image as a detection result.

[0027] The server 200 controls a mobile object that travels in an unmanned driving mode. The server 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The server 200 is also called a "control device." The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 is connected to the input / output interface 203 to communicate with various devices external to the server 200. The communication device 205 can communicate with the vehicle 100 via wireless communication, and can communicate with each external sensor 300 via wired communication or wireless communication.

[0028] The memory 202 stores a program PG2, a reference route RR, a detection model DM, an inspection item 31, an inspection point 32, and an inspection load 33. The memory 202 is also called a "storage unit."

[0029] The processor 201 executes the program PG2 to realize various functions including those of a remote control unit 210, a position acquisition unit 220, a determination unit 230, a notification unit 240, a log output unit 250, and an inspection unit 260.

[0030] The reference route RR indicates a planned travel route of the vehicle 100. The travel route is represented by a node indicating a departure point, a node indicating a passing point, a node indicating a destination, and links connecting the nodes.

[0031] The detection model DM is data representing a machine learning model that detects the external shape of the vehicle 100 included in a captured image acquired by a camera, which is the external sensor 300, when acquiring vehicle position information.

[0032] FIG. 3 is an explanatory diagram showing an example of inspection items 31. Inspection items 31 are data that define multiple inspection items included in each inspection that may be performed on vehicle 100. In the example shown in FIG. 3, inspection items 31 are represented as a table in which multiple inspection items included in each inspection are set. In FIG. 3, "inspection name" is a name for identifying a group of multiple inspection items.

[0033] FIG. 4 is an explanatory diagram showing an example of an implementation point 32. The implementation point 32 is data representing the point where each test starts. In the example shown in FIG. 4, the implementation point 32 is represented as a table that defines information indicating the point where the test starts. The implementation point 32 is also referred to as "first information."

[0034] FIG. 5 is an explanatory diagram showing an example of the test load 33. The test load 33 is data representing the communication load for each test. During the test, for example, to monitor the state of the vehicle 100, data indicating the state of each device controlled by each ECU and the detected values of sensors is transmitted from the vehicle 100 to the server 200. Furthermore, for an active test, the server 200 may transmit a request message including a command to the vehicle 100. The active test is a test that individually checks the operation of a specific actuator by issuing an instruction to an ECU connected to the specific actuator to activate / stop the actuator. Thus, during the test, data related to the test is transmitted and received between the vehicle 100 and the server 200. The test load 33 represents the communication load due to the transmission and reception of test-related data for each test. In the example shown in FIG. 5, the test load 33 is represented as a table that defines whether the communication load corresponds to "high," "medium," or "low" for each test. A "high" communication load indicates a high communication load due to the transmission and reception of test-related data. A "medium" communication load indicates that the communication load due to the transmission and reception of data related to the inspection is medium. A "low" communication load indicates that the communication load due to the transmission and reception of data related to the inspection is low. For example, if the predicted value of the communication load predicted from the size of data including commands, detection values of sensors, etc. transmitted and received between the vehicle 100 and the server 200 during the inspection is less than a predetermined first reference value, the communication load is set to "low." If the predicted value of the communication load is equal to or greater than a predetermined second reference value, the communication load is set to "high." If the predicted value of the communication load is equal to or greater than the first reference value and less than the second reference value, the communication load is set to "medium." The inspection load 33 is also referred to as "second information."

[0035] The remote control unit 210 acquires detection results from the sensors, generates a driving control signal for controlling the actuator group 120 of the vehicle 100 using the detection results, and transmits the driving control signal to the vehicle 100, thereby remotely controlling the vehicle 100 to drive. The remote control unit 210 may generate and output not only driving control signals but also control signals for controlling actuators that operate various accessories provided in the vehicle 100 and various equipment such as wipers, power windows, and lamps. In other words, the remote control unit 210 may operate these various equipment and accessories by remote control.

[0036] The position acquisition unit 220 acquires position information indicating the current position of the vehicle 100 using an image captured by a camera, which is the external sensor 300. The determination unit 230 determines whether or not to allow the vehicle 100 to travel in an unmanned driving mode, based on the position information, the implementation location 32, and the inspection load 33. The notification unit 240 notifies the administrator of the system 50, who is the user, of the result determined by the determination unit 230. The log output unit 250 outputs the result determined by the determination unit 230 as a log. The log output unit 250 is also referred to as an "output unit." The inspection unit 260 performs an inspection of the vehicle 100. Details of the processes performed by the remote control unit 210, the position acquisition unit 220, the determination unit 230, the notification unit 240, the log output unit 250, and the inspection unit 260 will be described later.

