Vehicle manufacturing system and vehicle manufacturing method

Abstract

To provide a vehicle manufacturing system and a vehicle manufacturing method capable of suppressing a communication load and a processing load.SOLUTION: A vehicle manufacturing system 50, which controls a plurality of vehicles 100 so that the same travels in formation during a manufacturing process comprises: calculation means which calculates a control instruction value to control a vehicle speed; a transmitter which transmits a common control instruction value to the vehicle included in a group with two or more vehicles in a formation defined as the group; speed control means which controls the vehicle speed based on the control instruction value; a sensor installed to detect an inter-vehicle distance; and group coordination means which changes the vehicles in the group according to the inter-vehicle distance.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a vehicle manufacturing system, in which vehicles are autonomously controlled or remotely controlled to travel within the 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] In a vehicle manufacturing factory, multiple vehicles are manufactured one after another. When multiple vehicles are transported autonomously, a server or the like transmits control instruction values ​​to the multiple vehicles as wireless signals. If the server individually calculates and transmits control instruction values ​​for each vehicle, the communication load and processing load increase.

[0005] Therefore, an object of the present disclosure is to provide a vehicle manufacturing system and a vehicle manufacturing method that can reduce communication loads and processing loads. [Means for solving the problem]

[0006] The vehicle manufacturing system disclosed herein is a vehicle manufacturing system that controls a plurality of vehicles to travel in a convoy during the manufacturing process, and includes: a calculation means for calculating a control instruction value for controlling the speed of the vehicles; a transmitter that transmits the common control instruction value to the vehicles in a group of two or more of the vehicles in the convoy; a speed control means that controls the speed of the vehicles in accordance with the control instruction value; a sensor that detects the inter-vehicle distance between the vehicles; and a group adjustment means that changes the vehicles in the group in accordance with the inter-vehicle distance.

[0007] In the vehicle manufacturing system, an approaching vehicle whose inter-vehicle distance to the preceding vehicle has become smaller than a first threshold value may be detected, and the approaching vehicle may be separated from the group of preceding vehicles ahead of the approaching vehicle.

[0008] In the above vehicle manufacturing system, a delayed vehicle whose inter-vehicle distance to a preceding vehicle has become greater than a second threshold may be detected, and the delayed vehicle and the preceding vehicle ahead of the delayed vehicle may be set in separate groups.

[0009] In the vehicle manufacturing system, when it is detected that the variation in the inter-vehicle distance has become larger than a third threshold, the calculation means calculates the control instruction value individually for each of the vehicles,

[0010] In the vehicle manufacturing system, the transmitter may transmit the control instruction value to each vehicle.

[0011] In the vehicle manufacturing system, the transmitter may transmit an individual control instruction value to the vehicle when the vehicle reaches a predicted location where the inter-vehicle distance is predicted to vary.

[0012] The vehicle manufacturing system may further include a camera that captures an image of any one of the vehicles in the convoy, and the calculation means may calculate the control instruction value based on the image captured by the camera.

[0013] The vehicle manufacturing method disclosed herein is a vehicle manufacturing system that controls a plurality of vehicles to travel in a convoy during the manufacturing process, and includes the steps of: calculating a control instruction value for controlling the speed of the vehicles; detecting the inter-vehicle distance between adjacent vehicles based on the detection results of a sensor; transmitting the common control instruction value to the vehicles in a group of two or more vehicles included in the convoy, using a transmitter; controlling the speed of the vehicles in accordance with the control instruction value; and changing the vehicles in the group in accordance with the inter-vehicle distance.

[0014] In the vehicle manufacturing method described above, an approaching vehicle whose inter-vehicle distance to a preceding vehicle has become smaller than a first threshold may be detected, and the approaching vehicle may be separated from a group of preceding vehicles ahead of the approaching vehicle.

[0015] In the above vehicle manufacturing method, a delayed vehicle whose inter-vehicle distance to a preceding vehicle has become greater than a second threshold may be detected, and the delayed vehicle and the preceding vehicle ahead of the delayed vehicle may be set in separate groups.

[0016] In the above vehicle manufacturing method, when it is detected that the variation in the inter-vehicle distance has become greater than a third threshold, the calculation means may calculate the control instruction value individually for each of the vehicles, and the transmitter may transmit the control instruction value to each vehicle.

[0017] In the vehicle manufacturing method described above, the transmitter may transmit an individual control instruction value to the vehicle when the vehicle reaches a predicted location where the inter-vehicle distance is predicted to vary.

[0018] In the vehicle manufacturing method described above, the control instruction value may be calculated based on an image captured by a camera that captures an image of one of the vehicles in the platoon. [Effects of the Invention]

[0019] The present disclosure makes it possible to provide a vehicle manufacturing system and a vehicle manufacturing method that can reduce communication loads and processing loads. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a schematic diagram showing an overall configuration of a vehicle manufacturing system according to a first embodiment; [Figure 2] FIG. 1 is a schematic diagram showing a portion of a vehicle manufacturing system. [Figure 3] FIG. 2 is a block diagram showing a control system of the vehicle manufacturing system. [Figure 4] FIG. 10 is a schematic diagram for explaining an example of group control. [Figure 5] FIG. 10 is a schematic diagram for explaining an example of group control. [Figure 6] FIG. 10 is a schematic diagram for explaining an example of group control. [Figure 7] 1 is a flowchart illustrating a vehicle manufacturing method. [Figure 8] FIG. 10 is a schematic diagram for explaining an example of group control according to the second embodiment. [Figure 9] 1 is a flowchart illustrating a vehicle manufacturing method. [Figure 10] FIG. 2 is a diagram for explaining vehicle travel control. [Figure 11] FIG. 2 is a control block diagram for explaining a first example of driving control. [Figure 12] 1 is a flowchart illustrating a first example of driving control. [Figure 13] FIG. 10 is a control block diagram for explaining a second example of driving control. [Figure 14] 10 is a flowchart illustrating a second example of driving control. DETAILED DESCRIPTION OF THE INVENTION

[0021] 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.

