Vehicle manufacturing system, vehicle manufacturing method and program

Abstract

To provide a vehicle manufacturing system which determines whether the position and orientation data of a plurality of vehicles can be acquired within the vehicles and, if the data cannot be acquired, acquires the position and orientation data of the plurality of vehicles using information of the outside of the vehicles.SOLUTION: A vehicle manufacturing system includes: first information acquisition means for acquiring first information that shows the position and orientation of a plurality of vehicles manufactured while moving consecutively from the outside of the plurality of vehicles; first determination means for determining whether second information acquisition means for acquiring second information that shows the position and orientation of preceding or following vehicles of at least one vehicle is available; and position and orientation acquisition means for using the first information to acquire the position and orientation of a vehicle when the first determination means determines that the second information acquisition means is not available.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle manufacturing system, a vehicle manufacturing method, and a program. [Background technology]

[0002] Patent Document 1 describes a vehicle that travels autonomously or by remote control within a manufacturing system for producing vehicles. [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] However, Patent Document 1 only discloses remote control using information outside the vehicle. Therefore, an object of the present disclosure is to provide a vehicle manufacturing system that determines whether position and attitude information of multiple vehicles can be acquired inside the vehicle, and, if not, acquires position and attitude information of multiple vehicles using information outside the vehicle. [Means for solving the problem]

[0005] The vehicle manufacturing system of the present disclosure comprises: a first information acquisition means for acquiring, from outside the plurality of vehicles, first information indicating positions and attitudes of the plurality of vehicles that are manufactured while being continuously moved; a first determination means for determining whether a second information acquisition means for acquiring second information indicating the position and attitude of at least one vehicle in front of or behind the vehicle is available; and a position and attitude acquisition means for acquiring the position and attitude of the vehicle using the first information when the first determination means determines that the second information acquisition means is unavailable.

[0006] With the above configuration, a vehicle manufacturing system is provided that determines whether position and attitude information of multiple vehicles can be acquired inside the vehicle, and if not, acquires information indicating the position and attitude of multiple vehicles using information outside the vehicle.

[0007] The vehicle manufacturing system of the present disclosure comprises: and second determination means for determining whether the plurality of vehicles are in a platooning section when the first determination means determines that the second information acquisition means is available, When the second determination means determines that the plurality of vehicles are not in the platooning section, the position and attitude acquisition means acquires the position and attitude of the vehicles using the first information.

[0008] With the above configuration, the vehicle manufacturing system can determine whether a vehicle is in a platooning section, and if the vehicle is not in a platooning section, it can obtain information indicating the position and attitude of multiple vehicles using information outside the vehicle.

[0009] The vehicle manufacturing system of the present disclosure comprises: and third determination means for determining whether the plurality of vehicles are in a specific section when the second determination means determines that the plurality of vehicles are in the platooning section, when the third determination means determines that the plurality of vehicles are in the specific section, the position and attitude acquisition means acquires the positions and attitudes of the vehicles using the first information; When the third determination means determines that the plurality of vehicles are not in the specific section, the position and attitude acquisition means acquires the position and attitude of the vehicles using the second information.

[0010] With the above configuration, when the vehicle manufacturing system is in a specific section, it can obtain information indicating the position and attitude of multiple vehicles using information outside the vehicle, and when it is in a platooning section but not in a specific section, it can obtain information indicating the position and attitude of multiple vehicles from inside the vehicle.

[0011] The vehicle manufacturing system of the present disclosure comprises: The specific section is characterized in that it is a section where the plurality of vehicles make a U-turn, a section with a large turning curvature, a slope, or a section where the vehicles face outside light.

[0012] The above configuration is an example of a specific section, which is a section where it is difficult to obtain information indicating the position and attitude inside the vehicle or where there is a large error in the information indicating the position and attitude.

[0013] The vehicle manufacturing system of the present disclosure comprises: When the first determination means determines that the second information acquisition means is unavailable and the position and attitude of the vehicle cannot be acquired by the first information acquisition means, the position and attitude acquisition means acquires the position and attitude of the vehicle using a third information acquisition means of a vehicle in front of or behind the vehicle.

[0014] With the above configuration, the vehicle manufacturing system can acquire information indicating the position and attitude of a vehicle using the information acquisition means of the vehicles in front of and behind the vehicle.

[0015] The vehicle manufacturing system of the present disclosure comprises: The second information acquisition means is characterized in that it is obtained after calibration has been carried out.

