Control device and method

Abstract

To improve efficiency in a manufacturing process.SOLUTION: A control device manages the process of a mobile body that is manufactured through a plurality of processes. The processes include: a first process related to inspection; an assembly step that is performed after the first process and involves assembling parts to the mobile body; an adjustment that is performed after the first process or the assembly step; and a second process related to inspection that is performed after the assembly step or the adjustment. The control device includes: an acquisition unit configured to acquire information representing a state of the mobile body; a determination unit configured to determine whether the adjustment is required and whether the second process is required depending on a result of the first process using the information; and a management unit which performs or does not perform the adjustment and the second process depending on the determination.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Patent Document 1 describes a vehicle that is the object of manufacture in a manufacturing process for manufacturing a vehicle and that runs under remote control or autonomous control. [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] In the manufacturing process, an unfinished vehicle is sometimes moved between multiple processes by running it. As parts are gradually assembled on the unfinished vehicle, the same inspections are sometimes performed on the vehicle at multiple processes. In such cases, there is a need for technology to further improve the efficiency of the manufacturing process. [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 managing a process for manufacturing a mobile body through a plurality of processes. The plurality of processes include a first process related to inspection, an assembly process for assembling parts into the mobile body that is performed after the first process, an adjustment that is performed after the first process or the assembly process, and a second process related to inspection that is performed after the assembly process or the adjustment. The control device includes an acquisition unit that acquires information representing a state of the mobile body, a decision unit that determines whether the adjustment and the second process are necessary depending on a result of the first process using the information, and a management unit that performs or does not perform the adjustment and the second process depending on the decision. According to this embodiment, if the adjustment can be omitted, the adjustment is omitted, and if the second process can be omitted, the second process is omitted. Therefore, compared to when the adjustment and the second process are performed, the number of steps can be reduced. Furthermore, the second process is omitted when the second process can be omitted depending on the result of the first process using information representing the state of the mobile object, so it is possible to maintain quality and improve the efficiency of the manufacturing process. (2) In the control device of the above aspect, the first process may be performed on the moving body in a platform state, and the second process may be performed on the moving body in a completed vehicle state. (3) In the control device of the above aspect, the second process may include the same test as the test included in the first process. According to this aspect, when similar inspections are performed on a moving body in a plurality of processes, the efficiency of the manufacturing process can be improved by eliminating the need to perform duplicate inspections. (4) In the control device of the above form, the mobile body is a mobile body that travels within a factory where the multiple processes are performed, and the multiple processes further include a moving process that is performed after the first process or the assembly process and moves the mobile body, and the management unit may perform or not perform the adjustment, perform or not perform the second process, and perform the moving process depending on the decision. (5) According to a second aspect of the present disclosure, there is provided a method for managing processes for a mobile body manufactured through a plurality of processes. The plurality of processes include a first process related to inspection, an assembly process performed after the first process to assemble parts onto the mobile body, an adjustment performed after the first process or the assembly process, and a second process related to inspection performed after the assembly process or the adjustment. This method includes the steps of acquiring information representing a state of the mobile body, determining whether the adjustment and the second process are necessary depending on a result of the first process using the information, and performing or not performing the adjustment and the second process depending on the determination. According to this embodiment, if the adjustment can be omitted, the adjustment is omitted, and if the second process can be omitted, the second process is omitted. Therefore, compared to when the adjustment and the second process are performed, the number of steps can be reduced. Furthermore, the second process is omitted when the second process can be omitted based on the results of the first process, so it is possible to maintain quality and improve the efficiency of the manufacturing process.

[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] FIG. 1 is a block diagram showing a schematic configuration of a system. [Figure 3] 4 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. [Figure 4] 5 is a flowchart showing a processing procedure for a first pre-travel inspection in the first embodiment. [Figure 5] 6 is a flowchart showing a processing procedure for a second pre-travel inspection in the first embodiment. [Figure 6]FIG. 10 is an explanatory diagram showing a schematic configuration of a system according to a second embodiment. [Figure 7] 10 is a flowchart showing a processing procedure for vehicle travel control in a second embodiment. [Figure 8] 10 is a flowchart showing a processing procedure for a first pre-travel inspection in a second embodiment. [Figure 9] 10 is a flowchart showing a processing procedure for a second pre-travel inspection in the second embodiment. 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] In this disclosure, a "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."

[0011] The vehicle 100 is configured to be capable of traveling in an unmanned manner. "Unmanned driving" refers to driving without the driver's control. 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 or manual remote control using a device located outside the vehicle 100, or by autonomous control of the vehicle 100. A vehicle 100 traveling in an unmanned manner may have a driver on board who does not operate the vehicle. A driver who does not operate the vehicle may, for example, simply be seated in the vehicle 100, or a person who is riding in the vehicle 100 and performing work other than driving operations, such as assembly, inspection, or operating switches. Driving in which a driver controls the vehicle is sometimes called "manned driving."

[0012] In this specification, "remote control" includes "full remote control" in which all of the operations of vehicle 100 are completely determined from outside vehicle 100, and "partial remote control" in which some of the operations of vehicle 100 are determined from outside vehicle 100. Furthermore, "autonomous control" includes "full autonomous control" in which vehicle 100 autonomously controls its own operations without receiving any information from devices external to vehicle 100, and "partial autonomous control" in which vehicle 100 autonomously controls its own operations using information received from devices external to vehicle 100.