[0022] Embodiment 1 Vehicle Manufacturing System A vehicle manufacturing system 50 according to this embodiment will be described with reference to Figures 1 and 2. Figure 1 is a schematic diagram showing the configuration of vehicle manufacturing system 50. Figure 2 is a schematic diagram showing two vehicles 100 in motion. For the sake of explanation, Figure 1 shows an XY Cartesian coordinate system.

[0023] The vehicle manufacturing system (also simply referred to as the system) 50 is used in a vehicle manufacturing plant where vehicles 100 are manufactured. Alternatively, the vehicle manufacturing system 50 may also be used at a transport location where transport processes such as transport to a yard and shipping are carried out. The vehicle manufacturing system 50 may perform the following control on vehicles during the transport process. As shown in FIG. 1, the vehicle manufacturing system 50 includes a server 200, a sensor 300, and a robot 600. The multiple vehicles 100 are autonomous vehicles that can move autonomously during the manufacturing process. The vehicle manufacturing system 50 controls the multiple vehicles 100 so that they travel in a convoy.

[0024] The sensor 300 is equipped with a communication device 330 that transmits and receives data to and from the server 200. The server 200 is equipped with a communication device 230 that transmits and receives data to and from the sensor 300. Furthermore, as shown in FIG. 2 , the communication device 230 has a function of transmitting and receiving data to and from the vehicle 100. Furthermore, the vehicle 100 is equipped with a communication device 130 that receives data from the server 200. Each vehicle 100 is equipped with a communication device 130.

[0025] The communication device 130, the communication device 230, and the communication device 330 may each be a general-purpose device such as a network hub or a router device. The communication device 130, the communication device 230, and the communication device 330 use, for example, general-purpose wireless communication such as Wi-Fi (registered trademark). An address for identifying a communication partner is set in each of the communication devices 130, the communication device 230, and the communication device 330. The communication address is, for example, an IP (Internet Protocol) address.

[0026] Each vehicle 100 is an unfinished vehicle. As shown in FIG. 1, the vehicle 100 travels along a predetermined track TR. As the vehicle 100 travels along the track TR, the vehicle 100 is manufactured. Specifically, while the vehicle 100 is traveling along the track, workers (not shown) or robots 600 or the like assemble parts, operate switches, weld, inspect, and the like. In this way, the work of each manufacturing process is carried out. Then, the work of each manufacturing process is carried out in a predetermined order, and the vehicle 100 is manufactured.

[0027] A plurality of vehicles 100 travel in a platoon. Specifically, the vehicles 100 travel at a constant speed so that the vehicle distance is constant at a predetermined distance. Furthermore, the speeds of the plurality of vehicles 100 are the same. The travel path TR has a straight region TR1 where the vehicles 100 travel straight and a turning region TR2 where the vehicles 100 turn. In the straight region TR1, the travel path TR is linear.

[0028] The turning region TR2 is a location where the vehicle 100 changes direction. In the turning region TR2, the vehicle 100 makes a U-turn. In the turning region TR2, for example, the track TR is an arc with a predetermined radius of curvature. In the turning region TR2, the track TR is a semicircle. The turning region TR2 is provided at both ends of the straight-line region TR1. For example, when the vehicle 100 travels in the +X direction through the straight-line region TR1, it reaches the turning region TR2. When the vehicle 100 turns 180 degrees through the turning region TR2, it travels in the -X direction through the straight-line region TR1. Conversely, when the vehicle travels in the -X direction through the straight-line region TR1, it reaches the turning region TR2. When the vehicle 100 turns 180 degrees through the turning region TR2, it travels in the +X direction through the straight-line region TR1. In this way, the vehicle 100 passes through the straight-line region TR1 and the turning region TR2 alternately, and is sequentially manufactured.

[0029] Furthermore, the turning region TR2 is a predicted location P2 where a change in the inter-vehicle distance is predicted. For example, if the vehicle 100 is controlled to decelerate when turning, a change occurs in the inter-vehicle distance between the front and rear vehicles. Therefore, the turning region TR2 is a predicted location P2 where a change in the inter-vehicle distance is predicted.

[0030] Furthermore, a predicted location P1 where a change in the inter-vehicle distance is predicted is set in a part of the straight-ahead region TR1. The predicted location P1 is, for example, a slope, a stop-and-go assembly location, or a location where a force in the longitudinal direction is applied due to a manufacturing process. The slope is, for example, an uphill or downhill slope. On a slope, the vehicle 100 may accelerate or decelerate due to gravity. Therefore, a slope is a predicted location P1 where a change in the inter-vehicle distance is predicted.

[0031] The assembly location of STOP&GO is a location where the vehicle 100 stops temporarily. For example, when the robot 600 performs welding or assembly, the vehicle 100 stops. When the vehicle 100 moves into the range of movement of the robot 600, it stops. Then, while the vehicle 100 is stopped, the robot 600 performs the assembly or welding operation. When the vehicle 100 stops temporarily, the inter-vehicle distance changes. Therefore, the assembly location of STOP&GO is a predicted location P1 where a change in the inter-vehicle distance is predicted.

[0032] The location where a force is applied in the longitudinal direction during the manufacturing process is, for example, a work location where a worker pushes a part onto the vehicle from the front or rear to assemble it. When the worker pushes in the longitudinal direction to assemble the part, the vehicle 100 accelerates or decelerates. The predicted location P1 and the predicted location P2 are associated with map information of the factory stored in the server 200, for example. For example, the server 200 stores map information in which coordinates indicating the predicted locations P1 and P2 are set. Control at the predicted location P1 and the predicted location P2 will be described later.