[0037] FIG. 6 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the first embodiment. The processing in FIG. 6 is executed by the processor 201 of the server 200 functioning as the remote control unit 210 and the processor 111 of the vehicle 100 functioning as the vehicle control unit 115. The processing shown in FIG. 6 is executed repeatedly at predetermined time intervals from the time when the vehicle 100 starts to drive under remote control. For remote control, a driving control signal for driving the vehicle 100 is transmitted and received between the communication device 130 of the vehicle 100 and the communication device 205 of the server 200. As described above, the communication device 130 is connected to the DLC provided in the vehicle 100. Therefore, the transmission and reception of the driving control signal for driving the vehicle 100 is performed via the same line as the line used for diagnostic communication.

[0038] In step 1, the processor 201 of the server 200 acquires vehicle position information using the detection results output from the external sensor 300. The vehicle position information is position information that serves as the basis for generating a driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step 1, the processor 201 acquires the vehicle position information using a captured image acquired from a camera, which is the external sensor 300.

[0039] In detail, in step 1, the processor 201, for example, detects the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the positioning point of the vehicle 100 in the coordinate system of the captured image, i.e., the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby acquiring the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the system 50, and is pre-stored in the memory 202 of the server 200. The detection model DM may be, for example, a trained machine learning model that has been trained to achieve either semantic segmentation or instance segmentation. For example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset may be used as this machine learning model. The training dataset may, for example, include a plurality of training images including the vehicle 100 and labels indicating whether each region in the training image represents the vehicle 100 or a region other than the vehicle 100. During CNN training, it is preferable to update the parameters of the CNN by backpropagation (error backpropagation method) so as to reduce the error between the output result of the detection model DM and the label. In addition, the processor 201 can acquire the orientation of the vehicle 100 by estimating it based on the orientation of the movement vector of the vehicle 100 calculated from the positional change of the feature points of the vehicle 100 between frames of the captured image using, for example, an optical flow method.

[0040] In step 2, the processor 201 of the server 200 determines a target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in the global coordinate system GC. The processor 201 uses the vehicle position information and the reference route RR to determine a target position to which the vehicle 100 should next head. The processor 201 determines a target position on the reference route RR that is ahead of the current location of the vehicle 100.

[0041] In step 3, 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. When the driving speed is lower than the target speed, the processor 201 determines an acceleration such that the vehicle 100 accelerates, and when the driving speed is higher than the target speed, the processor 201 determines an acceleration such that the vehicle 100 decelerates. Furthermore, when the vehicle 100 is located on the reference route RR, the processor 201 determines a steering angle and acceleration such 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 a steering angle and acceleration such that the vehicle 100 returns to the reference route RR.

[0042] In step 4, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats, at a predetermined cycle, the acquisition of position information of the vehicle 100, the determination of the target position, the generation of the driving control signal, and the transmission of the driving control signal.

[0043] In step 5, the processor 111 of the vehicle 100 receives the driving control signal transmitted from the server 200. In step 6, the processor 111 of the vehicle 100 controls the actuator group 120 using the received driving control signal, thereby causing the vehicle 100 to drive at the acceleration and steering angle indicated in the driving control signal. The processor 111 repeats receiving the driving control signal and controlling the actuator group 120 at a predetermined cycle. According to the system 50 of this embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using transportation equipment such as a crane or conveyor.

[0044] FIG. 7 is a flowchart showing the processing procedure for inspection by server 200. The processing shown in FIG. 7 starts when a start condition is met. The start condition is that vehicle 100 is in the form of a completed vehicle as a result of completion of a specific predetermined process on vehicle 100, and is in a state where it can be driven. Processor 201, for example, acquires information on the process performed on vehicle 100 from a host server. After each process is performed, for example, it is assumed that an operator notifies the host server of the completion of the process using a terminal device. Therefore, the host server has information on the process that has been completed for vehicle 100.

[0045] In step 11, the vehicle 100 starts traveling by remote control. The processing of step 11 is executed by the processor 201 functioning as the remote control unit 210. Therefore, the traveling of the vehicle 100 is controlled according to the processing procedure shown in FIG.

[0046] In step 12, position information indicating the current position of the vehicle 100 is acquired using a captured image acquired by a camera, which is the external sensor 300. The processing of step 12 is executed by the processor 201 functioning as the position acquisition unit 220.