[0013] 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, a second location PL2, and a third location PL3. The first location PL1 and the second location PL2 are connected by a path TR1 along which the vehicle 100 can travel. The second location PL2 and the third location PL3 are connected by a path TR2. A plurality of external sensors 300 are installed along the paths TR1 and TR2 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 path TR1 in an unmanned operation. Furthermore, the vehicle 100 moves from the second location PL2 to the third location PL3 along the path TR2.

[0014] The vehicle 100 is manufactured through multiple processes. Note that multiple processes may be performed, but not all of the processes may be performed. The first location PL1 is a location where assembly work for the vehicle 100 is performed. For example, at the first location PL1, a component assembly work is performed by an assembly robot (not shown). The vehicle 100 assembled at the first location PL1 is in a state capable of traveling in an unmanned manner, in other words, capable of performing the three functions of "driving," "turning," and "stopping" in an unmanned manner. In this embodiment, the vehicle 100 assembled at the first location PL1 travels in an unmanned manner from the first location PL1 to the second location PL2 in the form of a platform having the configuration described below. Specifically, the vehicle 100 is required to have at least a vehicle control device and a group of actuators in order to perform the three functions of "driving," "turning," and "stopping" in an unmanned manner. When the vehicle 100 acquires information from an external device for unmanned operation, the vehicle 100 may further be provided with a communication device. That is, the unmanned vehicle 100 may not be equipped with at least some of its interior parts, such as a driver's seat or a dashboard, may not be equipped with at least some of its exterior parts, such as a bumper or 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 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 in a state where the remaining parts, such as the body shell, are not attached to the vehicle 100. Each part may be attached from any direction, such as the top, bottom, front, rear, right, or left side of the vehicle 100, and may be attached from the same direction or from different directions.

[0015] At the second location PL2, further parts are assembled to the vehicle 100 by an assembly robot (not shown). At the second location PL2, the vehicle 100 in the form of a platform is assembled by an assembly robot (not shown) to include body parts such as a body shell and a hood, interior parts such as seats and a dashboard, and exterior parts such as bumpers and fenders. Furthermore, functional parts are attached to the vehicle 100 in the form of a platform by an assembly robot (not shown). Furthermore, functional parts are attached to the vehicle 100 in the second location PL2. The functional parts are, for example, multiple ECUs (Electronic Control Units). At the second location PL2, the vehicle 100 with the attached functional parts is in the form of a completed vehicle. The vehicle 100 is driven unmanned from the second location PL2 to the third location PL3.

[0016] At the third location PL3, an inspection of the vehicle 100 is carried out in the completed vehicle state before shipping. In this embodiment, the inspection carried out at the third location PL3 is different from the first pre-travel inspection and the second pre-travel inspection described below. After the inspection is completed, the vehicle 100 moves unmanned along the track TR3 to a completed vehicle yard (not shown).

[0017] 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 the 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.

[0018] 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.

[0019] 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.

[0020] The actuator group 120 includes a drive actuator for accelerating the vehicle 100, a steering actuator for changing the direction of travel of the vehicle 100, and a braking actuator for decelerating the vehicle 100.

[0021] 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.

[0022] The diagnostic data collection unit 140 collects data used to diagnose 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. The diagnostic data collection unit 140 receives data indicating the state of each device controlled by each ECU and the detected values ​​of sensors from each ECU. Data used for diagnosis is collected from the motor control ECU that controls the actuator of the drive system, the transmission ECU that controls the transmission, the brake ECU that controls the actuator of the braking system, the electric parking brake ECU that controls the electric parking brake, etc. Note that the motor control ECU, transmission ECU, brake ECU, electric parking brake ECU, etc. are not shown in FIG. 2. The function of the diagnostic data collection unit 140 is realized by the diagnosis ECU. The data collected by the diagnostic data collection unit 140 is transmitted to the server 200 via the communication device 130.

[0023] 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 those of a remote control unit 210, an acquisition unit 220, a determination unit 230, and a management unit 240.

[0024] 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.

[0025] In this embodiment, a first pre-trip inspection is performed on the vehicle 100 assembled at the first location PL1 before the vehicle 100 starts traveling toward the second location PL2. The first pre-trip inspection is performed to check whether the vehicle 100 meets the conditions necessary for traveling. In the first pre-trip inspection, the vehicle 100 is inspected for one or more inspection items. The first pre-trip inspection is performed on the vehicle 100 while it is stopped. The first pre-trip inspection is also referred to as a "first inspection-related process." In addition, a second pre-trip inspection may be performed on the vehicle 100 after it has been completed at the third location PL3 before it starts traveling toward, for example, an inspection site. The second pre-trip inspection is performed to check whether the vehicle 100 meets the conditions necessary for traveling. In the second pre-trip inspection, the vehicle 100 is inspected for one or more inspection items. The second pre-trip inspection is also referred to as a "second inspection-related process."

[0026] Here, the second pre-running inspection includes the same inspection items as those included in the first pre-running inspection. The cases in which the second pre-running inspection includes the same inspection items as those included in the first pre-running inspection are either of the following. In this embodiment, the following case (i) applies: (i) The inspection items for the first pre-run inspection and the second pre-run inspection are completely consistent. (ii) The first pre-run inspection includes all of the inspection items in the second pre-run inspection.