[0033] The sensor 300 is a camera that captures images of the vehicles 100 while they are moving or stopped. The sensor 300 captures images of one or more vehicles 100. The sensor 300 is provided to detect the distance between the vehicles. Based on the images captured by the sensor 300, the server 200 can detect the position of the vehicles 100 within the factory. For example, the sensor 300 is installed on a wall, pillar, ceiling, etc. of the factory, and captures images of the vehicles 100 from diagonally above. The sensor 300 captures images with an angle of view that includes two or more vehicles 100 forming a line. The sensor 300 is set at the same height as the vehicles 100, and may capture images of two or more vehicles 100 from the side.

[0034] The communication device 330 transmits the captured images captured by the sensor 300 to the server 200. The communication device 330 may transmit not only the captured images but also information obtained from the captured images to the server 200. In other words, the communication device 330 transmits the detection results detected by the sensor 300. The communication device 330 may be built into the sensor 300 or may be a separate device. The communication device 330 may also be shared by multiple sensors 300. In other words, when multiple sensors 300 are installed, one communication device 330 may transmit data to the server 200.

[0035] In this way, when the sensor 300 captures an image of the vehicle 100, the communication device 330 transmits the captured image, etc. to the server 200. The communication device 230 receives the captured image data from the sensor 300. The server 200 performs predetermined image processing on the captured image of the sensor 300, thereby estimating the inter-vehicle distance. For example, the server 200 calculates inter-vehicle distances D1 to D4, etc., between the multiple vehicles 100 forming the platoon. The number of vehicles forming the platoon is not particularly limited, and may be three or more.

[0036] Furthermore, the sensor 300 for detecting the inter-vehicle distance is not limited to a camera. The sensor for detecting the inter-vehicle distance may be various sensors such as an RGB camera, a far-infrared camera, or LiDAR. The sensor 300 is not limited to an optical sensor, and may be a radar. Of course, two or more sensors 300 may be installed, or two or more types of sensors 300 may be used in combination. For example, the sensor 300 may include a LiDAR and a camera.

[0037] The communication device 330 transmits the detection result to the server 200. As described above, the detection result transmitted by the sensor 300 may be a captured image or information extracted from the image. For example, if the sensor 300 has an image processing function, the sensor 300 transmits information extracted by image processing to the server 200.

[0038] 2, the sensor 300 may be mounted on the vehicle 100. For example, the sensor 300 may be an in-vehicle camera, LiDAR, radar, or the like. If the sensor 300 is an in-vehicle camera, the sensor 300 captures an image of the vehicle 100 ahead. If the sensor 300 is an in-vehicle LiDAR, the sensor 300 measures the distance to the vehicle 100 ahead. The communication device 130 transmits the image and the measurement results to the server 200.

[0039] The server 200 controls the vehicles 100 so that the vehicles 100 move along the road TR. Furthermore, the server 200 controls the vehicles 100 so that the vehicles 100 travel in a platoon. For example, the vehicles 100 travel in a single file along the road TR. The server 200 transmits a control signal to each vehicle 100 via the communication device 230.

[0040] The control system of vehicle manufacturing system 50 will be described below with reference to Fig. 3. Fig. 3 is a block diagram showing the control system of vehicle manufacturing system 50. Fig. 3 is a schematic diagram for explaining communication processing in vehicle manufacturing system 50. Fig. 3 shows one vehicle 100 and one sensor 300, but as shown in Fig. 1, a plurality of vehicles 100 and sensors 300 are provided.

[0041] The server 200 includes a communication device 230, a position calculation unit 252, a calculation unit 253, an inter-vehicle distance calculation unit 254, a group control unit 255, an address assignment unit 256, and an address management unit 257. The vehicle 100 includes a vehicle control unit 115, an actuator group 120, and a communication device 130. The sensor 300 includes the communication device 130. Note that the server 200 is not limited to being a single physical device, and may be located in a distributed manner. For example, a database or the like may be a storage device or a cloud server provided separately from the processor.

[0042] In the following description, a configuration will be described in which the position calculation unit 252, the calculation unit 253, the inter-vehicle distance calculation unit 254, the group control unit 255, the address assignment unit 256, and the address management unit 257 are mounted on the server 200, but the position calculation unit 252, the calculation unit 253, the inter-vehicle distance calculation unit 254, or the group control unit 255 may be mounted on the sensor 300 or the vehicle 100. In other words, the processing in the calculation unit 253, the position calculation unit 252, the inter-vehicle distance calculation unit 254, and the group control unit 255 may be performed by the vehicle 100 or the sensor 300.

[0043] The position calculation unit 252 calculates position information indicating the position and orientation of the vehicle based on the captured image. For example, the position calculation unit 252 can determine the XYZ global coordinates and orientation on a map of the factory. At least a part of the processing in the position calculation unit 252 may be provided in the sensor 300. For example, the sensor 300 may have a processor that performs image processing. In this case, position information indicating the position of the vehicle 100 and the like is transmitted from the communication device 330 to the server 200. The position calculation unit 252 identifies the position of the vehicle 100 on the map shown in the map information.

[0044] The position and orientation of the vehicle 100 may be estimated using captured images acquired by a sensor 300 installed at a location different from the vehicle 100. The position of the vehicle 100 can be acquired, for example, by calculating the coordinates of the positioning point of the moving object in an image coordinate system using the outer shape of the vehicle 100 detected from the captured image and converting the calculated coordinates into coordinates in a global coordinate system. The orientation of the vehicle 100 can be estimated based on the direction of the movement vector of the moving object calculated from positional changes of feature points of the moving object between frames of the captured image using, for example, an optical flow method. The orientation of the vehicle 100 may be calculated, for example, using the output result of a yaw rate sensor or the like mounted on the vehicle 100.