[0016] The information acquisition means mounted on the vehicle cannot acquire accurate information as it is. With the above configuration, the information acquisition means mounted on the vehicle can acquire accurate information.

[0017] The vehicle manufacturing system of the present disclosure comprises: the first information acquisition means is an imaging device, a LiDAR, a radar, a GPS, or an ultrasonic sensor; The second information acquisition means is an imaging device, LiDAR, radar, GPS, or an ultrasonic sensor.

[0018] The above configuration is an example of the first information acquisition means and the second information acquisition means.

[0019] The vehicle manufacturing method of the present disclosure includes: acquiring first information indicating positions and attitudes of a plurality of vehicles that are manufactured while being continuously moved from a first information acquisition means external to the plurality of vehicles; determining whether a second information acquisition means for acquiring second information indicating the position and attitude of at least one vehicle in front of or behind the vehicle is available; In the vehicle manufacturing method, when it is determined that the second information acquisition means is unavailable, the position and attitude of the vehicle are acquired using the first information.

[0020] With the above configuration, it is possible to provide a vehicle manufacturing method that determines whether position and attitude information of multiple vehicles can be obtained inside the vehicle, and if not, obtains position and attitude information of the multiple vehicles using information outside the vehicle.

[0021] The program of the present disclosure is acquiring first information indicating positions and attitudes of a plurality of vehicles that are manufactured while being continuously moved from a first information acquisition means external to the plurality of vehicles; determining whether a second information acquisition means for acquiring second information indicating the position and attitude of at least one vehicle in front of or behind the vehicle is available; The program causes an information processing device to acquire the position and attitude of the vehicle using the first information when it is determined that the second information acquisition means is unavailable.

[0022] With the above configuration, it is possible to provide a program that causes an information processing device to determine whether position and attitude information of multiple vehicles can be obtained inside the vehicle, and if not, to obtain position and attitude information of the multiple vehicles using information outside the vehicle. [Effects of the Invention]

[0023] The present disclosure makes it possible to provide a vehicle manufacturing system, etc., which determines whether position and attitude information of multiple vehicles can be obtained inside the vehicle, and if not, obtains position and attitude information of multiple vehicles using information outside the vehicle. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a schematic diagram illustrating an overview of a vehicle manufacturing system according to an embodiment. [Figure 2] 1 is a block diagram showing a configuration of a vehicle manufacturing system according to an embodiment; [Figure 3] 1 is a flowchart 1 of a vehicle manufacturing method according to an embodiment. [Figure 4] 10 is a flowchart 2 of the vehicle manufacturing method according to the embodiment. [Figure 5] FIG. 2 is a diagram for explaining vehicle travel control. [Figure 6] FIG. 2 is a control block diagram for explaining a first example of driving control. [Figure 7] 1 is a flowchart illustrating a first example of driving control. [Figure 8] FIG. 10 is a control block diagram for explaining a second example of driving control. [Figure 9] 10 is a flowchart illustrating a second example of driving control. DETAILED DESCRIPTION OF THE INVENTION

[0025] Embodiment Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential means for solving the problems. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are given the same reference numerals, and duplicate explanations are omitted as necessary.

[0026] (Description of an overview of a vehicle manufacturing system according to an embodiment) Fig. 1 is a schematic diagram showing an overview of a vehicle manufacturing system according to an embodiment. An overview of a vehicle manufacturing system 50 according to an embodiment will be described with reference to Fig. 1. The vehicle manufacturing system 50 is used in a vehicle manufacturing plant.

[0027] 1, vehicle manufacturing system 50 includes server 200, first information acquisition unit 1111, second information acquisition units 1113 and 1115, a first vehicle 1117, a second vehicle 1119, and wireless communication terminals 1121 and 1123. Outside the vehicle manufacturing system, there is an administrator 1101 and a production management system 1103.

[0028] The manager 1101 is a person who works in a factory. For example, the manager 1101 is a manager or worker of the production management system 1103 or a process. The manager 1101 manages the vehicle manufacturing system 50.

[0029] The production control system 1103 is a manufacturing execution system that monitors and manages the factory equipment and worker work by linking with each part of the factory production line. The production control system 1103 acquires information from the BOP (Bill of Process) and BOE (Bill of Equipment). The production control system 1103 also has a production instruction database to provide production instruction information to the vehicle manufacturing system. The production instructions are instructions to people and equipment, such as the types and specifications of individual products in accordance with the production plan, as well as the parts to be used and procedures.