[0027] The acquisition unit 220 acquires the data collected by the diagnostic data collection unit 140. The decision unit 230 uses the data collected by the diagnostic data collection unit 140 to decide whether adjustments and a second pre-travel inspection are necessary. The management unit 240 manages the implementation of adjustments and the second pre-travel inspection, and the movement process of the vehicle 100, in accordance with the decisions made by the decision unit 230. The server 200 is also referred to as a "control device."

[0028] 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.

[0029] Fig. 3 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the first embodiment. The processing in Fig. 3 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. 3 is executed repeatedly at predetermined time intervals from the point in time when the vehicle 100 starts to drive under remote control, for example.

[0030] 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.

[0031] 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.

[0032] 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. 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Fig. 4 is a flowchart showing the processing steps of a method for managing a process by the server 200. The processing shown in Fig. 4 starts when the vehicle 100 reaches a predetermined position P1 in the first location PL1. The predetermined position P1 is set near the exit of the first location PL1 that leads to the track TR1 (see Fig. 1). The processor 201 acquires position information of the vehicle 100 using an image captured by a camera, which is the external sensor 300.

[0037] In step 11, it is determined whether an inspection start condition is met. The processing of step 11 is executed by the processor 201 functioning as the acquisition unit 220. The inspection start condition is, for example, completion of the assembly process of assembling parts into the vehicle 100 at the first location PL1. The state in which the assembly process at the first location PL1 is completed indicates that the vehicle 100 can start traveling toward the second location PL2. The processor 201 acquires information about the processes performed on the vehicle 100 from a host server. After each process is performed, for example, it is assumed that a worker uses a terminal device to output a notification of the completion of the process to the host server. Therefore, the host server has information about the processes that have been completed for the vehicle 100. The processor 201 determines whether the assembly process at the first location PL1 has been completed based on the process information acquired from the host server.

[0038] When processor 201 determines that the start condition of the test is satisfied (step 11; YES), it executes the process of step 12. Processor 201 waits until the start condition of the test is satisfied (step 11; NO).

[0039] In step 12, an inspection request for the first pre-travel inspection is transmitted to the vehicle 100. The processing of step 12 is executed by the processor 201 functioning as the acquisition unit 220. After turning on the ignition switch of the vehicle 100, the processor 201 transmits the inspection request for the first pre-travel inspection to the vehicle 100. For example, the processor 201 transmits an inspection request to the vehicle 100 instructing it to collect diagnostic data on a specific functional unit. Examples of the specific functional unit include a steering angle sensor and an electronic parking brake (EPB). The steering angle sensor detects the angle of the steering wheel provided on the vehicle 100. The electronic parking brake is a parking brake that can be activated or released automatically or manually under certain conditions. After transmitting the inspection request, the processing of step 15, which will be described later, is executed.

[0040] In step 13, the diagnostic data collection unit 140 receives the inspection request. In step 14, the diagnostic data collection unit 140 collects diagnostic data according to the inspection request and transmits the diagnostic data to the server 200. For example, if the object specified in the inspection request is the electric parking brake, the diagnostic data collection unit 140 requests the electric parking brake ECU to activate the electric parking brake and to acquire data related to the operating state of the electric parking brake after activation. Also, for example, if the object specified in the inspection request is a steering angle sensor, the diagnostic data collection unit 140 acquires data detected by the steering angle sensor. The diagnostic data collection unit 140 transmits the acquired data to the server 200 as diagnostic data.

[0041] In step 15, it is determined whether or not diagnostic data has been received from the vehicle 100. The processing of step 15 is executed by the processor 201 functioning as the acquisition unit 220. When the processor 201 receives the diagnostic data (step 15; YES), it executes the processing of step 16. In step 15, the processor 201 waits until the diagnostic data is received from the vehicle 100 (step 15; NO).

[0042] In step 16, it is determined based on the diagnostic data whether adjustments are required for the vehicle 100 and whether a second pre-travel inspection is required. Furthermore, in step 16, it is also determined whether the vehicle 100 can be driven based on the diagnostic data. The processing of step 15 is executed by the processor 201 functioning as the determination unit 230. For example, if the detected values ​​of the inspection items in the first pre-travel inspection are less than a predetermined threshold, this indicates that the vehicle 100 is in a state where it cannot be driven. In this case, it is determined that driving is "not permitted." For example, if the detected values ​​of the inspection items in the first pre-travel inspection are less than a predetermined first reference value, this indicates that a second pre-travel inspection is required for the vehicle 100. In this embodiment, if the criteria are not met for one or more inspection items in the first pre-travel inspection, it is determined that a second pre-travel inspection is "required." Furthermore, for example, if the detected values ​​of the inspection items in the first pre-travel inspection are less than a predetermined second reference value, this indicates that adjustments are required for the vehicle 100. In this case, it is determined that adjustments are "required." Furthermore, processor 201 stores information indicating the determined possibility of driving, the necessity of adjustment, and the necessity of a second pre-driving inspection in memory 202 in association with the identification information of vehicle 100. The processing in steps 12 to 16 corresponds to the first pre-driving inspection.

[0043] If the diagnostic data indicates that the vehicle 100 is capable of being driven but that adjustments to the vehicle 100 are required, the processor 201 determines that driving is "permitted," adjustments are "required," and a second pre-drive inspection is "required."