[0045] The outer shape of the vehicle 100 contained in the captured image can be detected, for example, by inputting the captured image into a detection model that utilizes artificial intelligence. Examples of the detection model include a trained machine learning model that has been trained to achieve either semantic segmentation or instance segmentation. This machine learning model can be, for example, a convolutional neural network (CNN) trained by supervised learning using a training dataset. The training dataset includes, for example, a plurality of training images including moving objects and correct labels indicating whether each region in the training image represents a moving object or a non-moving object. During training of the CNN, it is preferable to update the parameters of the CNN using backpropagation (error backpropagation) to reduce the error between the output result of the detection model and the correct labels.

[0046] The calculation unit 253 calculates a control instruction value for controlling the vehicle 100. The calculation unit 253 calculates the control instruction value based on the position of the vehicle 100. The calculation unit 253 issues a control instruction so that the vehicle 100 moves along the road TR. Here, the control instruction value may include a speed instruction value for controlling the speed of the vehicle and a steering angle instruction value for controlling the steering angle of the vehicle. The speed instruction value may be information indicating, for example, the speed or acceleration of the vehicle 100. The steering angle instruction value is information indicating the steering angle of the vehicle 100. The calculation unit 253 generates a control instruction value related to the movement of the vehicle 100. In this way, the calculation unit 253 creates a control instruction related to the movement of the vehicle 100.

[0047] The communication device 230 includes a receiver 231 and a transmitter 232. The receiver 231 receives various signals, data, and the like from the sensor 300 and the vehicle 100. For example, the receiver 231 receives data indicating the detection results of the sensor 300. Note that the data received from the sensor 300 may be image data or data extracted from the image data.

[0048] The transmitter 232 transmits various signals, data, and the like to the sensor 300 and the vehicle 100. For example, the transmitter 232 transmits a control instruction value to the vehicle 100. Of course, the server 200 may transmit and receive data other than the above. For communication between the receiver 231 and the transmitter 232, processing in accordance with a general-purpose communication standard such as Wi-Fi (registered trademark) can be used.

[0049] The communication device 130 of the vehicle 100 is a wireless terminal device for wirelessly communicating with the server 200. An IP (Internet Protocol) address and the like are set in the communication device 130. When the communication device 130 of the vehicle 100 receives a control instruction value, the vehicle 100 moves in accordance with the control instruction value. The actuator group 120 includes a wheel motor for driving the wheels, a steering motor for controlling the steering angle, a brake for stopping the vehicle, and the like. The vehicle control unit 115 generates a control signal for controlling the actuator group 120 in accordance with the control instruction. The vehicle control unit 115 may be configured with an ECU (Electronic Control Unit). This allows the vehicle 100 to move along the road TR.

[0050] The address assignment unit 256 assigns communication addresses to the vehicle 100 and its communication device 130. For example, the address assignment unit 256 assigns an address to the communication device 130 before the vehicle 100 starts traveling on the road TR. Alternatively, the address may be linked to the ID of the vehicle 100. Furthermore, the address assignment unit 256 assigns an address to the communication device 130 or the vehicle 100 so that the traveling order and the address can be associated. As will be described later, when the platoon is not disordered, the address assignment unit 256 may assign a common address to the communication devices 130 of multiple vehicles. Furthermore, when the platoon is disordered, the address assignment unit 256 may assign individual addresses to the communication devices 130 of multiple vehicles. The address assignment unit 256 may perform the address assignment process before the start of autonomous transport production, or may perform it each time control is switched.

[0051] The address management unit 257 manages communication addresses throughout the factory. The address management unit 257 manages whether each address is in use or unused. For example, the address management unit 257 has a database for managing addresses. The address management unit 257 manages the addresses of vehicles 100 currently being transported as in use. For vehicles 100 that have been manufactured, an unused flag is set. This changes the addresses that are in use to unused addresses. The address management unit 257 may reuse the unused addresses to control the next vehicle 100.

[0052] The inter-vehicle distance calculation unit 254 calculates the inter-vehicle distance between adjacent vehicles 100 based on the detection result of the sensor 300. For example, the inter-vehicle distance calculation unit 254 calculates the inter-vehicle distance by performing image processing on the image of the vehicle 100 captured by the sensor 300. The inter-vehicle distance calculation unit 254 may calculate the inter-vehicle distance based on position information. Alternatively, the inter-vehicle distance may be calculated from the measurement result of a LiDAR or the like mounted on the vehicle 100.

[0053] The group control unit 255 changes the vehicles 100 included in the group based on the inter-vehicle distance. For example, the inter-vehicle distance to the preceding and following vehicles 100 is calculated for each vehicle 100. For example, as shown in FIG. 1, the inter-vehicle distance calculation unit 254 calculates inter-vehicle distances D1 to D4 for the multiple vehicles 100 forming the platoon. A threshold value indicating a reference distance is set in the group control unit 255. The group control unit 255 controls the vehicles 100 included in the group based on the result of comparing the threshold value with the inter-vehicle distance.

[0054] For example, the group control unit 255 stores in advance at least one of a first threshold value, which is the lower limit of a reference range for inter-vehicle distance, and a second threshold value, which is the upper limit. The group control unit 255 compares the inter-vehicle distance with the threshold value. If one or more of the inter-vehicle distances D1 to D4 fall outside the reference range, the group control unit 255 changes the number of vehicles included in the group. If the vehicle 100 gets too close to or too far away from the vehicle ahead, the group control unit 255 assigns the preceding and succeeding vehicles to different groups. The group control unit 255 dynamically changes each group based on the detection results of the sensor 300. Details of the group control unit 255 will be described later.

[0055] When transmitting control instruction values ​​to multiple vehicles 100, the server 200 may switch between group control and individual control. In group control, the server 200 transmits a common control instruction value to two or more vehicles 100 as a group. Specifically, multiple vehicles 100 arranged in a single file belong to one group. The server 200 transmits the same control instruction value to two or more vehicles 100 that belong to the group. In individual control, the server 200 transmits an individual control instruction value to each vehicle 100.