[0030] The first vehicle 1117 and the second vehicle 1119 are vehicles that are manufactured as a series of vehicles. Hereinafter, the first vehicle 1117 and the second vehicle 1119 are also referred to as vehicle 100. The vehicle 100 is equipped with an ECU (Electronic Control Unit), a battery and a motor on the body, and is equipped with tires, so that it can travel autonomously.

[0031] More specifically, vehicle 100 is an electric vehicle (BEV: Battery Electric Vehicle). Note that vehicle 100 is not limited to an electric vehicle, and may be, for example, an electric motorcycle, an electric bicycle, an electric kick scooter, a hybrid vehicle, or a fuel cell vehicle. Vehicle 100 may be a vehicle with wheels or a vehicle with tracks, and may be any vehicle, such as a passenger car, truck, bus, two-wheeled vehicle, four-wheeled vehicle, tank, or construction vehicle. Vehicle 100 is not limited to a vehicle, and may also be an electric vertical take-off and landing aircraft (a so-called flying car). Vehicle 100 becomes a completed vehicle by assembling parts while it is moving.

[0032] The first information acquisition unit 1111 acquires first information indicating the position and attitude of the vehicle 100, and the vehicle 100 moves under the control of the server 200. The first information acquisition unit 1111 can use, for example, a LiDAR (Light Detection and Ranging) or an imaging device. The imaging device can be an RGB camera, an RGBD camera, an infrared camera, or the like. The first information acquisition unit 1111 may also be a radar, a GPS (Global Positioning System), or an ultrasonic sensor. The first information is an image or a distance. The first information acquisition unit 1111 acquires the distance and an image of the vehicle 100, and the server 200 calculates the relative position and relative attitude of the vehicle 100. The server 200 may perform image analysis using AI (Artificial Intelligence) to acquire the position and attitude of the vehicle from the image. The position indicates the inter-vehicle distance, and the attitude indicates the direction or steering angle of the vehicle.

[0033] The second information acquisition unit 1113 is mounted on the first vehicle 1117. The second information acquisition unit 1115 is mounted on the second vehicle 1119. The second information acquisition units 1113 and 1115 acquire second information indicating the position and orientation of a vehicle in front of or behind the vehicle. Although FIG. 1 illustrates the second information acquisition unit only acquiring the second information of the front, it may also acquire the second information of the rear. The second information acquisition units 1113 and 1115 are, for example, radar or an imaging device. The second information acquisition unit may be a LiDAR, GPS, or ultrasonic sensor. The second information is an image or distance. The second information acquisition units 1113 and 1115 acquire distances and images of vehicles in front of or behind the first vehicle 1117 and the second vehicle 1119, and the server 200 calculates the relative positions and relative orientations of the front and rear vehicles. The server 200 may perform image analysis using AI (artificial intelligence) to acquire the position and orientation of the vehicle from the image.

[0034] The wireless communication terminal 1121 is mounted on a first vehicle 1117. The wireless communication terminal 1123 is mounted on a second vehicle 1119. The wireless communication terminal 1121 communicates the second information acquired by a second information acquisition unit 1113 of the first vehicle 1117 to the server 200 via CAN (Controller Area Network) communication. Similarly, the wireless communication terminal 1123 communicates the second information acquired by a second information acquisition unit 1115 of the second vehicle 1119 to the server 200 via CAN communication.

[0035] Server 200 is an information processing device having a memory and a processor, and functions as a vehicle manufacturing control device that controls a vehicle manufacturing system. For example, server 200 receives detection results from first information acquisition unit 1111 and second information acquisition units 1113 and 1115. Server 200 controls the vehicle in accordance with the detection results, etc. Server 200 may be composed of one or more devices. Server 200 may also be a cloud server that distributes and processes some or all of its functions.

[0036] The server 200 performs, for example, signal processing of the first information acquisition unit 1111. The server 200 uses the first information acquired from the first information acquisition unit 1111 to acquire the positions and orientations of the multiple vehicles 100 including the first vehicle 1117 and the second vehicle 1119.

[0037] The server 200 performs, for example, signal processing of the second information acquisition units 1113 and 1115. The server 200 acquires the positions and orientations of the multiple vehicles 100 including the first vehicle 1117 and the second vehicle 1119 using the second information acquired from the second information acquisition units 1113 and 1115.

[0038] Server 200 determines whether second information acquisition units 1113, 1115 are available for use. If server 200 determines that second information acquisition units 1113, 1115 are unavailable, server 200 acquires the position and attitude of the vehicle using the first information. With the above configuration, a vehicle manufacturing system is provided that determines whether position and attitude information of multiple vehicles can be acquired inside the vehicle, and if not, acquires information indicating the positions and attitudes of multiple vehicles using information outside the vehicle.

