Control system

Abstract

To provide a technique enabling a mobile body to park at a shorter interval using an unmanned operation.SOLUTION: A control system for controlling motion of a mobile body movable by an unmanned operation includes a control part for parking a first mobile body as a control target by controlling motion of the first mobile body so that a distance between the first mobile body and a second mobile body that is parked in a parking spot adjacent to a parking spot of the first mobile body becomes a second distance being smaller than a first distance by using a detection result of a sensor incorporated in at least one of the first and second mobile bodies, in a case where the distance between the first and second mobile bodies becomes a predetermined first distance or less.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, a vehicle is known that runs autonomously or under remote control by monitoring the running of the vehicle using a monitoring system such as a camera outside the vehicle (Patent Document 1). [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] Vehicles may be loaded onto transport vehicles such as ships and trains and transported to various locations. When loading vehicles onto a transport vehicle, the spacing between vehicles may be set as narrow as possible to allow as many vehicles as possible to be loaded onto the transport vehicle. Parking vehicles by a human driver within the narrowest possible spacing, as occurs when loading vehicles onto a transport vehicle, requires skilled techniques. Furthermore, since significant damage may occur if a vehicle comes into contact with another object while parking a vehicle, workers engaged in parking vehicles must drive under high tension. Therefore, instead of manual driving, autonomous driving has been considered for parking vehicles. In this case, when parking a vehicle using autonomous driving, the vehicle may be controlled according to the distance between the controlled vehicle and other vehicles. When calculating the inter-vehicle distance using detection results from a monitoring system external to the vehicle, the accuracy of the calculation of the inter-vehicle distance may decrease as the distance between the monitoring system and the vehicle increases. If the accuracy of the inter-vehicle distance calculation is reduced, it may be difficult to control the vehicle appropriately, making it difficult to park the vehicle at the set minimum distance. Therefore, there is a need for technology that can park vehicles at a closer distance using unmanned driving. This issue is not limited to vehicles, but is common to all moving objects. [Means for solving the problem]

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

[0006] (1) According to one aspect of the present disclosure, a control system is provided. The control system controls the operation of an unmanned mobile object. When a distance between a first mobile object to be controlled and a second mobile object parked in a parking space adjacent to the parking space of the first mobile object falls within a predetermined first distance, the control system controls the operation of the first mobile object using a detection result from a sensor mounted on at least one of the first mobile object and the second mobile object to make the distance between the first mobile object and the second mobile object a second distance smaller than the first distance, thereby parking the first mobile object. According to this aspect, the internal sensor can detect at least one of the mobile object and its surroundings from a location closer than a monitoring system external to the mobile object. When the distance between the first mobile object and the second mobile object falls within the first distance, the control system controls the operation of the first mobile object using the detection result from the internal sensor to make the distance between the first mobile object and the second mobile object the second distance, thereby parking the first mobile object. In this way, the operation of the first moving body can be controlled while reducing the possibility that the accuracy of calculating the distance between the first moving body and the second moving body will decrease, and therefore the moving bodies can be parked with closer spacing using unmanned driving. (2) In the above aspect, the control system may further include an acquisition unit that acquires a parking state of the first moving body, and a notification unit that notifies a user of information related to the parking state when the parking state is a predetermined default state. According to this aspect, the control system can acquire the parking state of the first moving body and notify a user of information related to the parking state of the first moving body when the parking state of the first moving body is a default state. (3) The above aspect may further include an acquisition unit that acquires the parking state of the first moving body, and when the parking state is a predetermined default state, the control unit executes either a process of decelerating a third moving body following the first moving body or a process of stopping the third moving body. According to this aspect, the control system acquires the parking state of the first moving body, and when the parking state of the first moving body is a default state, it can execute at least one of a process of decelerating the third moving body or a process of stopping the third moving body. In this way, the distance between the first moving body and the third moving body can be secured. This allows, for example, time and space to securely correct the parking state of the first moving body when it becomes necessary to correct the parking state of the first moving body. (4) In the above aspect, the default state may be a state in which the first moving body is parked in a predetermined relative positional relationship with respect to the second moving body. According to this aspect, when the first moving body is parked in a predetermined relative positional relationship with respect to the second moving body, the control system can notify a user and control the operation of a third moving body. (5) In the above aspect, the default state may be a state in which the first moving body is parked at a predetermined angle with respect to a reference object. According to this aspect, when the first moving body is parked at the predetermined angle with respect to the reference object, the control system can notify a user and control the operation of a third moving body. The present disclosure can be realized in various forms other than the above-described control system, such as a control device that realizes at least part of the functions of the control system, a mobile body equipped with the control device, a control system, a control device, and a method for manufacturing the mobile body, a control system, a control device, and a method for controlling the mobile body, a computer program that realizes the control method, and a non-transitory recording medium on which the computer program is recorded. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a conceptual diagram showing the configuration of a control system according to a first embodiment. [Figure 2]FIG. 1 is a block diagram showing the configuration of a control system. [Figure 3] 3 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. [Figure 4] 10 is a flowchart showing a control flag switching control method. [Figure 5] 4 is a flowchart showing a parking control method for a vehicle. [Figure 6] 5 is a flowchart showing a processing control method according to the parking state of the vehicle. [Figure 7] FIG. 10 is an explanatory diagram showing a schematic configuration of a control system according to a second embodiment. [Figure 8] 10 is a flowchart showing a processing procedure for vehicle travel control in a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: 1 is a conceptual diagram showing the configuration of a control system 50 according to the first embodiment. The control system 50 includes one or more vehicles 100 as moving objects, a server 200, and one or more external sensors 300.