[0056] When the communication device 130 receives the control instruction value, the vehicle control unit 115 generates a control signal to control the actuator group 120 according to the control instruction value. For example, the vehicle control unit 115 controls the wheel motors, etc., so as to achieve the speed and acceleration indicated by the control instruction value.

[0057] For example, in the straight-ahead region TR1, the calculation unit 253 generates a common control instruction value for the multiple vehicles 100 in the platoon. In the case of group control, the calculation unit 253 generates the same speed instruction value for the multiple vehicles 100 lined up in a line. Then, the transmitter 232 transmits the common control instruction value to the multiple vehicles 100. Therefore, the multiple vehicles 100 belonging to the group can travel at the same speed.

[0058] In this way, the computational load and communication load on the server 200 can be reduced. For example, control instruction values ​​such as speed or acceleration are common to multiple vehicles 100. Therefore, the server 200 does not need to perform processing to calculate a control instruction value for each vehicle 100. For example, the computation unit 253 calculates a control instruction value for the leading vehicle 100 in the platoon. Then, the transmitter 232 transmits the control instruction value by multicast to the leading vehicle 100 and the following vehicles 100. The transmitter 232 can transmit the control instruction value by multicast to multiple vehicles 100. Therefore, an increase in the communication load can be reduced.

[0059] An example of group control in group control unit 255 will be described below with reference to Figs. 4 to 6. In Fig. 4 etc., seven vehicles are shown as vehicles 100a to 100g. The seven vehicles 100a to 100g are traveling straight along road TR. The vehicles 100a to 100g are traveling in a single file formation. The inter-vehicle distance between the first vehicle 100a and the second vehicle 100b is taken as inter-vehicle distance D1. The inter-vehicle distance between the second vehicle 100b and the third vehicle 100c is taken as inter-vehicle distance D2. Similarly, the subsequent inter-vehicle distances are taken as inter-vehicle distances D3 to D6.

[0060] (Group control example 1) Group control example 1 in group control unit 255 will be described with reference to Fig. 4. A first threshold value TH1 is set in group control unit 255. Group control unit 255 compares the deviations between inter-vehicle distances D1 to D6 with first threshold value TH1.

[0061] FIG. 4 is a schematic diagram for explaining the processing when vehicles 100 approach each other. Here, it is assumed that the inter-vehicle distance D3 is smaller than the first threshold value TH1. The group control unit 255 detects that the fourth vehicle 100d is an approaching vehicle whose forward inter-vehicle distance D3 has become smaller than the first threshold value TH1. Furthermore, the vehicle 100c immediately preceding the vehicle 100d is designated as the preceding vehicle 100c. The group control unit 255 separates the approaching vehicle 100d from the group that includes the preceding vehicle 100c. Specifically, the group control unit 255 groups the vehicles 100a to 100c into a first group G1, and the vehicles 100d to 100g into a second group G2.

[0062] The calculation unit 253 calculates different control instruction values ​​for the first group G1 and the second group G2. For example, the calculation unit 253 calculates the control instruction values ​​so that the vehicles 100d-100g of the second group G2 move slower than the vehicles 100a-100c of the first group G1. In other words, the vehicles 100a-100c move forward at a higher speed than the vehicles 100d-100g. In this way, the vehicles 100d-100g of the second group G2 gradually move away from the vehicles 100a-100c of the first group G1. Then, as shown in FIG. 5, when the inter-vehicle distance D3 becomes larger than the first threshold value TH1, the group control unit 255 groups the vehicles 100a-100g into one group G.

[0063] In this way, when the inter-vehicle distance becomes too close, the group control unit 255 adjusts the vehicles belonging to the group. This allows the approaching vehicle 100d, which has come too close, to move away from the leading vehicle 100c, thereby avoiding contact.

[0064] (Group control example 2) Group control example 2 in group control unit 255 will be described using Fig. 6. Fig. 6 is a schematic diagram for explaining the processing when vehicles move away. A second threshold value TH2 is set in group control unit 255. The second threshold value TH2 is a value greater than the first threshold value TH1.

[0065] Here, it is assumed that the inter-vehicle distance D4 is greater than the second threshold value TH2. The group control unit 255 detects that the fifth vehicle 100e is a delayed vehicle whose forward inter-vehicle distance D4 has become greater than the second threshold value TH2. Furthermore, the vehicle 100d immediately preceding the delayed vehicle 100e is designated as the leading vehicle. The group control unit 255 separates the delayed vehicle 100e from the group of leading vehicle 100d. Specifically, the group control unit 255 groups the vehicles 100a to 100d into a first group G1, and the vehicles 100e to 100g into a second group G2.

[0066] The calculation unit 253 calculates different control instruction values ​​for the first group G1 and the second group G2. For example, the calculation unit 253 calculates the control instruction values ​​so that the vehicles 100e-100g of the second group G2 move faster than the vehicles 100a-100d of the first group G1. In other words, the vehicles 100a-100d move forward at a slower speed than the vehicles 100e-100g. In this way, the vehicles 100e-100g of the second group G2 gradually approach the vehicles 100a-100d of the first group G1. Then, as shown in FIG. 5, when the inter-vehicle distance Dd becomes greater than the second threshold value TH2, the group control unit 255 groups the vehicles 100a-100g into one group G.

[0067] In this way, when the inter-vehicle distance becomes too large, the group control unit 255 adjusts the vehicles belonging to the group. This allows the delayed vehicle 100e to get closer to the leading vehicle 100d, thereby enabling efficient production of vehicles.

[0068] In this way, even if the formation becomes disorganized, the formation can be resolved. In other words, multiple vehicles 100 can travel in formation at regular intervals. This allows vehicles 100 to be manufactured more safely and efficiently, thereby improving productivity.