[0039] If server 200 determines that second information acquisition units 1113, 1115 are available, it determines whether multiple vehicles are in the platooning section. If server 200 determines that multiple vehicles are not in the platooning section, it acquires the position and attitude of the vehicles using the first information. With the above configuration, the vehicle manufacturing system can determine whether a vehicle is in the platooning section, and if the vehicle is not in the platooning section, it can acquire information indicating the position and attitude of the multiple vehicles using information outside the vehicle.

[0040] When server 200 determines that multiple vehicles are in a platooning section, it determines whether the multiple vehicles are in a specific section. When server 200 determines that multiple vehicles are in a specific section, it acquires the position and attitude of the vehicles using first information. When server 200 determines that multiple vehicles are not in a specific section, it acquires the position and attitude of the vehicles using second information. With the above configuration, when the vehicle manufacturing system is in a specific section, it can acquire information indicating the position and attitude of the multiple vehicles using information outside the vehicle, and when the vehicle is in a platooning section but not in a specific section, it can acquire information indicating the position and attitude of the multiple vehicles from inside the vehicle.

[0041] The specific section is a section where multiple vehicles make a U-turn, a section with a large turning curvature, a slope, or a section where vehicles face outside light. In such sections, it is difficult to obtain sufficient data from the second information acquisition units 1113 and 1115. Therefore, in the specific section, it is preferable to acquire the position and attitude of the vehicle using the first information.

[0042] If the server 200 determines that the second information acquisition units 1113, 1115 are unavailable and the first information acquisition unit 1111 cannot acquire the position and attitude of the vehicle, the server 200 acquires the position and attitude of the vehicle using the third information acquisition unit of a vehicle in front of or behind the vehicle. Information indicating the position and attitude of a certain vehicle can be acquired using the information acquisition means of the vehicles in front of or behind the certain vehicle.

[0043] It is preferable that the second information acquisition units 1113 and 1115 have undergone calibration. With the above configuration, the information acquisition unit mounted on the vehicle can acquire accurate information.

[0044] The first information acquisition unit 1111, the second information acquisition units 1113 and 1115, and the third information acquisition unit may be read as the first information acquisition means, the second information acquisition means, and the third information acquisition means, respectively.

[0045] (Description of the configuration of the vehicle manufacturing system according to the embodiment) 2 is a block diagram showing the configuration of a vehicle manufacturing system according to an embodiment, and the configuration of the vehicle manufacturing system according to the embodiment will be described with reference to FIG.

[0046] 2, vehicle manufacturing system 50 includes a first information acquisition unit 1111, a first determination unit 1125, and a position and orientation acquisition unit 1127. First determination unit 1125 and position and orientation acquisition unit 1127 are part of the functions of server 200.

[0047] The first information acquisition unit 1111 acquires first information indicating the positions and attitudes of the plurality of vehicles manufactured while continuously moving from outside the plurality of vehicles. The first information acquisition unit 1111 is preferably, for example, an infrastructure camera or a LiDAR. The first information acquisition unit 1111 acquires the inter-vehicle distances and steering angle directions of the plurality of vehicles.

[0048] The first determination unit 1125 determines whether or not a second information acquisition means for acquiring second information indicating the position and attitude of at least one vehicle in front of or behind the vehicle is available for use.

[0049] The second information acquisition units 1113 and 1115 are mounted on at least one vehicle and acquire second information indicating the position and attitude of the preceding or following vehicle. The second information acquisition units 1113 and 1115 can acquire the inter-vehicle distance and steering angle direction of the preceding or following vehicle.

[0050] If the first determination unit 1125 determines that the second information acquisition units 1113 and 1115 are available for use, the position and attitude acquisition unit 1127 acquires the position and attitude of the vehicle using the first information.

[0051] The first determination unit 1125 and the position and orientation acquisition unit 1127 may be read as a first determination means and a position and orientation acquisition means, respectively.

[0052] With this configuration, a vehicle manufacturing system is provided that determines whether position and attitude information for multiple vehicles can be obtained inside the vehicle, and if not, obtains position and attitude information for multiple vehicles using information outside the vehicle.

[0053] (Description of vehicle manufacturing method 1 according to an embodiment) 3 is a flowchart 1 of the vehicle manufacturing method according to the embodiment. The vehicle manufacturing method 1 according to the embodiment will be described with reference to FIG.