[0044] In addition, if the diagnostic data indicates that the vehicle 100 is capable of being driven and that no adjustments to the vehicle 100 are required, but that a second pre-drive inspection is required, the processor 201 determines that driving is "permitted," adjustments are "not permitted," and the second pre-drive inspection is "required."

[0045] Furthermore, if the diagnostic data indicates that the vehicle 100 is capable of being driven and that no adjustments or second pre-driving inspection are necessary, the processor 201 determines that driving is "possible," that adjustments are "not permitted," and that the second pre-driving inspection is "not permitted."

[0046] Furthermore, if the diagnostic data indicates that the vehicle 100 is not capable of being driven, the processor 201 determines that driving is "not possible," that adjustment is "required," and that a second pre-drive inspection is "required."

[0047] In step 17, a process according to the decision is executed in the vehicle 100. The process in step 17 is executed by the processor 201 functioning as the management unit 240.

[0048] If the processor 201 determines that driving is permitted, that adjustments are required, and that a second pre-driving inspection is required, the processor 201 notifies an operator via a terminal device that adjustments to the vehicle 100 are required, along with the identification information of the vehicle 100. The operator, upon receiving the notification, performs the necessary adjustments using, for example, an on-board diagnostics (OBD) function provided in the vehicle 100. When the operator completes the necessary adjustments, the operator notifies the processor 201 via the terminal device that the adjustments have been completed. The processor 201 then generates a driving control signal for controlling the actuator group 120 and transmits the driving control signal to the vehicle 100, thereby remotely controlling the vehicle 100 to drive toward the second location PL2. The process of moving the vehicle 100 toward the second location PL2 by remote control is also referred to as a "moving process."

[0049] If it is determined that driving is "OK", adjustment is "NO", and the second pre-driving inspection is "NEED", the processor 201 starts driving the vehicle 100 by remote control. Also, if it is determined that driving is "OK", adjustment is "NO", and the second pre-driving inspection is "NO", the processor 201 starts driving the vehicle 100 by remote control.

[0050] If it is determined that driving is "impossible," adjustment is "required," and the second pre-driving inspection is "required," the processor 201 notifies the worker via a terminal device that the vehicle 100 is unable to drive, along with the identification information of the vehicle 100. The worker who receives the notification can take the necessary measures for the vehicle 100. The processor 201 also notifies the upper server that the vehicle 100 is unable to drive, along with the identification information of the vehicle 100. This completes the series of processes related to the first pre-driving inspection.

[0051] Fig. 5 is a flowchart showing the processing procedure for the second pre-travel inspection. The processing shown in Fig. 5 starts when the vehicle 100 reaches a predetermined position P2 in the second location PL2. The predetermined position P2 is set near the exit of the second location PL2 that leads to the road TR2 (see Fig. 1). The processor 201 acquires position information of the vehicle 100 using an image captured by a camera, which is the external sensor 300.

[0052] As shown in Fig. 5, in step 21, it is determined whether or not a second pre-driving inspection is required. The processing of step 21 is executed by processor 201 functioning as management unit 240. Whether or not a second pre-driving inspection is required is determined when the first pre-driving inspection is performed and is recorded in memory 202 (see step 16 in Fig. 4).

[0053] If the second pre-travel inspection needs to be carried out (step 21; YES), the process of step 22 is executed. If the second pre-travel inspection does not need to be carried out (step 21; NO), the process shown in Fig. 5 is ended. After the process shown in Fig. 5 is ended, processor 201 sets third location PL3 as the destination and remotely controls vehicle 100 to start traveling.

[0054] In step 22, an inspection request for the second pre-driving inspection is transmitted to the vehicle 100. The processing of step 22 is executed by the processor 201 functioning as the acquisition unit 220. Specifically, prior to transmitting the inspection request for the second pre-driving inspection, the processor 201 first determines whether or not an inspection start condition is met based on the process information acquired from the upper server. The inspection start condition is, for example, that the assembly process of assembling parts into the vehicle 100 at the second location PL2 has been completed. The state in which the assembly process at the second location PL2 has been completed indicates that the vehicle 100 can start traveling from the second location PL2 toward the third location PL3.

[0055] When processor 201 determines that the conditions for starting the inspection are met based on the process information, it turns on the ignition switch of vehicle 100 and then transmits an inspection request for the second pre-travel inspection to vehicle 100. For example, processor 201 transmits an inspection request to vehicle 100 instructing it to collect diagnostic data for a specific functional unit as the second pre-travel inspection.

[0056] In step 23, the diagnostic data collection unit 140 receives the inspection request. In step 24, the diagnostic data collection unit 140 collects diagnostic data according to the inspection request and transmits the diagnostic data to the server 200. For example, if the object specified in the inspection request is the electric parking brake, the diagnostic data collection unit 140 requests the electric parking brake ECU to activate the electric parking brake and to acquire data related to the operating state of the electric parking brake after activation. Also, for example, if the object specified in the inspection request is a steering angle sensor, the diagnostic data collection unit 140 acquires data detected by the steering angle sensor. The diagnostic data collection unit 140 transmits the acquired data to the server 200 as diagnostic data.

[0057] In step 25, it is determined whether or not diagnostic data has been received from vehicle 100. The processing of step 25 is executed by processor 201 functioning as acquisition unit 220. When processor 201 receives diagnostic data (step 25; YES), it executes the processing of step 26. While diagnostic data has not been received in step 25 (step 25; NO), processor 201 waits.