[0069] Fig. 7 is a flowchart showing a vehicle manufacturing method according to this embodiment. The vehicle manufacturing method will be described with reference to Fig. 7. As described above, it is assumed that a plurality of vehicles 100 forming a convoy are traveling along a road TR.

[0070] The sensor 300 detects the vehicle 100 (S11). If the sensor 300 is a camera, the sensor 300 captures an image of the vehicle 100. Next, the inter-vehicle distance calculation unit 254 calculates the inter-vehicle distance based on the detection result of the sensor 300 (S12). Here, the inter-vehicle distance calculation unit 254 performs image processing and the like to calculate the inter-vehicle distance between the multiple vehicles 100 forming the platoon.

[0071] Next, the group control unit 255 determines whether the inter-vehicle distance is smaller than a first threshold value TH1 (S13). If the inter-vehicle distance is not smaller than the first threshold value TH1 (NO in S13), the group control unit 255 determines whether the inter-vehicle distance is larger than a second threshold value TH2 (S14).

[0072] If the inter-vehicle distance is smaller than the first threshold TH1 (YES in S13) or if the inter-vehicle distance is larger than the second threshold TH2 (YES in S14), the group control unit 255 changes the vehicles belonging to the group (S15). For example, if the inter-vehicle distance is smaller than the first threshold TH1, the group control unit 255 separates the groups using the boundary between the leading vehicle and the approaching vehicle. If the inter-vehicle distance is larger than the second threshold TH2, the group control unit 255 separates the groups using the boundary between the leading vehicle and the delayed vehicle.

[0073] The calculation unit 253 calculates a control instruction value for each group (S16). For example, a control instruction value is calculated for each of the vehicles 100 in the first group and the vehicles 100 in the second group. The transmitter 232 transmits the control instruction value to each vehicle 100 (S17). The vehicle control unit 115 controls the vehicles 100 so that they travel at a speed or acceleration indicated by the common control instruction value. As a result, the vehicles 100 in the first group and the vehicles 100 in the second group travel at different speeds.

[0074] If the inter-vehicle distance is not greater than the second threshold value TH2 (NO in S14), the calculation unit 253 calculates a control instruction value (S18). In this way, if the inter-vehicle distance is within an appropriate range, the calculation unit 253 calculates a common control instruction value for the vehicles 100 belonging to one group. The calculation unit 253 calculates a common control instruction value for multiple vehicles 100. This makes it possible to suppress an increase in processing load. The transmitter 232 transmits the control instruction value to each vehicle 100 (S19). The vehicle control unit 115 performs control so that the multiple vehicles 100 travel at the speed or acceleration indicated by the common control instruction value. This makes it possible to suppress an increase in communication load.

[0075] Embodiment 2 In the second embodiment, when there is a large variation in inter-vehicle distances, the server 200 changes the vehicles belonging to the group. The operation in the second embodiment will be described below with reference to FIG. 8. Note that the basic configuration and processing are the same as those in the first embodiment, and therefore a description thereof will be omitted. Furthermore, the second embodiment may be implemented together with the first embodiment, or may be implemented independently.

[0076] (Group control example 3) FIG. 8 is a schematic diagram illustrating the operation of group control example 3 in group control unit 255. In FIG. 8, seven vehicles 100a to 100g are traveling, as in FIG. 4 etc. FIG. 8 shows a platoon when the variation in inter-vehicle distances has increased. A third threshold value TH3 is set in group control unit 255. The third threshold value TH3 is a value for determining whether the variation in inter-vehicle distances is large. The variation in inter-vehicle distances is expressed, for example, by the standard deviation of inter-vehicle distances D1 to D6. It is also assumed that inter-vehicle distances D1 to D6 are each between the first threshold value TH1 and the second threshold value TH2.

[0077] The group control unit 255 calculates the standard deviation of the multiple inter-vehicle distances D1 to D6. The group control unit 255 compares the standard deviation with a third threshold value TH3. If the group control unit 255 detects that the standard deviation is greater than the third threshold value TH3, the group control unit 255 changes the vehicles belonging to the group. Specifically, the group control unit 255 switches to individual control. In individual control, the calculation unit 253 calculates individual control instruction values ​​for each of the vehicles 100. The calculation unit 253 calculates control instruction values ​​for the vehicles 100a to 100g according to the inter-vehicle distances. In other words, the vehicles 100a to 100g each move forward at a different speed.

[0078] The calculation unit 253 calculates a speed control value so that the inter-vehicle distance to the vehicle ahead approaches a predetermined value. In other words, when the inter-vehicle distance to the vehicle ahead is relatively large, the rear vehicle is made to travel faster than the vehicle ahead so that the rear vehicle approaches the vehicle ahead. When the inter-vehicle distance to the vehicle ahead is relatively small, the rear vehicle is made to travel slower than the vehicle ahead so that the rear vehicle moves away from the vehicle ahead. This reduces the variation in inter-vehicle distance. Therefore, when the variation in inter-vehicle distance becomes smaller than the third threshold value TH3, vehicles 100a to 100g become one group G, as shown in FIG. 5.

[0079] In group control, the server 200 may use the addresses of multiple vehicles 100 as a common address. For example, it is assumed that the radio of each vehicle 100 is assigned an IP address as a destination address. It is also assumed that the server 200 is configured to rewrite the IP addresses. In other words, the server 200 manages IP addresses in the factory in a database. The server 200 also manages whether each IP address is in use or unused.

[0080] In group control, the address assignment unit 256 assigns a common IP address to multiple vehicles 100. By assigning the same IP address to multiple vehicles 100, the server 200 can easily perform group control of multiple vehicles 100. In group control, the address assignment unit 256 assigns a common address to multiple vehicles 100 belonging to a group. Using one IP address as a destination address, the transmitter 232 multicasts a common control instruction value.