[0009] 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 electric vehicles (BEVs: Battery Electric Vehicles), gasoline-powered vehicles, hybrid vehicles, and fuel cell vehicles. 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."

[0010] 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."

[0011] 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.

[0012] The control system 50 is used in a parking area AR. The parking area AR includes at least a parking lot PA where the vehicle 100 is parked. In this embodiment, the parking area AR includes a parking lot PA provided inside a transport vehicle 900 that transports the vehicle 100 loaded thereon, and a track TR connected to the parking lot PA. The transport vehicle 900 is, for example, a ship capable of carrying the vehicle 100. The transport vehicle 900 may be a train capable of carrying the vehicle 100, or a transport vehicle such as a trailer or truck capable of carrying the vehicle 100. The reference coordinate system of the parking area AR is a global coordinate system GC, and any position within the parking area AR can be expressed by X, Y, and Z coordinates in the global coordinate system GC. The vehicle 100 travels unmanned within at least a portion of the parking area AR. Multiple external sensors 300 are installed along the track TR in the parking area AR. The position of each external sensor 300 is adjusted in advance.

[0013] 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.

[0014] 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.

[0015] FIG. 2 is a block diagram showing the configuration of the control system 50. The vehicle 100 includes a vehicle control device 110 for controlling the operation 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. The vehicle 100 further includes an internal sensor 190. The internal sensor 190 is a sensor mounted on the vehicle 100. The internal sensor 190 may include, for example, a sensor for detecting the motion state of the vehicle 100, a sensor for detecting the operating state of each part of the vehicle 100, and a sensor for detecting the environment around the vehicle 100. Specifically, the internal sensor 190 may include, for example, a camera, LiDAR, millimeter-wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyro sensor, etc.

[0016] 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.

[0017] The vehicle control unit 115 controls the actuator group 120 to drive the vehicle 100. The vehicle control unit 115 executes the following processing at a time point before the time point at which parking is completed. As shown in FIG. 1 , the time point at which parking is completed is, for example, the time point at which the first vehicle 101 is parked in a predetermined target parking space PA1 in a predetermined normal state. The first vehicle 101 is the host vehicle 100 to be controlled. When the parking state of the first vehicle 101 is normal, the first vehicle 101 is parked, for example, in a predetermined correct relative positional relationship with the second vehicle 102. The second vehicle 102 is another vehicle 100 parked in adjacent parking spaces PA21 and PA22 adjacent to the target parking space PA1 of the first vehicle 101. When multiple vehicles 100 are parked in a grid pattern, the second vehicle 102 is parked, for example, in at least one of the first adjacent parking space PA21 and the second adjacent parking space PA22. When the first vehicle 101 is parked in the target parking space PA1 in a normal state, the first adjacent parking space PA21 is located adjacent to the first vehicle 101 in the longitudinal direction. When the first vehicle 101 is parked in the target parking space PA1 in a normal state, the second adjacent parking space PA22 is located adjacent to the first vehicle 101 in the width direction. The relative position of the first vehicle 101 with respect to the second vehicle 102 is determined, for example, by the inter-vehicle distance between the first vehicle 101 and the second vehicle 102. Furthermore, when the parking state of the first vehicle 101 is normal, the first vehicle 101 is parked, for example, at a predetermined correct angle with respect to a reference object. The reference object is an object present around the target parking space PA1 of the first vehicle 101. The reference object is, for example, a dividing line such as a white line marked on the parking space PA. The reference object may be another vehicle 100 other than the first vehicle 101, such as the second vehicle 102. The angle of the first vehicle 101 relative to the reference object is determined, for example, by the angle formed between a vector indicating the orientation of the first vehicle 101 and a vector indicating a reference direction specified by the reference object.

[0018] The vehicle control unit 115 first acquires a detection result from the internal sensor 190, which is an internal sensor 190 capable of detecting the environment around the vehicle 100 and is mounted on the first vehicle 101. The vehicle control unit 115 may acquire from the internal sensor 190 a detection result obtained when a specific direction is detected as seen from the first vehicle 101, or may acquire from the internal sensor 190 a detection result obtained when a 360° perimeter around the first vehicle 101 is detected. For example, the vehicle control unit 115 acquires from the internal sensor 190 a detection result obtained when the detection range includes the traveling direction of the first vehicle 101. This makes it easier to detect the environment around the target parking location PA1 of the first vehicle 101. The vehicle control unit 115 may also acquire from the internal sensor 190 a detection result obtained when the detection range includes a direction corresponding to the line of sight when seated in the driver's seat of the first vehicle 101. This makes it possible to detect interfering objects such as other vehicles 100 other than the first vehicle 101, people, etc.