[0058] In step 26, it is determined whether vehicle 100 is allowed to run and whether adjustment is required based on the diagnostic data. The processing of step 26 is executed by processor 201 functioning as determination unit 230. Processor 201 also records information indicating the determined whether vehicle 100 is allowed to run and whether adjustment is required in memory 202 in association with the identification information of vehicle 100. The processing in steps 22 to 26 corresponds to the second pre-run inspection.

[0059] If the diagnostic data indicates that the vehicle 100 is capable of being driven but that adjustment of the vehicle 100 is necessary, the processor 201 determines that the vehicle 100 is capable of being driven and that adjustment is necessary. Also, if the diagnostic data indicates that the vehicle 100 is capable of being driven but that adjustment of the vehicle 100 is not necessary, the processor 201 determines that the vehicle 100 is capable of being driven and that adjustment is not necessary.

[0060] Furthermore, if the diagnostic data indicates that the vehicle 100 is unable to be driven, the processor 201 determines that driving is "unavailable" and that adjustment is "required."

[0061] In step 27, processing according to the decision is executed in vehicle 100. The processing in step 27 is executed by processor 201 functioning as management unit 240.

[0062] If it is determined that driving is "allowed" and adjustment is "required," the processor 201 notifies the worker via the terminal device that adjustment of the vehicle 100 is required, along with the identification information of the vehicle 100. The worker who receives the notification then makes the necessary adjustment to the vehicle 100.

[0063] If the processor 201 determines that traveling is "OK" and that adjustment is "NO", the processor 201 sets the third location PL3 as the destination and remotely controls the vehicle 100 to start traveling.

[0064] If it is determined that driving is "impossible" and adjustment is "required," the processor 201 notifies the worker via a terminal device that the vehicle 100 is unable to drive, along with the identification information of the vehicle 100. The worker who receives the notification can take the necessary measures for the vehicle 100. The processor 201 also notifies the upper server that the vehicle 100 is unable to drive, along with the identification information of the vehicle 100. This completes the series of processes related to the second pre-drive inspection.

[0065] In this embodiment, before the vehicle 100 in the form of a platform starts to run, it is necessary to conduct an inspection (first pre-run inspection) to determine whether the conditions necessary for the vehicle 100 to run are met. Also, before the vehicle 100 in the form of a completed vehicle starts to run, it is necessary to conduct an inspection (second pre-run inspection) to determine whether the conditions necessary for the vehicle 100 to run are met. If the second pre-run inspection includes the same inspection items as those included in the first pre-run inspection, the inspection of the same inspection items will be carried out twice.

[0066] Therefore, in this embodiment, if the second pre-running inspection can be omitted based on the results of the first pre-running inspection, the redundant inspection is omitted. Also, if adjustment can be omitted, adjustment is omitted. By omitting adjustment and the second pre-running inspection when possible, the number of steps can be reduced. Therefore, the efficiency of the manufacturing process can be improved. Furthermore, the second pre-running inspection is omitted when the second pre-running inspection can be omitted based on the results of the first pre-running inspection, so that it is possible to maintain quality and improve the efficiency of the manufacturing process.

[0067] B. Second embodiment: 6 is an explanatory diagram showing a schematic configuration of a system 50v in the second embodiment. In this embodiment, the system 50v differs from the first embodiment in that it does not include a server 200. Furthermore, the vehicle 100v in this embodiment can travel by autonomous control of the vehicle 100v. The other configurations are the same as those in the first embodiment unless otherwise specified.

[0068] In this embodiment, the processor 111v of the vehicle control device 110v functions as a vehicle control unit 115v, an acquisition unit 116, a determination unit 117, and a management unit 118 by executing a program PG1v stored in the memory 112v.

[0069] The vehicle control unit 115v acquires output results from the sensors, generates a driving control signal using the output results, and outputs the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100v to drive by autonomous control. In this embodiment, the memory 112v stores in advance a detection model DM and a reference route RR in addition to the program PG1v.

[0070] The acquisition unit 116 acquires the data collected by the diagnostic data collection unit 140v. The decision unit 117 uses the data collected by the diagnostic data collection unit 140v to decide whether adjustments are necessary and whether a second pre-travel inspection is necessary. The management unit 118 manages the implementation of adjustments and the second pre-travel inspection, and the movement process of the vehicle 100, in accordance with the decisions made by the decision unit 230.

[0071] The diagnostic data collection unit 140v has the same functions as the diagnostic data collection unit 140 in the first embodiment.

[0072] 7 is a flowchart showing the processing procedure for driving control of the vehicle 100v in the second embodiment. The processing in FIG. 7 is executed by the processor 111v of the vehicle 100v functioning as the vehicle control unit 115v.

[0073] In step 101, 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 102, the processor 111v determines a target position to which the vehicle 100v should next head. In step 103, the processor 111v generates a driving control signal for driving the vehicle 100v toward the determined target position. In step 104, 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 embodiment, the vehicle 100v can be driven by autonomous control of the vehicle 100v without remote control of the vehicle 100v by the server 200.

[0074] Fig. 8 is a flowchart showing the processing procedure for the first pre-travel inspection. The processing shown in Fig. 8 starts when the vehicle 100v reaches a position P1 (see Fig. 1) in the first location PL1. The processor 111v acquires position information of the vehicle 100 using an image captured by a camera, which is the external sensor 300.