[0081] When switching between group control and individual control, server 200 transmits a signal to vehicle 100 to rewrite the IP address. When switching to group control, the IP address is rewritten so that the communication device 130 of vehicle 100 has a common address. When switching to individual control, the IP address is rewritten so that the communication device 130 of vehicle 100 has an individual address. Then, communication device 130 transmits a signal to server 200 indicating that the IP address has been rewritten. Upon receiving the signal from communication device 130, server 200 rewrites the data in the database to manage IP addresses.

[0082] FIG. 9 is a flowchart showing a vehicle manufacturing method according to this embodiment. The vehicle manufacturing method will be described with reference to FIG. 9. As described above, it is assumed that a plurality of vehicles 100 forming a convoy are traveling along a road TR. First, the server 200 pre-assigns a unicast IP address and a multicast IP address to each vehicle 100 (S21). As a result, two addresses are assigned to the communication device 130 of one vehicle 100. The multicast IP address is common to the plurality of vehicles 100. The unicast IP address is assigned individually to each of the plurality of vehicles 100.

[0083] The sensor 300 detects the vehicle 100 (S22). If the sensor 300 is a camera, the sensor 300 captures an image of the vehicle 100. Next, the inter-vehicle distance calculation unit 254 calculates the inter-vehicle distance based on the detection result of the sensor 300 (S23). Here, the inter-vehicle distance calculation unit 254 performs image processing and the like to calculate the inter-vehicle distance between the multiple vehicles 100 forming the platoon.

[0084] Next, the group control unit 255 determines whether the variation in inter-vehicle distance is smaller than a third threshold value TH3 (S24). If the variation in inter-vehicle distance is not larger than the third threshold value TH3 (NO in S24), the calculation unit 253 calculates a common control instruction value for the plurality of vehicles 100 (S25). This makes it possible to suppress an increase in the processing load. The transmitter 232 transmits the control instruction value to a multicast IP address (S26). A common multicast IP address is set for the vehicles 100 belonging to the group. By the transmitter 232 performing multicast transmission, it is possible to suppress an increase in the communication load.

[0085] If the variation in inter-vehicle distance is greater than the third threshold value TH3 (YES in S24), the calculation unit 253 calculates individual control instruction values ​​for the multiple vehicles 100 (S27). The transmitter 232 transmits the control instruction values ​​to the unicast IP address (S28). This makes it possible to transmit appropriate control instruction values ​​to each vehicle. This makes it possible to suppress variation in inter-vehicle distance.

[0086] Furthermore, at the predicted locations P1 and P2 where the inter-vehicle distance is predicted to fluctuate, the server 200 may switch the vehicle 100 to individual control. For example, when the vehicle 100 enters the predicted locations P1 and P2, the server 200 switches the vehicle 100 to individual control. That is, the server 200 excludes the vehicle 100 at the predicted locations P1 and P2 from the group of the group control. Because a disturbance in the inter-vehicle distance is predicted at the predicted locations P1 and P2, the server 200 switches the vehicle 100 to individual control. In this way, disruption of the platoon can be avoided in advance. Furthermore, when the vehicle 100 passes through the predicted locations P1 and P2, the server 200 may switch the vehicle 100 back to group control. When the vehicle 100 passes through the predicted locations P1 and P2, the server 200 performs a process of returning the vehicle 100, which was under individual control, to the group again.

[0087] At the predicted locations P1 and P2, the server 200 may switch to individual control. The server 200 may perform the control. In other words, the transmitter 232 may transmit individual control instruction values ​​to the vehicles 100 that have reached the predicted locations P1 and P2 where the inter-vehicle distance is predicted to fluctuate. When the vehicles 100 enter the predicted locations P1 and P2, the server 200 switches from group control to individual control. At the predicted locations P1 and P2, the server 200 transmits individual control instruction values ​​to each vehicle 100. The vehicles 100 at the predicted locations P1 and P2 travel at individual vehicle speeds. Each vehicle 100 can travel at an appropriate speed.

[0088] Furthermore, when the vehicle 100 leaves the predicted locations P1 and P2, the server 200 switches from individual control to group control. In this way, the vehicles 100 other than those at the predicted locations P1 and P2 switch to group control. The server 200 transmits a common control instruction value to the multiple vehicles 100 traveling other than those at the predicted locations P1 and P2. This makes it possible to suppress an increase in communication load.

[0089] In the above description, an example has been described in which a speed command value relating to speed is switched from group control to individual control, but a steering angle command value relating to steering angle may also be switched from group control to individual control. For example, in the straight-ahead region TR1, the server 200 transmits a common steering angle as a steering angle command value to the multiple vehicles 100 belonging to the group.

[0090] Further, the sensor 300 may include a camera that images any vehicle in the queue. By doing so, the inter-vehicle distances D1 to D3 of the plurality of vehicles 100 can be appropriately detected respectively. Then, the arithmetic unit 253 calculates a control instruction value based on the imaging result by the camera. For example, the arithmetic unit 253 calculates the position and inter-vehicle distance of the vehicle 100 by image processing. The arithmetic unit 253 obtains a control instruction value for the leading vehicle 100. In group control, a common control instruction value is transmitted to the vehicles 100 in the group including the leading vehicle 100. By doing so, an increase in communication load can be suppressed and the vehicles 100 in the queue can be driven accurately. For example, the sensor 300 may image the leading vehicle in the queue. Of course, the sensor 300 may image two or more vehicles.

[0091] Hereinafter, a driving control example for controlling the driving of the vehicle 100 in the system will be described.

[0092] <A. Driving Control Example 1> FIG. 10 is a conceptual diagram showing the configuration of the system 50 in Driving Control Example 1. The system 50 includes a plurality of vehicles 100 as moving bodies, a server 200, and one or more sensors 300.