[0019] Next, the vehicle control unit 115 calculates the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 using the acquired detection result of the internal sensor 190. The inter-vehicle distance corresponds to the distance between the vehicles 100. When the vehicle control unit 115 acquires the detection result of a millimeter-wave radar serving as the internal sensor 190, the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 can be calculated based on, for example, a reflected wave of a radio wave emitted from the radar, which is a reflected wave from the second vehicle 102. When the vehicle control unit 115 acquires the detection result of an in-vehicle camera serving as the internal sensor 190, the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 can be calculated by, for example, identifying an object included in a captured image as a detection result of the in-vehicle camera. The inter-vehicle distance between the first vehicle 101 and the second vehicle 102 can also be calculated by detecting the outlines of the first vehicle 101 and the second vehicle 102 from the captured image by image processing and calculating coordinates indicating the positions of the vehicles 101 and 102.

[0020] Next, the vehicle control unit 115 determines whether the calculated inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is within a predetermined first distance. If the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is not within the first distance, the vehicle control unit 115 controls the actuator group 120 using the travel control signal received from the server 200, without switching the control flag to the on state, to cause the vehicle 100 to travel. If the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is within the first distance, the vehicle control unit 115 switches the control flag to the on state. Then, the vehicle control unit 115 transmits flag-on information indicating that the control flag is on to the server 200. If the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is within the first distance, the vehicle control unit 115 acquires vehicle position information of the first vehicle 101 based on the inter-vehicle distance between the first vehicle 101 and the second vehicle 102. The vehicle control unit 115 generates a traveling control signal for setting the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 to a second distance that is shorter than the first distance. The vehicle control unit 115 outputs the generated traveling control signal to operate the actuator group 120. In this way, the vehicle control unit 115 controls the operation of the first vehicle 101.

[0021] That is, if the control flag is in the OFF state before the parking is completed, the vehicle 100 travels under the remote control of the server 200 using the detection results of the external sensor 300. If the control flag is in the ON state before the parking is completed, the vehicle 100 travels under the autonomous control of the vehicle 100 using the detection results of the internal sensor 190.

[0022] When the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 becomes within a predetermined threshold distance, the vehicle control unit 115 stops the first vehicle 101 on the spot. When the first vehicle 101 is stopped, the vehicle control unit 115 switches the control flag to the off state. Then, the vehicle control unit 115 transmits flag off information indicating that the control flag is in the off state to the server 200.

[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 211, and a notification unit 212.

[0024] The remote control unit 210 acquires detection results from the sensors 190 and 300, 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 driving control signal is a control signal for driving the vehicle 100. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the driving control signal may include the speed of the vehicle 100 as a parameter instead of or in addition to the acceleration of the vehicle 100. 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 on the vehicle 100, such as wipers, power windows, and lamps. In other words, the remote control unit 210 may operate these various accessories and various accessories by remote control.

[0025] When the first vehicle 101 stops, the acquisition unit 211 acquires the parking state of the first vehicle 101. The parking state of the first vehicle 101 includes, for example, at least one of the relative positional relationship of the first vehicle 101 with respect to the second vehicle 102 and the angle of the first vehicle 101 with respect to a reference object. The parking state of the first vehicle 101 may be identified using the detection result of the external sensor 300 or the detection result of the internal sensor 190. The acquisition unit 211 identifies whether the parking state of the first vehicle 101 is abnormal using the detection results of the sensors 190 and 300. When the parking state of the first vehicle 101 is abnormal, the first vehicle 101 is parked in a relative positional relationship with respect to the second vehicle 102 that is different from a predetermined correct relative positional relationship, such as when the first vehicle 101 is too far away from the second vehicle 102. Furthermore, when the parking state of the first vehicle 101 is abnormal, the first vehicle 101 is parked at an angle that is different from a predetermined correct angle with respect to a reference object, for example, when the first vehicle 101 is not parallel to the demarcation lines provided in the parking lot PA. For example, when the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is equal to or greater than a threshold distance, the acquisition unit 211 determines that the first vehicle 101 is parked in a predetermined abnormal relative positional relationship with respect to the second vehicle 102. As a result, the acquisition unit 211 identifies that the parking state of the first vehicle 101 is abnormal. Furthermore, when, for example, the angle formed by a vector indicating the orientation of the first vehicle 101 and a vector indicating the reference direction is equal to or greater than a predetermined angle threshold, the acquisition unit 211 determines that the first vehicle 101 is parked at a predetermined abnormal angle with respect to the reference object. As a result, the acquisition unit 211 identifies that the parking state of the first vehicle 101 is abnormal.