[0075] In step 111, it is determined whether or not an inspection start condition is satisfied. The processing of step 111 is executed by the processor 111v functioning as the acquisition unit 116. The inspection start condition is, for example, that the assembly process at the first location PL1 has been completed. The processor 111v acquires information on the process performed on the vehicle 100 from the upper server. The processor 111v determines whether or not the assembly process at the first location PL1 has been completed based on the process information acquired from the upper server.

[0076] When the processor 111v determines that the start condition of the test is satisfied (step 111; YES), it executes the process of step 112. The processor 111v waits until the start condition of the test is satisfied (step 111; NO).

[0077] In step 112, an inspection request for the first pre-travel inspection is sent to the diagnostic data collection unit 140v. The processing of step 112 is executed by the processor 111v functioning as the acquisition unit 116. After turning on the ignition switch of the vehicle 100, the processor 111v sends the inspection request for the first pre-travel inspection to the diagnostic data collection unit 140v. For example, the processor 201 sends an inspection request to the diagnostic data collection unit 140v instructing that a specific functional unit be inspected as the first pre-travel inspection. After sending the inspection request, the processing of step 115, which will be described later, is executed.

[0078] In step 113, the diagnostic data collection unit 140v receives the test request. In step 114, the diagnostic data collection unit 140v transmits data collected from the ECU that controls the target specified in the test request to the processor 111v as diagnostic data.

[0079] In step 115, it is determined whether or not diagnostic data has been received. The processing of step 115 is executed by the processor 111v functioning as the acquisition unit 116. When the processor 111v receives the diagnostic data (step 115; YES), it executes the processing of step 116. The processor 111v waits until it receives the diagnostic data in step 115 (step 115; NO).

[0080] In step 116, it is determined whether adjustments and a second pre-travel inspection are necessary for the vehicle 100v based on the diagnostic data. Furthermore, in step 116, it is also determined whether the vehicle can be traveled based on the diagnostic data. The processing of step 116 is executed by the processor 111v functioning as the determination unit 117. Furthermore, the processor 111v records information indicating the determined whether the vehicle can be traveled, whether adjustments are necessary, and whether a second pre-travel inspection is necessary in the memory 112v. The processing in steps 112 to 116 corresponds to the first pre-travel inspection.

[0081] In step 117, processing according to the decision is executed on the vehicle 100. The processing of step 117 is executed by the processor 111v functioning as the management unit 118. The processing executed according to the decision is the same as in the first embodiment. The above is a series of processing related to the first pre-travel inspection.

[0082] 9 is a flowchart showing the processing procedure for the second pre-travel inspection. The processing shown in FIG. 9 starts when the vehicle 100 reaches a predetermined position P2 (see FIG. 1) in the second location PL2. The processor 111v acquires position information of the vehicle 100v using an image captured by a camera, which is the external sensor 300.

[0083] As shown in Fig. 9, in step 121, it is determined whether or not a second pre-driving inspection is required. The processing of step 121 is executed by the processor 111v functioning as the management unit 118. Whether or not the second pre-driving inspection is required is determined when the first pre-driving inspection is performed and is recorded in the memory 202 (see step 116 in Fig. 8).

[0084] If the second pre-travel inspection needs to be carried out (step 121; YES), the process of step 122 is executed. If the second pre-travel inspection does not need to be carried out (step 121; NO), the process shown in Fig. 9 is ended. After the process shown in Fig. 9 is ended, the processor 111v sets the third location PL3 as the destination and starts traveling of the vehicle 100 by autonomous control.

[0085] In step 122, an inspection request for the second pre-travel inspection is sent to the diagnostic data collection unit 140v. The processing of step 122 is executed by the processor 111v functioning as the acquisition unit 116. Specifically, before sending the inspection request for the second pre-travel inspection, the processor 111v first determines whether an inspection start condition is met based on process information acquired from the upper server. The inspection start condition is, for example, that the assembly process at the second location PL2 has been completed. The state in which the assembly process at the second location PL2 has been completed indicates that the vehicle 100 can start traveling from the second location PL2 toward the third location PL3.

[0086] When the processor 111v determines that the inspection start conditions are met based on the process information, it turns on the ignition switch of the vehicle 100 and then transmits an inspection request for the second pre-travel inspection to the diagnostic data collection unit 140v. For example, the processor 111v transmits an inspection request to the diagnostic data collection unit 140v instructing that a specific functional unit be inspected as the second pre-travel inspection.

[0087] In step 123, the diagnostic data collection unit 140v receives the test request. In step 124, the diagnostic data collection unit 140v collects diagnostic data in response to the test request and transmits the diagnostic data to the processor 111v.

[0088] In step 125, it is determined whether diagnostic data has been received from the diagnostic data collection unit 140v. The processing of step 125 is executed by the processor 111v functioning as the acquisition unit 116. When the processor 111v receives diagnostic data (step 125; YES), it executes the processing of step 126. While the processor 111v has not received diagnostic data in step 125 (step 125; NO), it waits.

[0089] In step 126, it is determined whether vehicle 100 is allowed to run and whether adjustment is required based on the diagnostic data. The processing of step 126 is executed by processor 111v functioning as determination unit 117. The processing of steps 122 to 126 corresponds to a second pre-running inspection.