[0093] When the moving body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "moving body", and the expression "driving" can be appropriately replaced with "moving".

[0094] 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."

[0095] 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.

[0096] 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, a plurality of sensors 300 are installed along the road TR. The position of each 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.

[0097] 11 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.

[0098] 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.

[0099] 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.

[0100] 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 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.

[0101] 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.

[0102] The sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the sensor 300 is a sensor that captures the vehicle 100 from outside the vehicle 100. The 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.

[0103] Specifically, the sensor 300 is configured by a camera. The camera as the sensor 300 captures an image including the vehicle 100 and outputs the captured image as a detection result.

[0104] 12 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. 12, the processor 201 of the server 200 executes the program PG2 to function as the remote control unit 210. Also, the processor 111 of the vehicle 100 executes the program PG1 to function as the vehicle control unit 115.

[0105] 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 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 sensor 300.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] <B:Driving Control Example 2> FIG. 13 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. Regarding other configurations, they are the same as above unless otherwise specified.

[0112] 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, a detection model DM and a reference route RR are stored in the memory 112v in advance.

[0113] FIG. 14 is a flowchart showing the processing procedure of the driving control of the vehicle 100v in Example 2. In the processing procedure of FIG. 14, the processor 111v of the vehicle 100v functions as the vehicle control unit 115v by executing the program PG1.

[0114] 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 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.

[0115] YY: Other driving control examples (YY1) In the above example, the sensor 300 is a camera. However, the 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 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.

[0116] (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.

[0117] (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.

[0118] (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.

[0119] (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.

[0120] (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.

[0121] (YY4) In cruise control example 2, the vehicle 100v acquires vehicle position information using the detection results of the 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 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. For example, the leading vehicle 100v may transmit a control instruction value to the following vehicle 100.

[0122] (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 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.

[0123] (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.

[0124] (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.

[0125] (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.

[0126] (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.

[0127] Furthermore, part or all of the processing in the sensor 300, the vehicle 100, the server 200, the sensor 300, the robot 600, 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.

[0128] 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]

[0129] 50 Vehicle Manufacturing System 100 vehicles 115 Vehicle control unit 120 Actuators 130 Communication equipment 200 servers 230 Communication Equipment 231 Receiver 232 Transmitter 252 Position calculation section 253 Arithmetic section 254 Inter-vehicle distance calculation unit 255 Group Control Unit 256 Address Assignment Section 257 Address Management Department 300 sensors 330 Communication Equipment

Claims

1. A vehicle manufacturing system that controls a plurality of vehicles to travel in a convoy during a manufacturing process, a calculation means for calculating a control instruction value for controlling the speed of the vehicle; a transmitter that transmits the common control instruction value to the vehicles included in the group, the group including two or more of the vehicles included in the platoon; a speed control means for controlling the speed of the vehicle in accordance with the control instruction value; a sensor provided to detect a distance between the vehicles; and group adjustment means for changing the vehicles included in the group according to the inter-vehicle distance.

2. Detecting an approaching vehicle whose inter-vehicle distance to the preceding vehicle is smaller than a first threshold value, The vehicle manufacturing system of claim 1 , further comprising: separating the approaching vehicle from a group of preceding vehicles ahead of the approaching vehicle.

3. Detecting a delayed vehicle whose inter-vehicle distance to the preceding vehicle is greater than a second threshold value, 2. The vehicle manufacturing system according to claim 1, wherein a preceding vehicle ahead of the delayed vehicle and the delayed vehicle are set in separate groups.

4. When it is detected that the variation in the inter-vehicle distance is greater than a third threshold, the calculation means calculates the control instruction value individually for each of the vehicles, 2. The vehicle manufacturing system of claim 1, wherein the transmitter transmits the control instruction values ​​to each vehicle.

5. 5. The vehicle manufacturing system according to claim 1, wherein the transmitter transmits an individual control instruction value to the vehicle when the vehicle reaches a predicted location where the inter-vehicle distance is predicted to change.

6. a camera for capturing an image of any one of the vehicles in the platoon; 5. The vehicle manufacturing system according to claim 1, wherein the calculation means calculates the control instruction value based on the image captured by the camera.

7. A vehicle manufacturing system that controls a plurality of vehicles to travel in a convoy during a manufacturing process, calculating a control instruction value for controlling the speed of the vehicle; detecting a distance between the adjacent vehicles based on a detection result of the sensor; a transmitter transmitting the common control instruction value to the vehicles included in the group, the group consisting of two or more of the vehicles included in the platoon; controlling the speed of the vehicle in accordance with the control instruction value; and varying the vehicles included in the fleet depending on the vehicle-to-vehicle distance.

8. Detecting an approaching vehicle whose inter-vehicle distance to the preceding vehicle is smaller than a first threshold value, 8. The method of claim 7, further comprising separating the approaching vehicle from a group of preceding vehicles ahead of the approaching vehicle.

9. Detecting a delayed vehicle whose inter-vehicle distance to the preceding vehicle is greater than a second threshold value, The vehicle manufacturing method according to claim 7, wherein a preceding vehicle ahead of the delayed vehicle and the delayed vehicle are set in separate groups.

10. When it is detected that the variation in the inter-vehicle distance is greater than a third threshold, the calculation means calculates the control instruction value individually for each of the vehicles, The vehicle manufacturing method according to claim 7, wherein the transmitter transmits the control instruction value to each vehicle.

11. The vehicle manufacturing method according to any one of claims 7 to 10, wherein the transmitter transmits an individual control instruction value to the vehicle when the vehicle reaches a predicted location where the inter-vehicle distance is predicted to change.

12. The vehicle manufacturing method according to any one of claims 7 to 10, wherein the control instruction value is calculated based on an image captured by a camera that captures an image of one of the vehicles in the platoon.

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