[0054] 3, the first information acquisition unit 1111 acquires first information (step S301). The first information acquisition unit 1111 acquires, from outside the vehicles, first information indicating the positions and attitudes of the vehicles that are manufactured while continuously moving.

[0055] Next, the first determination unit 1125 determines whether the second information acquisition units 1113, 1115 are available for use (step S302). The first determination unit 1125 determines whether the second information acquisition unit that acquires second information indicating the position and attitude of at least one vehicle in front of or behind the vehicle is available for use.

[0056] If the second information acquisition unit is not available (No in step S302), the position and attitude acquisition unit 1127 acquires the position and attitude using the first information (step S303). If the first determination unit determines that the second information acquisition unit is not available, the position and attitude acquisition unit 1127 acquires the position and attitude of the vehicle using the first information. If the second information acquisition unit is available (Yes in step S302), the process ends.

[0057] With this configuration, a vehicle manufacturing method is provided in which it is determined whether position and attitude information of multiple vehicles can be obtained inside the vehicle, and if this cannot be obtained, the position and attitude information of the multiple vehicles is obtained using information outside the vehicle.

[0058] (Description of Vehicle Manufacturing Method 2 According to an Embodiment) 4 is a flowchart 2 of the vehicle manufacturing method according to the embodiment. The vehicle manufacturing method 2 according to the embodiment will be described with reference to FIG.

[0059] 4, first, the first determination unit 1125 determines whether the second information acquisition units 1113 and 1115 are available (step S401). If the second information acquisition units 1113 and 1115 are not available (No in step S401), the first information acquisition unit 1111 is used (step S405). The position and attitude acquisition unit 1127 acquires the position and attitude of the vehicle using the first information acquisition unit 1111.

[0060] If the second information acquisition unit is usable (Yes in step S401), the second determination unit determines whether the section is a platooning section (step S402). The second determination unit determines whether multiple vehicles are in the platooning section. If the section is not a platooning section (No in step S402), the first information acquisition unit 1111 is used (step S405). The position and attitude acquisition unit 1127 acquires the position and attitude of the vehicle using the first information acquisition unit 1111.

[0061] If it is a platooning section (if Yes in step S402), the third determination unit determines whether it is a specific section (step S403). If it is a specific section (if Yes in step S403), the first information acquisition unit 1111 is used (step S405). The position and attitude acquisition unit 1127 acquires the position and attitude of the vehicle using the first information acquisition unit 1111. If it is not a specific section (if No in step S403), the second information acquisition units 1113 and 1115 are used (step S404). The position and attitude acquisition unit 1127 acquires the position and attitude of the vehicle using the second information acquisition units 1113 and 1115.

[0062] In this way, a vehicle manufacturing method is provided in which it is determined whether position and attitude information of multiple vehicles can be obtained inside the vehicle, and if this cannot be obtained, the position and attitude information of multiple vehicles is obtained using information outside the vehicle.

[0063] Note that the second determination unit and the third determination unit may be read as the second determination means and the third determination means, respectively.

[0064] <A. Driving Control Example 1> FIG. 5 is a conceptual diagram showing the configuration of the system 50 in Driving Control Example 1. The system 50 includes one or more vehicles 100 as mobile bodies, a server 200, and one or more external sensors 300. Hereinafter, the server 200 will be described as the server 200.

[0065] Note that when the mobile body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "mobile body", and the expression "travel" can be appropriately replaced with "move".

[0066] The vehicle 100 is configured to be capable of traveling by autonomous driving. "Autonomous driving" means driving without depending on the driving operation of a passenger. The driving operation means an operation related to at least any one of "running", "turning", and "stopping" of the vehicle 100. Autonomous driving is realized by automatic or manual remote control using a device located outside the vehicle 100, or by autonomous control of the vehicle 100. A passenger who does not perform a driving operation may be on board the vehicle 100 traveling by autonomous driving. Passengers who do not perform a driving operation include, for example, a person simply sitting on the seat of the vehicle 100, or a person performing work different from the driving operation, such as assembly, inspection, and operation of switches, while on board the vehicle 100. Note that driving by the driving operation of a passenger may be referred to as "human driving".

[0067] In this specification, "remote control" includes "complete remote control" in which all operations of the vehicle 100 are completely determined from outside the vehicle 100, and "partial remote control" in which a part of the operations of the vehicle 100 is determined from outside the vehicle 100. Also, "autonomous control" includes "complete autonomous control" in which the vehicle 100 autonomously controls its own operations without receiving any information from a device outside the vehicle 100, and "partial autonomous control" in which the vehicle 100 autonomously controls its own operations using the information received from a device outside the vehicle 100.