[0026] When the parking state of the first vehicle 101 is a predetermined default state, the notification unit 212 notifies the user of parking information regarding the parking state of the first vehicle 101. The parking information may include information indicating whether the parking state of the first vehicle 101 is normal or abnormal, and may also include information indicating the parking position and parking angle of the first vehicle 101. The notification unit 212 notifies the user of the parking information, for example, by turning on or blinking the lamps of the first vehicle 101 or sounding the horn of the first vehicle 101 according to a predetermined notification pattern. The notification unit 212 may notify the user of the parking information by playing audio from a speaker installed in the parking area AR or by displaying the parking information on a display device such as an electronic bulletin board installed in the parking area AR. The notification unit 212 may also notify the user of the parking information by playing audio from a speaker of a mobile terminal such as a tablet terminal or by displaying the parking information on a monitor of the mobile terminal. When the parking state of the first vehicle 101 is an abnormal state as a predetermined default state, the notification unit 212 notifies the user, for example, of parking information indicating that the parking state of the first vehicle 101 is an abnormal state. When the parking state of the first vehicle 101 is a normal state as a predetermined default state, the notification unit 212 notifies the user, for example, of parking information indicating that the parking state of the first vehicle 101 is a normal state.

[0027] When the parking state of the first vehicle 101 is an abnormal state as a predetermined default state, the remote control unit 210 executes either a process to decelerate the third vehicle 103 or a process to stop the third vehicle 103. As shown in FIG. 1 , the third vehicle 103 is another vehicle 100 traveling behind the first vehicle 101.

[0028] Fig. 3 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the first embodiment. Fig. 3 shows the processing procedure when the vehicle 100 drives under the remote control of the server 200. In the processing procedure in Fig. 3, the processor 201 of the server 200 functions as the remote control unit 210 by executing the program PG2. Furthermore, the processor 111 of the vehicle 100 functions as the vehicle control unit 115 by executing the program PG1.

[0029] In step S1, 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 is 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 parking area AR. Specifically, in step S1, the processor 201 acquires the vehicle position information using a captured image acquired from a camera, which is the external sensor 300.

[0030] In detail, in step S1, 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 contained 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 control 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 can 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.

[0031] In step S2, 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.

[0032] In step S3, 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.

[0033] In step S4, 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 vehicle position information, the determination of a target position, the generation of a driving control signal, and the transmission of the driving control signal.

[0034] In step S5, the processor 111 of the vehicle 100 receives the driving control signal transmitted from the server 200. In step S6, 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 control 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.

[0035] Fig. 4 is a flowchart showing a control flag switching control method. Fig. 4 illustrates an example of processing when a second vehicle 102 is parked in each of a plurality of adjacent parking spaces PA21, PA22, and therefore there are multiple second vehicles 102. The switching control method shown in Fig. 4 is repeatedly executed, for example, when the first vehicle 101 is loaded onto the transporter 900, during a period until the control flag is set to the ON state.

[0036] In step S101, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 acquires the detection result of the internal sensor 190 mounted on the first vehicle 101. In step S102, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 calculates the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 for each of the multiple second vehicles 102 using the acquired detection result of the internal sensor 190. In step S103, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 determines, for each of the multiple second vehicles 102, whether the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is within a first distance. The first distance may be a different distance for each of the second vehicles 102 parked in the multiple adjacent parking spaces PA21, PA22, or may be the same distance common to the second vehicles 102 parked in the multiple adjacent parking spaces PA21, PA22. When the inter-vehicle distance between the first vehicle 101 and at least one of the plurality of second vehicles 102 becomes the first distance (step S103: Yes), in step S104, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 switches the control flag to the ON state. In step S105, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 transmits flag-on information to the server 200. When the server 200 receives the flag-on information (step S106: Yes), in step S107, the remote control unit 210 of the server 200 sets the control flag to the ON state.

[0037] Fig. 5 is a flowchart showing a parking control method for vehicle 100. Fig. 5 illustrates an example of processing when there are multiple second vehicles 102. The parking control method shown in Fig. 5 is executed repeatedly at a predetermined cycle, for example, when loading a first vehicle 101 onto a transport body 900, during a period from when loading of the first vehicle 101 onto the transport body 900 begins to when the first vehicle 101 stops.

[0038] In step S201, the remote control unit 210 of the server 200 transmits a request signal to acquire the detection result to the external sensor 300 whose detection range is expected to include the first vehicle 101. In step S202, the external sensor 300 that has received the request signal transmits the detection result to the server 200.

[0039] If the server 200 has acquired the detection result from the external sensor 300 (step S203: Yes), but the control flag is not set to the ON state (step S204: No), the remote control unit 210 of the server 200 executes step S205. In step S205, the remote control unit 210 of the server 200 acquires vehicle position information of the first vehicle 101 using the detection result from the external sensor 300. In step S206, the remote control unit 210 of the server 200 determines a target position to which the first vehicle 101 should next head, using the vehicle position information and the reference route RR. In step S207, the remote control unit 210 of the server 200 generates a driving control signal for driving the first vehicle 101 toward the determined target position. In step S208, the remote control unit 210 of the server 200 transmits the generated driving control signal to the first vehicle 101. During the period until the control flag is set to the ON state, the remote control unit 210 repeatedly executes steps S201 to S208.