[0090] If the diagnostic data indicates that the vehicle 100 is capable of being driven but that adjustment of the vehicle 100 is necessary, the processor 111v determines that driving is "possible" and that adjustment is "required." Also, if the diagnostic data indicates that the vehicle 100 is capable of being driven but that adjustment of the vehicle 100 is not necessary, the processor 111v determines that driving is "possible" and that adjustment is "not possible."

[0091] Furthermore, if the diagnostic data indicates that the vehicle 100 is unable to be driven, the processor 111v determines that driving is "unavailable" and that adjustment is "required."

[0092] In step 127, processing according to the determination is executed in the vehicle 100. The processing in step 127 is executed by the processor 111v functioning as the management unit 118.

[0093] In this embodiment, as in the first embodiment, if the second pre-running inspection can be omitted based on the results of the first pre-running inspection, the second pre-running inspection is omitted. Also, if adjustment can be omitted, adjustment is omitted. By omitting adjustment and the second pre-running inspection when possible, the number of steps can be reduced. Therefore, the efficiency of the manufacturing process can be improved. Furthermore, the second pre-running inspection is omitted when the second pre-running inspection can be omitted based on the results of the first pre-running inspection, so that it is possible to maintain quality and improve the efficiency of the manufacturing process.

[0094] C. Other Embodiments: (C1) In the first embodiment described above, the server 200 automatically generates a driving control signal to be transmitted to the vehicle 100. However, the server 200 may generate a driving control signal to be transmitted to the vehicle 100 in accordance with the operation of an external operator located outside the vehicle 100. For example, the external operator may operate a control device including a display that displays an image output from the external sensor 300, a steering wheel for remotely controlling the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 via wired or wireless communication, and the server 200 may generate a driving control signal in accordance with the operation applied to the control device.

[0095] As in the first embodiment, the server 200 cooperates with the diagnostic data collection unit 140 to acquire diagnostic data. Based on the diagnostic data, the server 200 determines whether adjustments are necessary and whether a second pre-running inspection is necessary. Furthermore, the server 200 performs or does not perform adjustments and performs or does not perform a second pre-running inspection, depending on the determinations.

[0096] (C2) In the first and second embodiments described above, the first pre-travel inspection is performed on the vehicle 100 in a platform state, and the second pre-travel inspection is performed on the vehicle 100 in a completed vehicle state. However, this is not limiting.

[0097] The first pre-travel inspection may be performed after interior parts have been installed on the platform vehicle 100. Alternatively, the first pre-travel inspection may be performed after some or all of the interior and exterior parts have been installed on the platform vehicle 100. The second pre-travel inspection may be performed on the vehicle 100 that is not in a completed vehicle state.

[0098] (C3) In addition to the first and second pre-trip inspections, a third pre-trip inspection may be conducted at a third location PL3. The third pre-trip inspection includes the same inspection items as those included in the second pre-trip inspection. In this case, the results of the second pre-trip inspection determine whether adjustments are necessary and whether a third pre-trip inspection is necessary after the second pre-trip inspection. The subject of both the second and third pre-trip inspections is the vehicle 100 in its completed state. In other words, when the third pre-trip inspection is conducted, no new parts have been installed on the vehicle 100 since the second pre-trip inspection. The second pre-trip inspection is also referred to as the "first process," and the third pre-trip inspection is also referred to as the "second process."

[0099] Alternatively, the need for adjustments and the need for a third pre-run inspection may be determined based on the results of the first pre-run inspection. In this case, the third pre-run inspection includes the same inspection items as those included in the first pre-run inspection. The first pre-run inspection is also referred to as the "first process," and the third pre-run inspection is also referred to as the "second process."

[0100] Alternatively, the need for a third pre-running inspection may be determined based on the results of the first and second pre-running inspections. In this case, the third pre-running inspection includes the same inspection items as those included in the first pre-running inspection. Furthermore, the need for adjustments after the first pre-running inspection is determined based on the results of the first pre-running inspection, and the need for adjustments after the second pre-running inspection is determined based on the results of the second pre-running inspection. The first and second pre-running inspections are also referred to as "first processing," and the third pre-running inspection is also referred to as "second processing."

[0101] (C4) In the first and second embodiments, an example has been described in which the function of the diagnostic data collection unit 140 is realized by a diagnostic ECU. However, the function of the diagnostic data collection unit 140 may be realized by the processor 111 or the processor 111v. Alternatively, the function of the diagnostic data collection unit 140 may be realized by each ECU, such as a motor control ECU, a transmission ECU, a brake ECU, or an electric parking brake ECU.

[0102] (C5) In each of the above embodiments, whether or not to conduct the second pre-running inspection is determined based on the results of the first pre-running inspection. Alternatively, the need to conduct each corresponding inspection item in the second pre-running inspection may be determined based on the results of each inspection item in the first pre-running inspection. In this case, too, the implementation of overlapping inspection items is omitted if possible, thereby reducing the number of steps. Furthermore, even if an inspection item overlaps between the first pre-running inspection and the second pre-running inspection, it will be implemented twice if necessary. This makes it possible to maintain quality and improve the efficiency of the manufacturing process.