[0047] In step 13, it is determined whether the start point of the test has been reached. The processing of step 13 is executed by processor 201 functioning as determination unit 230. Specifically, if the location information acquired in step 12 matches any of the start points defined in implementation point 32 (see FIG. 4), it is determined that the start point of the test has been reached. Furthermore, the next test to be performed is identified based on implementation point 32. If it is determined that the start point of the test has been reached (step 13; YES), the processing of step 15 is executed. If it is determined that the start point of the test has not been reached (step 13; NO), the processing of step 12 is executed again.

[0048] In step 15, it is determined whether vehicle 100 can continue traveling. Specifically, if the communication load in test load 33 (see FIG. 5) is set to "low" or "medium" for all of the one or more tests to be performed next at the reached starting point, it is determined that vehicle 100 can continue traveling. Also, if the communication load in test load 33 is set to "high" for at least one of the one or more tests to be performed at the reached starting point, it is determined that vehicle 100 cannot continue traveling.

[0049] For example, for test A to be performed at point P1 as shown in test point 32 (see FIG. 4), the communication load is set to "high" in test load 33 (see FIG. 5). In this case, it is determined that vehicle 100 cannot continue traveling when test A is performed at point P1.

[0050] Furthermore, for tests B to D performed at point P2 as shown in test point 32 (see FIG. 4), the communication load for each test is set to "low" or "medium" in test load 33 (see FIG. 5). In this case, it is determined that vehicle 100 can continue traveling when tests B to D are performed at point P2.

[0051] 7, if it is determined in step 15 that vehicle 100 can continue traveling, the administrator of system 50, who is the user, is notified via a terminal device that vehicle 100 will continue traveling. Furthermore, a log indicating that vehicle 100 will continue traveling is output, for example, to a predetermined area in memory 202. If it is determined that vehicle 100 can continue traveling (step 15; YES), the process of step 16 is executed.

[0052] Furthermore, if it is determined in step 15 that the vehicle 100 cannot continue traveling, the administrator of the system 50, who is the user, is notified via the terminal device that the vehicle 100 cannot continue traveling. Furthermore, a log indicating that the vehicle 100 will stop traveling is output, for example, to a predetermined area in the memory 202. If it is determined that the vehicle 100 cannot continue traveling (step 15; NO), the process of step 17 is executed. The process of step 15 is executed by the processor 201 functioning as the determination unit 230, the notification unit 240, and the log output unit 250.

[0053] In step 16, an inspection is carried out. The processing of step 16 is executed by processor 201 functioning as inspection unit 260. Specifically, an inspection is carried out for one or more inspection items set in inspection items 31 (see FIG. 3) for the next inspection to be carried out at the reached starting point. For the inspection, diagnostic communication is carried out between server 200 and vehicle 100.

[0054] If the test item is an active test for a specific actuator, the processor 201 transmits a request message including a command to operate the specific actuator to the vehicle 100. The processor 201 then receives a response message including a status value of the specific actuator that indicates the result of the operation instruction. The processor 201 then diagnoses the status of the specific actuator depending on whether the received status value satisfies a preset criterion.

[0055] Furthermore, if the inspection item indicates that a specific sensor is to be monitored, processor 201 transmits a request message to vehicle 100 requesting the detection value of the specific sensor. Furthermore, processor 201 receives a response message including the detection value of the specific sensor. After the processing of step 16 is performed, the processing of step 21 is performed.

[0056] Furthermore, in step 17, the vehicle 100 is stopped from traveling. The processing of step 17 is executed by the processor 201 functioning as the remote control unit 210. Here, it is assumed that the vehicle 100 and the other following vehicles are located at a sufficient distance. For example, when the vehicle 100 reaches the second location PL2, the other following vehicles are caused to start traveling from the first location PL1.

[0057] The inspection is carried out in step 18. The processing in step 18 is the same as that in step 16. The processing in step 18 is executed by processor 201 functioning as inspection unit 260.

[0058] In step 19, the vehicle 100 resumes traveling. The processing of step 19 is executed by the processor 201 functioning as the remote control unit 210. Thereafter, the processing of step 21 is executed.

[0059] In step 21, it is determined whether or not the inspection-related processing shown in Fig. 7 is to be terminated. For example, when the vehicle 100 arrives at the second location PL2, it is determined that the inspection-related processing is to be terminated. If it is determined that the inspection-related processing is to be terminated (step 21; YES), the processing shown in Fig. 7 is terminated. If it is determined that the inspection-related processing is not to be terminated (step 21; NO), the processing of step 12 is executed again. The above is the inspection-related processing procedure by the server 200.