[0040] When the first vehicle 101 receives the traveling control signal (step S209: Yes), and the control flag is not on (step S210: No), the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 executes step S211. In step S211, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 controls the actuator group 120 using the received traveling control signal, thereby causing the first vehicle 101 to travel at the acceleration and steering angle indicated in the traveling control signal.

[0041] If the first vehicle 101 has received the traveling control signal (step S209: Yes), and if the control flag is in the on state (step S210: Yes), the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 executes step S212. In step S212, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 acquires the detection results of the internal sensor 190 mounted on the first vehicle 101. In step S213, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 calculates the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 for each of the multiple second vehicles 102, using the acquired detection results of the internal sensor 190. In step S214, the vehicle control unit 115 of the first vehicle 101 acquires vehicle position information of the first vehicle 101 using the acquired detection results of the internal sensor 190. In step S215, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 generates a driving control signal for setting the inter-vehicle distance between the first vehicle 101 and at least one of the plurality of second vehicles 102 to a second distance that is shorter than the first distance. The second distance may be a different distance for each of the second vehicles 102 parked in each of the plurality of adjacent parking spaces PA21, PA22, or may be the same distance common to all of the second vehicles 102 parked in each of the plurality of adjacent parking spaces PA21, PA22. In step S216, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 controls the actuator group 120 using the generated driving control signal, thereby causing the first vehicle 101 to drive at the acceleration and steering angle represented by the driving control signal. If the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is within the threshold distance for all of the multiple second vehicles 102 (step S217: Yes), in step S218, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 stops the first vehicle 101. The threshold distance may be a different distance for each second vehicle 102 parked in each of the multiple adjacent parking spaces PA21, PA22, or may be the same distance common to all of the second vehicles 102 parked in each of the multiple adjacent parking spaces PA21, PA22.During the period until the first vehicle 101 stops, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 repeatedly executes steps S212 to S216.

[0042] Fig. 6 is a flowchart showing a processing control method according to the parking state of the first vehicle 101. The processing control method shown in Fig. 6 is executed, for example, when the first vehicle 101 is stopped.

[0043] If the first vehicle 101 has stopped (step S301: Yes), in step S302, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 switches the control flag to the OFF state. In step S303, the vehicle control unit 115 of the vehicle control device 110 mounted on the first vehicle 101 transmits flag OFF information to the server 200. If the server 200 has received the flag OFF information (step S304: Yes), in step S305, the remote control unit 210 of the server 200 sets the control flag to the OFF state. In step S306, the acquisition unit 211 of the server 200 acquires the parking status of the first vehicle 101. In step S307, the acquisition unit 211 of the server 200 determines whether the parking status of the first vehicle 101 is abnormal. If the parking state of the first vehicle 101 is abnormal (step S307: Yes), in step S308, the notification unit 212 of the server 200 notifies the user of parking information indicating that the parking state of the first vehicle 101 is abnormal. In step S309, the remote control unit 210 of the server 200 generates a driving control signal to reduce the acceleration of the third vehicle 103. In step S310, the remote control unit 210 transmits the generated driving control signal to the third vehicle 103. If the third vehicle 103 receives the driving control signal (step S311: Yes), the vehicle control unit 115 of the vehicle control device 110 mounted on the third vehicle 103 executes step S312. In step S312, the vehicle control unit 115 of the vehicle control device 110 mounted on the third vehicle 103 controls the actuator group 120 using the received driving control signal, thereby causing the third vehicle 103 to drive at the acceleration and steering angle indicated in the driving control signal. If the parking state of the first vehicle 101 is normal (step S307: No), in step S313, the notification unit 212 of the server 200 notifies the user of parking information indicating that parking of the first vehicle 101 has been completed.

[0044] According to the above embodiment, the internal sensor 190 can detect at least one of the first vehicle 101 and the surroundings of the first vehicle 101 from a location closer than the external sensor 300. When the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is within the first distance, the control system 50 controls the operation of the first vehicle 101 using the detection result of the internal sensor 190 so that the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 becomes the second distance, thereby parking the first vehicle 101. In this way, the operation of the first vehicle 101 can be controlled while reducing the possibility of a decrease in the accuracy of calculation of the inter-vehicle distance between the first vehicle 101 and the second vehicle 102. Therefore, the vehicle 100 can be parked with closer spacing using unmanned driving.

[0045] Furthermore, according to the above embodiment, the vehicles 100 can be parked using unmanned driving even when the vehicles 100 are to be parked with extremely narrow spacing, such as when the vehicles 100 are loaded onto the transport body 900. This reduces the burden on workers engaged in the task of parking the vehicles 100.