[0068] In this embodiment, the system 50 is used in a factory FC that manufactures vehicles 100. The reference coordinate system of the factory FC is a global coordinate system GC. That is, any position in the factory FC is 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. In the factory FC, multiple external sensors 300 are installed along the road TR. 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.

[0069] 6 is a block diagram showing the configuration of the system 50. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 including one or more actuators that are driven under the control of the vehicle control device 110, and a communication device 130 for communicating via wireless communication with external devices such as a server 200. The actuator group 120 includes an actuator for a drive device for accelerating the vehicle 100, an actuator for a steering device for changing the traveling direction of the vehicle 100, and an actuator for a braking device for decelerating the vehicle 100.

[0070] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected 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.

[0071] The vehicle control unit 115 controls the actuator group 120 to cause the vehicle 100 to run. The vehicle control unit 115 controls the actuator group 120 using a running control signal received from the server 200 to cause the vehicle 100 to run. The running control signal is a control signal for causing the vehicle 100 to run. In this embodiment, the running control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the running control signal may include the speed of the vehicle 100 as a parameter instead of or in addition to the acceleration of the vehicle 100.

[0072] The server 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 is connected to the input / output interface 203 for communicating 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. The processor 201 executes a program PG2 stored in the memory 202 to realize various functions, including the function of the remote control unit 210.

[0073] 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.

[0074] 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.

[0075] Specifically, the external sensor 300 is configured by a camera. The camera as the external sensor 300 captures an image including the vehicle 100 and outputs the captured image as a detection result.

[0076] 7 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the driving control example. In the processing procedure in FIG. 7, the processor 201 of the server 200 functions as the remote control unit 210 by executing the program PG2. Also, the processor 111 of the vehicle 100 functions as the vehicle control unit 115 by executing the program PG1.

[0077] In step S110, the processor 201 of the server 200 acquires vehicle position information of the vehicle 100 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 S110, the processor 201 acquires the vehicle position information using a captured image acquired from a camera, which is the external sensor 300.

[0078] In detail, in step S110, 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 stored in advance 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 includes, for example, a plurality of training images including the vehicle 100, and labels indicating whether each region in the training images 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 using backpropagation (back propagation) to reduce the error between the output result of the detection model DM and the label. Furthermore, the processor 201 can acquire the orientation of the vehicle 100 by estimating the orientation based on the orientation of the movement vector of the vehicle 100 calculated from the positional changes of feature points of the vehicle 100 between frames of captured images using, for example, an optical flow method.

[0079] In step S120, 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. A reference route RR, which is a route to be traveled by the vehicle 100, is stored in advance in the memory 202 of the server 200. The route is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting the nodes. 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.

[0080] In step S130, the processor 201 of the server 200 generates a travel control signal for causing the vehicle 100 to travel toward the determined target position. The processor 201 calculates the travel speed of the vehicle 100 from the change in the position of the vehicle 100 and compares the calculated travel speed with the target speed. When the travel speed is lower than the target speed, the processor 201 determines an acceleration such that the vehicle 100 accelerates. When the travel 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. 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.

[0081] In step S140, processor 201 of server 200 transmits the generated driving control signal to vehicle 100. Processor 201 repeats, at a predetermined cycle, obtaining the position of vehicle 100, determining the target position, generating the driving control signal, and transmitting the driving control signal.

[0082] In step S150, the processor 111 of the vehicle 100 receives a driving control signal transmitted from the server 200. In step S160, the processor 111 of the vehicle 100 controls the actuator group 120 using the received driving control signal, thereby driving the vehicle 100 at the acceleration and steering angle represented by the driving control signal. The processor 111 repeats the reception of the driving control signal and the control of the actuator group 120 at a predetermined cycle. According to the system 50 in this example, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using conveying equipment such as a crane or a conveyor.

[0083] <B:Driving Control Example 2> FIG. 8 is an explanatory diagram showing a schematic configuration of the system 50v in Driving Control Example 2. In this example, the system 50v is different from Driving Control Example 1 in that it does not include the server 200. Also, the vehicle 100v in the configuration can travel by autonomous control of the vehicle 100v. For other configurations, unless otherwise specified, they are the same as above.