[0060] In this embodiment, communication for controlling the driving of the vehicle 100 and communication for inspecting the vehicle 100 are performed via the same line. In such an embodiment, the communication bandwidth is likely to be congested by both the communication for driving control and the communication for inspection, resulting in a communication failure. Furthermore, the occurrence of a communication failure may make it difficult to ensure stable driving of the vehicle 100.

[0061] However, if it is determined that the communication load for the inspection is high based on the location information indicating the current location of the vehicle 100 and the inspection load 33, the vehicle 100 is stopped from traveling. In this way, it can be easily determined whether the vehicle 100 can travel.

[0062] Furthermore, if the communication load in the test performed in the test load 33 is set to "high," it is determined that the vehicle 100 should be stopped from traveling. In this way, when the test is performed, communication for controlling the traveling of the vehicle 100 is limited as necessary, thereby preventing pressure on the communication band.

[0063] B. Second embodiment: Hereinafter, the description of the same configuration as in the first embodiment will be omitted, and the description will focus on the configuration that differs from the first embodiment.

[0064] In the first embodiment, the test load 33 (see FIG. 5) defines whether the communication load for each test is "high," "medium," or "low." Alternatively, the test load 33 may define a value that indicates the magnitude of the communication load for each test. The magnitude of the communication load is a value estimated for each test from the size of data, including commands sent and received between the vehicle 100 and the server 200 during the test, and detection values from sensors, etc.

[0065] 7, if the value representing the magnitude of the communication load defined in the test load 33 for the corresponding test is equal to or greater than a preset threshold, the processor 201 determines that the vehicle 100 cannot continue traveling. If the value representing the magnitude of the communication load for the corresponding test is less than the preset threshold, the processor 201 determines that the vehicle 100 can continue traveling.

[0066] In this embodiment as well, if it is determined that the communication load for the inspection is high based on the location information indicating the current location of the vehicle 100 and the inspection load 33, the vehicle 100 is stopped from traveling. In this way, it can be easily determined whether or not the vehicle 100 should continue traveling.

[0067] Furthermore, if the magnitude of the communication load in the test performed in the test load 33 is equal to or greater than a threshold, it is determined that the vehicle 100 should be stopped from traveling. In this way, when the test is performed, communication for controlling the traveling of the vehicle 100 is limited as necessary, thereby preventing pressure on the communication band.

[0068] C. Third embodiment: In the following, a description of the same configuration as in the first embodiment will be omitted, and a description will be given mainly of the configuration different from the first embodiment. In the third embodiment, a case will be described in which an inspection needs to be performed while the vehicle 100 is traveling.

[0069] Fig. 8 is an explanatory diagram showing an example of the test load 33a in the third embodiment. In the example shown in Fig. 8, the test load 33a defines, in addition to the communication load for each test, whether or not the vehicle 100 needs to be driven for each test. Whether or not the vehicle 100 needs to be driven indicates whether or not the test requires the vehicle 100 to be driven when the test is performed.

[0070] 9 and 10 are flowcharts showing the processing procedure related to inspection in this embodiment. The processing shown in FIG. 9 starts when a start condition is met. The start condition is that vehicle 100 has been completed as a completed vehicle by completing a specific predetermined process on vehicle 100, and is now in a state where it can run. The processing from step 11 to step 13 shown in FIG. 9 is the same as in the first embodiment.

[0071] In step 14, it is determined whether at least one of the one or more tests to be performed next at the reached start point requires vehicle 100 to drive. Specifically, for each of the one or more tests to be performed next at the reached start point, it is determined whether the requirement for driving is set to "required" or "not required" in test load 33a (see FIG. 8). The processing of step 14 is executed by processor 201 functioning as determination unit 230.

[0072] If at least one of the one or more tests to be performed next at the reached starting point requires the vehicle 100 to move (step 14; YES), the process of step 20 described below is executed. If none of the one or more tests to be performed next at the reached starting point requires the vehicle 100 to move (step 14; NO), step 15a shown in Figure 10 is executed.

[0073] In step 15a, it is determined whether vehicle 100 can continue traveling. Specifically, if test load 33a indicates that the communication load for all of one or more tests to be performed next at the reached starting point is set to "low" or "medium," it is determined that vehicle 100 can continue traveling. Also, if test load 33a indicates that the communication load for at least one of one or more tests to be performed next at the reached starting point is set to "high," it is determined that vehicle 100 cannot continue traveling.