[0046] Furthermore, according to the above embodiment, the control system 50 acquires the parking status of the first vehicle 101, and when the parking status of the first vehicle 101 is an abnormal status as a default status, the control system 50 can notify the user of parking information indicating that the parking status of the first vehicle 101 is an abnormal status. In this manner, an operator can get into the first vehicle 101 and perform driving operations, thereby manually correcting the parking status of the first vehicle 101. Note that when the parking status of the first vehicle 101 is an abnormal status, the parking status of the first vehicle 101 may be corrected using unmanned driving, without manual driving. In this case, the control system 50 controls the operation of the first vehicle 101, for example, by generating a driving control signal for approximating the position of the first vehicle 101 to a correct relative positional relationship with the second vehicle 102. In this case, the control system 50 controls the operation of the first vehicle 101, for example, by generating a driving control signal for approximating the orientation of the first vehicle 101 to a correct angle with respect to the second vehicle 102. In this configuration, when the parking state of the first vehicle 101 is abnormal, the control system 50 can correct the parking state of the first vehicle 101 by using unmanned driving without relying on human driving, thereby further reducing the burden on the worker.

[0047] Furthermore, according to the above embodiment, the control system 50 acquires the parking status of the first vehicle 101, and when the parking status of the first vehicle 101 is a normal status as a default status, the control system 50 can notify the user of parking information indicating that parking of the first vehicle 101 has been completed. This allows the user to check the progress of the work of parking the vehicle 100.

[0048] Furthermore, according to the above embodiment, the control system 50 acquires the parking state of the first vehicle 101, and when the parking state is an abnormal state as a default state, the control system 50 can execute at least one of a process to decelerate the third vehicle 103 and a process to stop the third vehicle 103. In this way, a sufficient distance can be secured between the first vehicle 101 and the third vehicle 103 traveling behind the first vehicle 101. This ensures time and space for correcting the parking state of the first vehicle 101. Furthermore, when the parking state of the first vehicle 101 is corrected by a human driver, space for an operator to enter the first vehicle 101 and the safety of the operator can be ensured. Note that the acquisition unit 211 and the notification unit 212 are not essential components of the control system 50.

[0049] B. Second embodiment: 7 is an explanatory diagram showing a schematic configuration of a control system 50v in the second embodiment. In this embodiment, the control 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.

[0050] In this embodiment, the memory 112v pre-stores a detection model DM and a reference route RR in addition to the program PG1. Also, in this embodiment, the processor 111v of the vehicle control device 110v executes the program PG1 stored in the memory 112v, thereby functioning as a vehicle control unit 115v, an acquisition unit 116, and a notification unit 117.

[0051] The vehicle control unit 115v acquires detection results from the sensors 190 and 300, generates a driving control signal using the detection results, and outputs the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100v to drive under autonomous control. Specifically, if the control flag is on before parking is completed, the vehicle 100v acquires the detection result of the internal sensor 190 and drives under autonomous control of the vehicle 100 using the detection result of the internal sensor 190. If the control flag is off before parking is completed, the vehicle 100v acquires the detection result of the external sensor 300 and drives under remote control of the server 200 using the detection result of the external sensor 300. The function of the acquisition unit 116 of the vehicle control device 110v is similar to that of the acquisition unit 211 of the server 200 in the first embodiment. The function of the notification unit 117 of the vehicle control device 110v is similar to that of the notification unit 212 of the server 200 in the first embodiment.

[0052] Fig. 8 is a flowchart showing the processing procedure for driving control of the vehicle 100v in the second embodiment. Fig. 8 shows the processing procedure when the vehicle 100v drives by autonomous control of the vehicle 100v using the detection results of the external sensor 300. In the processing procedure in Fig. 8, the processor 111v of the vehicle 100v functions as the vehicle control unit 115v by executing the program PG1.

[0053] In step S901, 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 S902, the processor 111v determines a target position to which the vehicle 100v should next head. In step S903, the processor 111v generates a driving control signal for driving the vehicle 100v toward the determined target position. In step S904, 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 control system 50v of 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.

[0054] C. Other Embodiments: (C1) The control system 50, 50v may be used to park the vehicle 100, 100v in a parking lot PA provided other than the vehicle 900, using unmanned operation. The control system 50, 50v may be used to park the vehicle 100, 100v in a parking lot PA, such as a yard for storing finished vehicles manufactured in a factory.

[0055] (C2) When the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is within the first distance, it is not necessary to acquire vehicle position information. When the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is within the first distance, the control system 50, 50v may park the first vehicle 101, for example, using a parking assistance system pre-installed in the first vehicle 101. In this case, the control system 50, 50v, for example, detects the second vehicle 102 without acquiring vehicle position information and causes the first vehicle 101 to travel in the direction of the detected second vehicle 102. Then, the control system 50, 50v stops the first vehicle 101 when it detects that the inter-vehicle distance between the first vehicle 101 and the second vehicle 102 is within the threshold distance, for example, using the detection result of an internal sensor 190 that can detect whether the inter-vehicle distance is within a threshold distance. In this configuration, the control system 50, 50v can park the first vehicle 101 without acquiring vehicle position information. This reduces the control load.

[0056] (C3) When the first vehicle 101 is not equipped with the internal sensor 190, the control system 50, 50v may park the first vehicle 101 by controlling the operation of the first vehicle 101 using the detection result from the internal sensor 190 installed in the second vehicle 102. In this manner, even when the first vehicle 101 is not equipped with the internal sensor 190, the vehicles 100 can be parked at closer intervals using unmanned driving.