[0103] (C6) In addition, in each of the above embodiments, an example has been described in which diagnostic data is acquired via the diagnostic data collection unit 140 of the vehicle 100. Alternatively, the processor 201 or the processor 111v may determine the tire angle using an image of the vehicle 100 captured by a camera, which is the external sensor 300, while the steering wheel of the vehicle 100 is being operated. The accuracy of the steering angle sensor can be inspected by comparing the determined angle with the detection value of the steering angle sensor.

[0104] (C7) In the first embodiment, the communication device 130 is a wireless communication device connected to a DLC provided in the vehicle 100. Alternatively, the communication device 130 may be a device that enables wireless communication between a CAN (Controller Area Network) as an in-vehicle network and the server 200.

[0105] (C8) In the first embodiment, the first pre-trip inspection and the second pre-trip inspection were performed on the stopped vehicle 100. However, if the inspection item requires the vehicle 100 to travel, the server 200 may remotely control the vehicle 100 to travel a certain distance. The same applies to the vehicle 100v that travels under autonomous control.

[0106] (C9) In the first embodiment described above, an example has been described in which the vehicle 100 travels to the second location PL2 after the first pre-travel inspection is performed. However, after the first pre-travel inspection is performed, the vehicle 100 may not travel to the second location PL2, i.e., the vehicle 100 may remain at the first location PL1, and an assembly robot (not shown) may assemble the body, such as a body shell and a hood, interior parts, such as a seat and a dashboard, and exterior parts, such as a bumper and fenders, onto the vehicle 100 in the form of a platform.

[0107] In the first embodiment, an example has been described in which adjustment is performed, if necessary, after the first pre-travel inspection is performed and before the assembly process is performed at the second location PL2. However, after the first pre-travel inspection is performed, vehicle 100 may be moved to the second location PL2, and adjustment may be performed, if necessary, after the assembly process is performed at the second location PL2.

[0108] (C10) 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.

[0109] (C11) 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.

[0110] (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.

[0111] (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.

[0112] (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.

[0113] (C12) In the second embodiment, the vehicle 100v may be equipped with an internal sensor, and the detection results 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 results of the internal sensor and, when generating a route, reflect the detection results of the internal sensor in the route. The vehicle 100v may acquire the detection results of the internal sensor and, when generating a driving control signal, reflect the detection results of the internal sensor in the driving control signal.

[0114] (C13) In the second embodiment, 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. The vehicle 100v may acquire vehicle position information using the detection results of the internal sensor, determine a target location to which the vehicle 100v should next travel, generate a route from the current location of the vehicle 100v represented in the acquired vehicle position information to the target location, generate a driving control signal for traveling along the generated route, and control the actuator group 120 using the generated driving 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 traffic congestion information from outside the vehicle 100v and reflect the target arrival time or traffic congestion information in at least one of the route and the driving control signal. Furthermore, all of the functional configuration of the system 50v may be provided in 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.

[0115] (C14) 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 part of the platform, a central module that forms the center part of the platform, and a rear module that forms the rear part 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 as a single part by casting. The molding method of integrally molding at least a portion of the module as a single part 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.

[0116] (C15) 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.

[0117] (C16) 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.

[0118] 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]

[0119] 50,50v...system, 100,100v...vehicle, 110...vehicle, 110,110v...vehicle control device, 111,111v...processor, 112,112v...memory, 113...input / output interface, 114...internal bus, 115,115v...vehicle control unit, 116...acquisition unit, 117...decision unit, 118...management unit, 120...actuator group, 130...communication device, 140,140v...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...Acquisition unit, 230...Decision unit, 240...Management unit, 300...External sensor, DM...Detection model, FC...Factory, GC...Global coordinate system, P1...Position, P2...Position, PG1, PG2...Program, PL...Third location, PL1...First location, PL2...Second location, PL3...Third location, RR...Reference route, TR1, TR2, TR3...Runway

Claims

1. A control device for managing a process for manufacturing a moving body through a plurality of processes, the plurality of processes include a first process related to inspection, an assembly process that is performed after the first process and that assembles components onto the moving body, an adjustment that is performed after the first process or the assembly process, and a second process related to inspection that is performed after the assembly process or the adjustment, an acquisition unit that acquires information representing a state of the moving object; a determination unit that determines whether the adjustment and the second process are necessary according to a result of the first process using the information; a management unit that performs or does not perform the adjustment and performs or does not perform the second process according to the determination; A control device comprising:

2. The control device according to claim 1, The first process is performed on the moving object in a platform state; The second process is performed on the moving body in a completed vehicle state. Control device.

3. The control device according to claim 2, The second process includes the same tests as the first process. Control device.

4. The control device according to claim 3, the mobile object is a mobile object that travels within a factory where the plurality of processes are performed, the plurality of steps further includes a moving step that is performed after the first processing or the assembling step and moves the moving body, the management unit performs or does not perform the adjustment, performs or does not perform the second process, and performs the moving step, depending on the determination. Control device.

5. A method for managing a process for manufacturing a moving object through a plurality of processes, comprising: the plurality of processes include a first process related to inspection, an assembly process that is performed after the first process and that assembles components onto the moving body, an adjustment that is performed after the first process or the assembly process, and a second process related to inspection that is performed after the assembly process or the adjustment, acquiring information representing a state of the moving object; determining whether the adjustment is necessary and whether the second processing is necessary according to a result of the first processing using the information; performing or not performing the adjustment and performing or not performing the second processing in response to the determination; A method comprising:

Images