[0074] For example, for tests B to D to be performed at point P2 as shown in test point 32 (see FIG. 4), the communication load for each test is set to "low" or "medium" in test load 33 (see FIG. 5). In this case, it is determined that driving can be continued at point P2 in order to perform tests B to D.

[0075] As shown in Fig. 10, if it is determined in step 15a that the vehicle 100 can continue traveling, the administrator of the system 50, who is the user, is notified via a terminal device that the vehicle 100 will continue traveling. Furthermore, a log indicating that the vehicle 100 will continue traveling is output, for example, to a predetermined area in the memory 202. If it is determined that the vehicle 100 can continue traveling (step 15a; YES), the process of step 16 is executed. The process of step 16 is the same as that of the first embodiment. After the process of step 16 is executed, the process of step 21 shown in Fig. 9 is executed.

[0076] Furthermore, if it is determined in step 15a that the vehicle 100 cannot continue traveling, the administrator of the system 50, who is the user, is notified via a terminal device that the vehicle 100 cannot continue traveling. Furthermore, a log indicating that the vehicle 100 will stop traveling is output, for example, to a predetermined area in the memory 202. If it is determined that the vehicle 100 cannot continue traveling (step 15a; NO), the process of step 17 is executed. The process of step 15a is executed by the processor 201 functioning as the determination unit 230, the notification unit 240, and the log output unit 250. The processes of steps 17 to 19 are the same as those in the first embodiment. After the process of step 19 is executed, the process of step 21 shown in FIG. 9 is executed.

[0077] In step 20 shown in Fig. 9, a limited inspection is performed. As described above, the processing of step 20 is executed when at least one of the one or more inspections to be performed next at the reached starting point requires the vehicle 100 to travel. Specifically, in step 20, an inspection is performed on some of the inspection items of the one or more inspections to be performed next at the reached starting point that require the vehicle 100 to travel.

[0078] For example, as shown in the implementation point 32 (see FIG. 4), the test A is carried out at a starting point P1. In the test load 33a (see FIG. 8), the test A is a test that requires the vehicle 100 to travel. In this case, it is determined that some of the test items set for the test A will be tested. Then, the test for the determined part of the test items is carried out.

[0079] For example, half of the multiple test items may be selected. Alternatively, only those test items for which the size of data including commands sent and received, detected values from sensors, etc., during testing for the test items is equal to or less than a predetermined reference value may be selected. Alternatively, one or more test items may be selected from the multiple test items based on a predetermined priority order. The process of step 20 is executed by the processor 201 functioning as the discrimination unit 230 and the inspection unit 260. The process of step 21 is the same as in the first embodiment.

[0080] In this embodiment, when an inspection that requires the vehicle 100 to be driven is performed, only some of the inspection items are performed without interrupting the driving of the vehicle 100. This makes it possible to avoid the communication bandwidth being congested due to the remote control for the driving of the vehicle and the execution of the inspection.

[0081] D. Fourth embodiment: Hereinafter, the description of the same configuration as in the first embodiment will be omitted, and the description will focus on the configuration that differs from the first embodiment.

[0082] FIG. 11 is an explanatory diagram showing an example of the inspection load 33b in the fourth embodiment. In the example shown in FIG. 11, the inspection load 33b defines the degree of communication load for each inspection. Furthermore, the inspection load 33b defines information indicating which of the inspections, the execution of the inspection or the movement of the vehicle 100, should be prioritized for an inspection for which the communication load is set to "high." When indicating that the execution of the inspection should be prioritized between the execution of the inspection and the movement of the vehicle 100, "Inspection" is set as the "Execution priority." When indicating that the movement of the vehicle 100 should be prioritized between the execution of the inspection and the movement of the vehicle 100, "Movement" is set as the "Execution priority."

[0083] Fig. 12 is a flowchart showing the processing procedure for inspection by server 200. When a start condition is met, the processing shown in Fig. 12 starts. The start condition is that vehicle 100 has been completed as a completed vehicle by completing a specific predetermined process on vehicle 100, and is now in a state where it can be driven. Steps 11 to 13 are the same as those in the first embodiment.

[0084] In step 15b, it is determined whether the vehicle 100 can continue to travel.

[0085] Specifically, if the communication load for all of the one or more tests to be performed next at the starting point reached in test load 33b (see Figure 11) is set to "low" or "medium," it is determined that driving can be continued.