[0057] (C4) When the internal sensor 190 mounted on the second vehicle 102 has higher detection accuracy than the internal sensor 190 mounted on the first vehicle 101, the control system 50, 50v may park the first vehicle 101 by controlling the operation of the first vehicle 101 using the detection result of the internal sensor 190 mounted on the second vehicle 102. In this manner, the first vehicle 101 can be controlled more appropriately.

[0058] (C5) When it is planned to use the detection results of the internal sensor 190 mounted on the second vehicle 102, the second vehicle 102 may be parked so that the first vehicle 101 can be detected by the internal sensor 190 mounted on the second vehicle 102. For example, as shown in FIG. 1 , when obtaining detection results from the internal sensor 190 of the second vehicle 102 parked in the first adjacent parking space PA21, the following may be done. In this case, if the detection range of the internal sensor 190 mounted on the second vehicle 102 parked in the first adjacent parking space PA21 does not include the rear side of the second vehicle 102 but includes the front side, the second vehicle 102 may be parked in advance so that the front side of the second vehicle 102 faces the target parking space PA1 of the first vehicle 101. In this case, by adjusting the parking state of the second vehicle 102 in advance, the first vehicle 101 can be detected by the internal sensor 190 mounted on the second vehicle 102.

[0059] (C6) As shown in Figure 1, when there are multiple second vehicles 102, the control systems 50, 50v may acquire detection results from the internal sensors 190 of the second vehicles 102 whose detection ranges are expected to include the first vehicle 101. In this manner, the first vehicle 101 can be detected by the internal sensors 190 mounted on the second vehicles 102 without adjusting the parking state of the second vehicles 102 in advance.

[0060] (C7) Even when there are multiple second vehicles 102, the control system 50, 50v may park the first vehicle 101 by controlling the operation of the first vehicle 101 according to the inter-vehicle distance from some of the multiple second vehicles 102. The control system 50, 50v may park the first vehicle 101 by controlling the operation of the first vehicle 101 according to the inter-vehicle distance from one of the multiple second vehicles 102. In other words, the control system 50, 50v may park the first vehicle 101 by calculating the inter-vehicle distance from the second vehicle 102 parked in the first adjacent parking space PA21, without calculating the inter-vehicle distance from the second vehicle 102 parked in the second adjacent parking space PA22, for example. For example, the control systems 50, 50v may park the first vehicle 101 by calculating the inter-vehicle distance with the second vehicle 102 parked in the second adjacent parking space PA22 and controlling the operation of the first vehicle 101, without calculating the inter-vehicle distance with the second vehicle 102 parked in the first adjacent parking space PA21. In this manner, the operation of the first vehicle 101 can be controlled according to the inter-vehicle distance with some of the second vehicles 102 among the multiple second vehicles 102, thereby parking the first vehicle 101.

[0061] (C8) At least some of the functions of the server 200 may be a function of the vehicle control device 110, 110v, or may be a function of the external sensor 300. For example, the server 200 may set the state of the control flag using the detection result of the external sensor 300 without receiving flag information regarding the state of the control flag from the first vehicle 101. Furthermore, at least some of the functions of the vehicle control device 110, 110v may be a function of the server 200, or may be a function of the external sensor 300. For example, at least some of the processes of obtaining the detection result of the internal sensor 190, calculating the inter-vehicle distance, obtaining vehicle position information, determining the target position, generating the driving control signal, and transmitting the driving control signal may be implemented by the server 200. In this manner, the configuration of the control system 50, 50v can be changed as appropriate.

[0062] (C9) 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, 100v. In this case, the server 200 or the vehicle 100, 100v 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.

[0063] (C10) 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.

[0064] (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.

[0065] (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.

[0066] (3) In the above embodiments (1) and (2), the vehicle 100 may be equipped with an internal sensor 190, and detection results output from the internal sensor 190 may be used for at least one of generating a route and generating a driving control signal. For example, in the above embodiment (1), the server 200 may acquire the detection results of the internal sensor 190 and, when generating a route, reflect the detection results of the internal sensor 190 in the route. In the above embodiment (1), the vehicle 100 may acquire the detection results of the internal sensor 190 and, when generating a driving control signal, reflect the detection results of the internal sensor 190 in the driving control signal. In the above embodiment (2), the vehicle 100 may acquire the detection results of the internal sensor 190 and, when generating a route, reflect the detection results of the internal sensor 190 in the route. In the above embodiment (2), the vehicle 100 may acquire the detection results of the internal sensor 190 and, when generating a driving control signal, reflect the detection results of the internal sensor 190 in the route.

[0067] (C11) In the second embodiment, the vehicle 100v may be equipped with an internal sensor 190, and detection results output from the internal sensor 190 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 190, and when generating a route, may reflect the detection results of the internal sensor 190 in the route. The vehicle 100v may acquire the detection results of the internal sensor 190, and when generating a driving control signal, may reflect the detection results of the internal sensor 190 in the driving control signal.

[0068] (C12) 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 190. The vehicle 100v may acquire vehicle position information using the detection results of the internal sensor 190, 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 control system 50v may be provided in the vehicle 100v. In other words, the processing performed by the control system 50v in the present disclosure may be performed solely by the vehicle 100v.