[0084] In this example, the processor 111v of the vehicle control device 110v functions as the vehicle control unit 115v by executing the program PG1 stored in the memory 112v. The vehicle control unit 115v acquires the output result from the sensor, generates a driving control signal using the output result, outputs the generated driving control signal, and operates the actuator group 120, thereby enabling the vehicle 100v to travel by autonomous control. In this example, in addition to the program PG1, the detection model DM and the reference route RR are stored in the memory 112v in advance.

[0085] FIG. 9 is a flowchart showing the processing procedure of the driving control of the vehicle 100v in Example 2. In the processing procedure of FIG. 9, the processor 111v of the vehicle 100v functions as the vehicle control unit 115v by executing the program PG1.

[0086] In step S210, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection results output from the camera, which is the external sensor 300. In step S220, the processor 111v determines a target position to which the vehicle 100v should next head. In step S230, the processor 111v generates a driving control signal for driving the vehicle 100v toward the determined target position. In step S240, the processor 111v controls the actuator group 120 using the generated driving control signal, thereby causing the vehicle 100v to drive in accordance with the parameters represented in the driving control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target position, generation of the driving control signal, and control of the actuators at a predetermined cycle. According to the system 50v in this example, the vehicle 100v can be driven by autonomous control of the vehicle 100v without remote control of the vehicle 100v by the server 200.

[0087] YY: Other driving control examples (YY1) In the above example, the external sensor 300 is a camera. However, the external sensor 300 does not have to be a camera and may be, for example, a LiDAR (Light Detection and Ranging) sensor. 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.

[0088] (YY2) In driving control example 1, the processes from obtaining vehicle position information to generating driving control signals are executed by server 200. In contrast, at least a part of the processes from obtaining vehicle position information to generating driving control signals may be executed by vehicle 100. For example, the following forms (1) to (3) may be used.

[0089] (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.

[0090] (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.

[0091] (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.

[0092] (YY3) In the driving control example 2, the vehicle 100v may be equipped with an internal sensor, and the detection result output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. For example, the vehicle 100v may acquire the detection result of the internal sensor and, when generating a route, reflect the detection result of the internal sensor in the route. The vehicle 100v may acquire the detection result of the internal sensor and, when generating a driving control signal, reflect the detection result of the internal sensor in the driving control signal.

[0093] (YY4) In cruise control example 2, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. Alternatively, the vehicle 100v may be equipped with an internal sensor, which acquires vehicle position information using the detection results of the internal sensor, determines a target location to which the vehicle 100v should next travel, generates a route from the current location of the vehicle 100v represented in the acquired vehicle position information to the target location, generates a cruise control signal for traveling along the generated route, and controls the actuator group 120 using the generated cruise control signal. In this case, the vehicle 100v can travel without using any of the detection results of the external sensor 300. The vehicle 100v may acquire a target arrival time or congestion information from outside the vehicle 100v and reflect the target arrival time or congestion information in at least one of the route and the cruise control signal. Furthermore, all of the functional configuration of the system 50v may be provided within the vehicle 100v. In other words, the processing performed by the system 50v in the present disclosure may be performed solely by the vehicle 100v.

[0094] (YY5) In driving control example 1, server 200 automatically generates a driving control signal to be transmitted to vehicle 100. Alternatively, server 200 may generate a driving control signal to be transmitted to vehicle 100 in accordance with the operation of an external operator located outside vehicle 100. For example, the external operator may operate a control device that includes a display that displays captured images output from external sensor 300, a steering wheel for remotely operating vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with server 200 via wired or wireless communication, and server 200 may generate a driving control signal in accordance with the operation applied to the control device.

[0095] (YY6) In each of the above driving control examples, the vehicle 100 may be configured to be capable of moving by unmanned driving, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 100 may be equipped with at least a vehicle control device 110 and an actuator group 120 to perform the three functions of "running," "turning," and "stopping" by unmanned driving. When the vehicle 100 acquires information from the outside for unmanned driving, the vehicle 100 may further be equipped with a communication device 130. In other words, the vehicle 100 capable of moving by unmanned driving may not be equipped with at least some of the interior parts such as a driver's seat and a dashboard, may not be equipped with at least some of the exterior parts such as bumpers and fenders, 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 FC, 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 FC 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.

[0096] (YY7) The vehicle 100 may be manufactured by combining multiple modules. A module refers to a unit composed of multiple parts grouped according to the location 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 parts that form the platform, parts that form portions of the vehicle 100 other than 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 some of the parts that form the module into a single part by casting. The molding method for integrally molding a single component, particularly a relatively large component, is also called gigacasting or megacasting. For example, the front module, center module, and rear module described above may be manufactured using gigacasting.