[0086] Furthermore, if the communication load for at least one of the one or more tests to be performed at the reached starting point is set to "high" in the test load 33b, it is further determined whether the implementation priority of the corresponding test is "test" or "travel." For tests for which the communication load is set to "high" and the implementation priority is set to "travel" in the test load 33b, it is determined that the test will be omitted at the reached starting point. For tests for which the communication load is set to "high" and the implementation priority is set to "test," it is determined that the test will be performed at the reached starting point.

[0087] Furthermore, if at least one of the one or more tests to be performed at the reached starting point has a communication load of "high" and an implementation priority of "inspection," it is determined that the vehicle 100 cannot continue traveling. Furthermore, if the implementation priority of all of the one or more tests to be performed at the reached starting point is set to "travel," it is determined that the vehicle 100 can continue traveling.

[0088] For example, as shown in the implementation point 32 (see FIG. 4), the communication load for each of the tests B to D performed at point P2 is set to "high" in the test load 33b (see FIG. 11). Of the tests B to D, only test B has the implementation priority of "test." Therefore, it is decided that test B will be performed at point P2, and tests C to D will be omitted. Furthermore, since test B will be performed, it is determined that driving cannot continue.

[0089] As shown in FIG. 12, if it is determined in step 15b that the vehicle 100 can continue traveling, the user, ie, the administrator of the system 50, is notified via a terminal device that the vehicle 100 can continue traveling. If there are any tests that will be omitted at the location, information about the omitted tests is notified to the user, ie, the administrator of the system 50, via a terminal device. Furthermore, a log indicating that the vehicle 100 can continue traveling is output, for example, to a predetermined area in the memory 202. If there are any tests that will be omitted at the location, information about the omitted tests is output to the log. If it is determined that the vehicle 100 can continue traveling (step 15b; YES), the processing of step 16 is executed. Step 16 is the same as in the first embodiment.

[0090] Furthermore, if it is determined in step 15b that the vehicle 100 cannot continue traveling, the user, ie, the administrator of the system 50, is notified via a terminal device that the vehicle 100 cannot continue traveling. If there are any inspections that will be omitted at the location, information about the omitted inspections is notified to the user, ie, the administrator of the system 50, via a terminal device. Furthermore, a log indicating that the vehicle 100 will be stopped traveling is output, for example, to a predetermined area in the memory 202. If there are any inspections that will be omitted at the location, information about the omitted inspections is output to the log. If it is determined that the vehicle 100 cannot continue traveling (step 15b; NO), the process of step 17 is executed. The process of step 15b is executed by the processor 201, which functions as the determination unit 230, the notification unit 240, and the log output unit 250. Step 17 is the same as in the first embodiment.

[0091] In step 18b, the test is performed. In step 18b, only the test that was determined to be performed at the reached starting point is performed. That is, only the test for which the communication load is set to "high" and the execution priority is set to "test" in test load 33b is performed. The processing of step 18 is executed by processor 201 functioning as test unit 260.

[0092] Steps 19 and 21 are the same as those in the first embodiment. The above is the processing procedure regarding the inspection by the server 200.

[0093] Furthermore, the omitted inspection is performed after the vehicle 100 arrives at, for example, the second location PL2. When the vehicle 100 arrives at the second location PL2, communication for controlling the vehicle 100's travel is stopped. As a result, of the communication for controlling the vehicle's travel and the communication for the inspection, only the communication for the inspection is performed on the same line. Therefore, the server 200 can perform the omitted inspection on the vehicle 100 without compressing the communication bandwidth.

[0094] In this embodiment, it is possible to easily determine which of the movement of the mobile object and the execution of the inspection should be prioritized based on the location information indicating the current location of the vehicle 100 and the inspection load 33b.

[0095] E. Other Embodiments: (E1) In the first embodiment, an example has been described in which the server 200 includes the notification unit 240, but the server 200 does not have to include the notification unit 240. Also, in the first embodiment, an example has been described in which the server 200 includes the log output unit 250, but the server 200 does not have to include the log output unit 250.

[0096] (E2) In the first embodiment described above, when the vehicle 100 reached the start point of the inspection and it was determined that it could not continue traveling (see step 15 in Figure 7), the vehicle 100 was stopped on the road TR (see step 17 in Figure 7).