[0069] (C13) In the first embodiment, the server 200 automatically generates the driving control signal to be transmitted to the vehicle 100, 100v. Alternatively, the server 200 may generate the driving control signal to be transmitted to the vehicle 100, 100v in accordance with the operation of an external operator located outside the vehicle 100, 100v. 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, 100v, 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 the driving control signal in accordance with the operation applied to the control device.

[0070] (C14) In each of the above embodiments, the vehicle 100, 100v may have a configuration that allows it to travel by unmanned driving, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 100, 100v may have at least a vehicle control device 110, 110v and an actuator group 120 to perform the three functions of "running," "turning," and "stopping" by unmanned driving. When the vehicle 100, 100v acquires information from the outside for unmanned driving, the vehicle 100, 100v may further have a communication device 130. In other words, the vehicle 100, 100v that can travel by unmanned driving may not be equipped with at least some interior parts such as a driver's seat or a dashboard, may not be equipped with at least some exterior parts such as a bumper or a fender, and may not be equipped with a body shell. In this case, the remaining components, such as the body shell, may be attached to the vehicle 100, 100V before the vehicle 100, 100V is shipped from the factory, or the remaining components, such as the body shell, may be attached to the vehicle 100, 100V after the vehicle 100, 100V is shipped from the factory without the remaining components, such as the body shell, being attached to the vehicle 100, 100V. Each component 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, 100V, 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 manner as for the vehicle 100, 100V in the first embodiment.

[0071] (C15) The vehicle 100, 100v 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, 100v. For example, the platform of the vehicle 100, 100v may be manufactured by combining a front module that forms the front portion of the platform, a central module that forms the center portion of the platform, and a rear module that forms the rear portion of the platform. The number of modules that form the platform is not limited to three, but may be two or less, or four or more. In addition to or instead of the platform, portions of the vehicle 100, 100v that are different from the platform may be modularized. The various modules may include any exterior part such as a bumper or a grille, or any interior part such as a seat or a console. Any type of mobile object, not limited to the vehicle 100, 100v, may be manufactured by combining multiple modules. Such a module may be manufactured, for example, by joining multiple parts using welding or fasteners, or by integrally molding at least a portion of the module into a single part by casting. The molding technique of integrally molding at least a portion of a module as a single component is also called gigacasting or megacasting. By using gigacasting, each part of a moving object that was previously formed by joining multiple components can be formed as a single component. For example, the front module, center module, and rear module described above may be manufactured using gigacasting.

[0072] (C16) Transporting vehicle 100 using unmanned driving of vehicle 100, 100v 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, 100v using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at a factory where vehicle 100, 100v is manufactured, at least a portion of the transportation of vehicle 100, 100v is realized by self-propelled transport.

[0073] (C17) 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 and discrete circuits.

[0074] 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 of 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 some or all of 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]

[0075] 50, 50v...control system, 100, 100v...vehicle, 101...first vehicle, 102...second vehicle, 103...third vehicle, 110, 110v...vehicle control device, 111, 111v...vehicle control device processor, 112, 112v...vehicle control device memory, 113...vehicle control device input / output interface, 114...vehicle control device internal bus, 115, 115v...vehicle control unit, 116, 211...acquisition unit, 117, 212...notification unit, 120...actuator group, 130...vehicle communication device, 190 ...internal sensor, 200...server, 201...server processor, 202...server memory, 203...server input / output interface, 204...server internal bus, 205...server communication device, 210...remote control unit, 300...external sensor, 900...vehicle, AR...parking area, DM...detection model, GC...global coordinate system, PA...parking lot, PA1...target parking location, PA21...first adjacent parking location, PA22...second adjacent parking location, PG1, PG2...program, RR...reference route, TR...track

Claims

1. A control system for controlling the operation of a mobile object that can be moved by unmanned operation, A control system comprising: a control unit that, when the distance between a first mobile body to be controlled and a second mobile body parked in a parking space adjacent to the parking space of the first mobile body becomes within a predetermined first distance, parks the first mobile body by controlling the operation of the first mobile body using detection results from a sensor mounted on at least one of the first mobile body and the second mobile body so that the distance between the first mobile body and the second mobile body becomes a second distance smaller than the first distance.

2. 10. The control system of claim 1, further comprising: an acquisition unit that acquires a parking state of the first moving body; a notification unit that notifies a user of information relating to the parking state when the parking state is a predetermined default state.

3. 10. The control system of claim 1, further comprising: an acquisition unit that acquires a parking state of the first moving body; A control system in which, when the parking state is a predetermined default state, the control unit executes either a process of slowing down a third moving body following the first moving body or a process of stopping the third moving body.

4. 4. The control system according to claim 2 or claim 3, A control system, wherein the default state is a state in which the first mobile body is parked in a predetermined relative positional relationship with the second mobile body.

5. 4. The control system according to claim 2 or claim 3, A control system, wherein the default state is a state in which the first mobile object is parked at a predetermined angle relative to a reference object.

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