[0097] (YY8) Transporting vehicle 100 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 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.

[0098] (YY9) In each of the above driving control examples, 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. Various circuits, such as integrated circuits and discrete circuits, may be used as hardware for implementing the various functions in each of the above embodiments.

[0099] Furthermore, some or all of the processes in the external sensor 300, the vehicle 100, the server 200, etc. described above can be realized as a computer program. Such a program can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be provided to a computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable media can provide the program to a computer via a wired communication path such as an electric wire or optical fiber, or via a wireless communication path.

[0100] The present invention is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the invention. [Explanation of symbols]

[0101] 50 vehicle manufacturing system, 50v vehicle manufacturing system, 100 vehicle, 100v vehicle, 110 vehicle control device, 110v vehicle control device, 111 processor, 111v processor, 112 memory, 112v memory, 113 input / output interface, 114 internal bus, 115 vehicle control unit, 115v vehicle control unit, 120 actuator group, 130 communication device, 140 power supply port, 200 server, 201 processor, 202 memory, 203 input / output interface, 204 internal bus, 205 communication device, 210 remote control unit, 1101 administrator, 1103 production management system, 1111 first information acquisition unit, 1113 second information acquisition unit, 1115 second information acquisition unit, 1117 first vehicle, 1119 second vehicle, 1121 wireless communication terminal, 1123 Wireless communication terminal, 1125 first determination unit, 1127 position and orientation acquisition unit

Claims

1. a first information acquisition means for acquiring, from outside the plurality of vehicles, first information indicating positions and attitudes of the plurality of vehicles that are manufactured while being continuously moved; a first determination means for determining whether a second information acquisition means for acquiring second information indicating the position and attitude of at least one vehicle in front of or behind the vehicle is available; and a position and attitude acquisition means for acquiring a position and attitude of the vehicle using the first information when the first determination means determines that the second information acquisition means is unavailable.

2. and second determination means for determining whether the plurality of vehicles are in a platooning section when the first determination means determines that the second information acquisition means is available, 2. The vehicle manufacturing system according to claim 1, wherein, when the second determination means determines that the plurality of vehicles are not in the platooning section, the position and attitude acquisition means acquires the position and attitude of the vehicles using the first information.

3. and third determination means for determining whether the plurality of vehicles are in a specific section when the second determination means determines that the plurality of vehicles are in the platooning section, when the third determination means determines that the plurality of vehicles are in the specific section, the position and attitude acquisition means acquires the positions and attitudes of the vehicles using the first information; 3. The vehicle manufacturing system according to claim 2, wherein when the third determination means determines that the plurality of vehicles are not in the specific section, the position and attitude acquisition means acquires the position and attitude of the vehicle using the second information.

4. 4. The vehicle manufacturing system according to claim 3, wherein the specific section is a section where the plurality of vehicles make a U-turn, a section with a large turning curvature, a slope, or a section where the vehicles face outside light.

5. 2. The vehicle manufacturing system according to claim 1, wherein, when the first determination means determines that the second information acquisition means is unavailable and the position and attitude of the vehicle cannot be acquired by the first information acquisition means, the position and attitude acquisition means acquires the position and attitude of the vehicle using a third information acquisition means of a vehicle in front of or behind the vehicle.

6. 2. The vehicle manufacturing system according to claim 1, wherein the second information acquisition means acquires information after calibration has been performed.

7. the first information acquisition means is an imaging device, a LiDAR, a radar, a GPS, or an ultrasonic sensor; The vehicle manufacturing system according to claim 1 , wherein the second information acquisition means is an imaging device, a LiDAR, a radar, a GPS, or an ultrasonic sensor.

8. acquiring first information indicating positions and orientations of a plurality of vehicles that are manufactured while being continuously moved from a first information acquisition means external to the plurality of vehicles; determining whether a second information acquisition means for acquiring second information indicating the position and attitude of at least one vehicle in front of or behind the vehicle is available; a vehicle manufacturing method for acquiring a position and attitude of the vehicle using the first information when it is determined that the second information acquisition means is unavailable;

9. acquiring first information indicating positions and orientations of a plurality of vehicles that are manufactured while being continuously moved from a first information acquisition means external to the plurality of vehicles; determining whether a second information acquisition means for acquiring second information indicating the position and attitude of at least one vehicle in front of or behind the vehicle is available; a program that causes an information processing device to acquire the position and attitude of the vehicle using the first information when it is determined that the second information acquisition means is unavailable;

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