[0097] FIG. 13 is an explanatory diagram illustrating a case where the vehicle 100 is evacuated to the evacuation area EA. The processor 201 of the server 200 may evacuate the vehicle 100 to the evacuation area EA when the vehicle 100 reaches the start point of the inspection and determines that it cannot continue traveling. In this case, the processor 201 generates a traveling control signal for driving the vehicle 100 toward the evacuation area EA, which is the target position. Furthermore, the processor 201 performs an inspection on the vehicle 100 after moving the vehicle 100 to the evacuation area EA. By stopping the vehicle 100, it is possible to avoid interfering with the traveling of the vehicle 100 and other following vehicles. In the first embodiment, when the vehicle 100 reaches the second location PL2, a start condition is satisfied that allows other following vehicles to start traveling from the first location PL1. However, in the present embodiment, such an operation is unnecessary.

[0098] (E3) In this disclosure, the term "mobile body" refers to an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (a so-called flying car). A vehicle may be a vehicle that runs on wheels or a vehicle that runs on tracks, such as a passenger car, truck, bus, motorcycle, automobile, tank, or construction vehicle. Vehicles include BEVs, gasoline-powered automobiles, hybrid automobiles, and fuel cell automobiles. When a mobile body is something other than a vehicle, the terms "vehicle" and "car" in this disclosure may be appropriately replaced with "mobile body," and the term "traveling" may be appropriately replaced with "moving."

[0099] (E4) 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 may be, for example, a LiDAR (Light Detection and Ranging). In this case, the detection result output by the external sensor 300 may be three-dimensional point cloud data representing the vehicle 100. In this case, the server 200 or the vehicle 100 may acquire vehicle position information by template matching using the three-dimensional point cloud data as the detection result and reference point cloud data prepared in advance.

[0100] (E5) In the first embodiment, the processes from obtaining vehicle position information to generating a driving control signal are executed by the server 200. However, at least a part of the processes from obtaining vehicle position information to generating a driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be used.

[0101] (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 location of the vehicle 100 indicated in the acquired vehicle position information to the target position. The server 200 may generate a route to the target position between the current location 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 drives on the route received from the server 200, and control the actuator group 120 using the generated driving control signal.

[0102] (2) Server 200 may acquire vehicle position information and transmit the acquired vehicle position information to vehicle 100. Vehicle 100 may determine a target position to which vehicle 100 should next head, generate a route from the current location of vehicle 100 indicated in the received vehicle position information to the target position, generate a driving control signal so that vehicle 100 travels on the generated route, and control actuator group 120 using the generated driving control signal.

[0103] (3) In the above embodiments (1) and (2), the vehicle 100 may be equipped with an internal sensor, and detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. The internal sensor is a sensor equipped in 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, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyro sensor, etc. For example, in the above embodiment (1), the server 200 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route. In the above embodiment (1), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the driving control signal when generating a driving control signal. In the above embodiment (2), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route. In the above embodiment (2), the vehicle 100 may acquire the detection result of the internal sensor, and when generating the driving control signal, may reflect the detection result of the internal sensor in the driving control signal.

[0104] (E6) The vehicle 100 may be manufactured by combining multiple modules. A module refers to a unit composed of one or more parts grouped according to the configuration or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that forms the front portion of the platform, a central module that forms the center portion of the platform, and a rear module that forms the rear portion of the platform. The number of modules that form the platform is not limited to three, but may be two or less, or four or more. In addition to or instead of the platform, parts of the vehicle 100 that are different from the platform may be modularized. The various modules may include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. Any type of mobile object, not limited to the vehicle 100, may be manufactured by combining multiple modules. Such a module may be manufactured, for example, by joining multiple parts using welding or fasteners, or by integrally molding at least a portion of the module into a single component by casting. The molding method of integrally molding at least a portion of the module into a single component is also called gigacasting or megacasting. By using Gigacast, each part of a moving body that has conventionally been formed by joining multiple parts can be formed as a single part. For example, the front module, center module, and rear module described above may be manufactured using Gigacast.

[0105] (E7) Transporting vehicle 100 by using the unmanned driving of vehicle 100 is also called "self-propelled transport." The configuration for realizing self-propelled transport is also called a "vehicle remote-controlled autonomous transport system." The production method for producing vehicle 100 by using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at a factory FC where vehicle 100 is manufactured, at least a portion of the transport of vehicle 100 is realized by self-propelled transport.

[0106] (E8) In the first to fourth embodiments, examples have been described in which the inspection is performed on the vehicle 100 in the state of a completed vehicle. However, this is not limited to this. The vehicle 100 may be configured to be able to move by unmanned driving, and may be in the form of a platform having the configuration described below, for example. The inspection may be performed on the vehicle 100 in the form of a platform. Specifically, in order for the vehicle 100 to perform the three functions of "running," "turning," and "stopping" by unmanned driving, it is sufficient that the vehicle 100 is equipped with at least a control device that controls the running of the vehicle 100 and actuators such as a drive device, a steering device, and a braking device. When the vehicle 100 acquires information from the outside for unmanned driving, the vehicle 100 may further be equipped with a communication device. In other words, the vehicle 100 that can move by unmanned driving may not be equipped with at least some interior parts such as a driver's seat and a dashboard, may not be equipped with at least some exterior parts such as a bumper and a fender, and may not be equipped with a body shell. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory, or the remaining parts such as the body shell may be attached to the vehicle 100 after the vehicle 100 is shipped from the factory without the remaining parts such as the body shell being attached to the vehicle 100. Each part may be attached from any direction, such as the upper side, lower side, front side, rear side, right side, or left side of the vehicle 100, and may be attached from the same direction or from different directions. Note that the position of the platform configuration may also be determined in the same way as for the vehicle 100 in the first embodiment.

[0107] (E9) In each of the above embodiments, some or all of the functions and processes implemented by software may be implemented by hardware. Furthermore, some or all of the functions and processes implemented by hardware may be implemented by software. Hardware for implementing the various functions in each of the above embodiments may be implemented by various circuits, such as integrated circuits or discrete circuits.

[0108] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0109] 31...inspection item, 32...implementation location, 33...inspection load, 33a...inspection load, 33b...inspection load, 50...system, 100...vehicle, 110...vehicle control device, 111...processor, 112...memory, 113...input / output interface, 114...internal bus, 115...vehicle control unit, 120...actuator group, 130...communication device, 140...diagnostic data collection unit, 200...server, 201...processor, 202...memory, 203...input / output Interface, 204...internal bus, 205...communication device, 210...remote control unit, 220...position acquisition unit, 230...discrimination unit, 240...notification unit, 250...log output unit, 260...inspection unit, 300...external sensor, DM...detection model, EA...evacuation area, FC...factory, GC...global coordinate system, P1...point, P2...point, PG1...program, PG2...program, PL1...first location, PL2...second location, RR...reference route, TR...track

Claims

1. A control device for controlling a moving body that travels by unmanned driving, The control device and the mobile body perform communication for controlling the unmanned driving of the mobile body and communication for inspecting the mobile body via the same line, The control device a location acquisition unit that acquires location information indicating a current location of the moving object; A storage unit, First information indicating one or more inspections to be performed on the moving object along a planned travel route of the moving object and a location on the travel route where the inspection is to be performed, the first information being associated with each of the inspections; second information associated with the test and indicating a communication load in communication for the test; a storage unit that stores the a determination unit that determines whether or not to cause the moving body to travel in the unmanned driving mode based on the position information, the first information, and the second information; A control device comprising:

2. The control device according to claim 1, The determination unit Identifying the next test to be performed based on the location information and the first information; determining, based on the identified test and the second information, not to allow the mobile body to travel by the unmanned driving when the communication load in carrying out the identified test satisfies a predetermined condition; Control device.

3. The control device according to claim 1, the second information further includes information indicating whether or not the moving body needs to travel for the inspection; The determination unit Identifying the next test to be performed based on the location information and the first information; determining whether the mobile body is allowed to travel for the specified inspection based on the second information; If the specified inspection requires the moving object to travel, causing the moving body to travel in the unmanned driving mode; determining, based on the second information, to carry out only the inspection items that require driving among the plurality of inspection items included in the specified inspection; Control device.

4. The control device according to claim 1, the second information further includes information indicating a process to be performed with priority between performing the inspection and moving the mobile object; The determination unit Identifying the next test to be performed based on the location information and the first information; When it is determined that the specified inspection should be carried out with priority over the movement of the mobile body, the specified inspection is carried out without moving the mobile body; When it is determined that the movement of the mobile body should be given priority over the execution of the specified inspection, the mobile body is caused to travel, and when the mobile body arrives at the destination, communication for controlling the travel of the mobile body is stopped, and then the inspection is carried out. Control device.

5. The control device according to any one of claims 1 to 4, a notification unit that notifies a user that the moving body will be driven in the unmanned driving mode when the determination unit determines that the moving body will be driven in the unmanned driving mode; an output unit that outputs a log indicating that the moving body is to travel in the unmanned driving mode when the determination unit determines that the moving body is to travel in the unmanned driving mode; The control device further includes at least one of the above.

Images