Control device, inspection system, vehicle, inspection method, and method of manufacturing vehicle

Abstract

To suppress variation in braking force in the inspection of the braking force.SOLUTION: A control device for inspecting a braking force of a moving body includes a drive control unit that remotely controls, in the inspection of the braking force, a drive system that applies a torque for rotating at least one wheel provided in the moving body to at least one wheel so as to apply the torque of a predetermined magnitude to the at least one wheel, and a brake control unit that remotely controls, in the inspection of the braking force, a brake system that generates the braking force in the moving body.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a control device, an inspection system, a moving body, an inspection method, and a manufacturing method of a moving body. [Background technology]

[0002] Patent Document 1 describes a method for remotely operating a vehicle that travels within a manufacturing system. [Prior art documents] [Patent documents]

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

[0004] During the vehicle manufacturing and inspection processes, when inspecting a brake system installed in a vehicle, the inspector activates the brake system. For example, when the brakes are activated by stepping on the brake pedal, there is a risk that the amount of pressure applied by the inspector will vary. 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 a first aspect of the present disclosure, there is provided a control device for inspecting the braking force of a moving body. The control device includes: a drive control unit that remotely controls a drive system that applies a torque to at least one wheel of the moving body to rotate the at least one wheel, so as to apply a torque of a predetermined magnitude to the at least one wheel, during inspection of the braking force; and a brake control unit that remotely controls a brake system that generates the braking force on the moving body during inspection of the braking force. According to this aspect, the braking force is applied to at least one wheel by control of the brake control unit. Therefore, the braking force is applied without manual operation of the brake pedal, thereby reducing variations in braking force. This improves the accuracy of the braking force inspection. (2) The control device of the above aspect may further include an acquisition unit that acquires rotation information related to the rotation state of the at least one wheel, and a determination unit that performs a determination process to determine whether the braking force satisfies a predetermined inspection standard using the rotation information in a state in which the torque and the braking force are applied to the at least one wheel. According to this aspect, the determination unit can determine whether the inspection standard is satisfied using the rotation information. (3) In the control device of the above aspect, the at least one wheel may include a plurality of wheels, and the drive control unit may control each of the plurality of wheels independently. According to this aspect, it is possible to inspect the braking force for each of the plurality of wheels. (4) In the control device of the above aspect, the determination unit may determine that the inspection criterion is satisfied when the at least one wheel is not rotating in the determination process. According to this aspect, by determining that the wheel is not rotating, it is possible to confirm that the brake system has a predetermined braking force. (5) In the control device of the above aspect, the at least one wheel may include a right wheel and a left wheel, the control device may repeatedly perform an inspection process routine by changing the magnitude of the torque, the drive control unit may control the drive system to apply a predetermined torque to the at least one wheel, the brake control unit may control the brake system to apply a predetermined braking force to the at least one wheel, and the determination unit may determine that the inspection criterion is met if, in the determination process, the difference between the minimum torque value at which it is determined that the right wheel is rotating and the minimum torque value at which it is determined that the left wheel is rotating is equal to or less than a predetermined threshold. According to this aspect, it is possible to determine whether the difference between the braking force of the right wheel and the braking force of the left wheel meets the inspection criterion. (6) The control device of the above aspect may further include an inspection information creating unit that creates inspection information that associates the information about the torque, the information about the braking force, and the information about the determination by the determining unit. According to this aspect, the inspection information can be created. (7) In the control device of the above aspect, the drive system may include an electric motor that generates the torque. (8) In the control device of the above aspect, the moving body may include the drive system. According to this aspect, torque can be applied to the wheels by operating an electric motor included in the moving body. Therefore, braking force can be inspected without using a device that applies torque to the wheels, which is separate from the vehicle. (9) In the control device of the above aspect, the drive system further includes an inspection rotor, The electric motor may drive the inspection rotor. According to this aspect, the braking force can be inspected using a drive system that is separate from the moving body. (10) According to a second aspect of the present disclosure, there is provided a control device for inspecting a braking force of a moving body, the control device including: a drive control unit that controls a drive system that applies torque to at least one wheel of the moving body to rotate the at least one wheel; a brake control unit that controls a brake system that generates the braking force on the moving body; an acquisition unit that acquires information related to the acceleration of the moving body; and a determination unit that performs a determination process to determine whether the braking force satisfies a predetermined inspection standard using the information related to the acceleration of the moving body in a state in which the torque and the braking force are applied to the at least one wheel. (11) In the control device of the above aspect, the acquisition unit may acquire, as information related to the acceleration of the moving object, rotation information from when the torque is applied to at least one wheel until when the braking force is applied to the at least one wheel and the moving object stops, and the determination unit may perform the determination process using the rotation information. According to this aspect, it is possible to check the braking stopping distance. (12) According to a third aspect of the present disclosure, there is provided an inspection system for inspecting the braking force of a moving body. The inspection system includes a drive system that applies torque to at least one wheel of the moving body to rotate the at least one wheel, an acquisition unit that acquires rotational information related to the rotational state of the at least one wheel, and a control device. The moving body has a brake system that generates the braking force, and the control device includes a drive control unit that controls the drive system and a brake control unit that controls the brake system. The inspection system further includes a determination unit that performs a determination process to determine whether the braking force satisfies a predetermined inspection standard using the rotational information in a state in which the torque and the braking force are applied to the at least one wheel. According to this aspect, the braking force is applied to at least one wheel by control of the brake control unit. Therefore, the braking force is applied without the need for manual operation of the brake pedal, thereby reducing variations in braking force. Therefore, the braking force is applied without the need for manual operation of the brake pedal, thereby reducing variations in braking force. In addition, the braking force can be inspected using a determination unit provided in the moving body. (13) According to a fourth aspect of the present disclosure, there is provided a moving body including at least one wheel to which torque is applied by a driving system controlled by a driving control unit, a braking system controlled by a brake control unit to generate a braking force on the moving body, an acquisition unit that acquires rotational information related to a rotational state of the at least one wheel, and a determination unit that performs a determination process using the rotational information in a state in which the torque and the braking force are applied to the at least one wheel to determine whether the braking force satisfies a predetermined inspection standard. (14) According to a fifth aspect of the present disclosure, there is provided an inspection method for inspecting a braking force of a moving body, the moving body including at least one wheel, a drive system that applies torque to the at least one wheel, and a brake system that generates the braking force in the moving body, the inspection method including the steps of remotely controlling the brake system, remotely controlling the drive system, acquiring rotation information related to a rotational state of the at least one wheel, and performing a determination process using the rotation information to determine whether the braking force satisfies a predetermined inspection standard. (15) According to a sixth aspect of the present disclosure, there is provided a method for manufacturing a moving body, the method including: an assembly step of assembling the moving body including the brake system that generates the braking force on the moving body; and an inspection step of inspecting the operation of the moving body assembled including the brake system, wherein the inspection step includes at least the inspection method described above. The present disclosure may be realized in various forms other than those described above, such as an inspection method, a program for the inspection method, and a non-transitory tangible recording medium on which the program for the inspection method is recorded in a computer-readable manner. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a conceptual diagram showing a system configuration. [Figure 2] FIG. 1 is a block diagram showing a system configuration. [Figure 3] FIG. 2 is a diagram illustrating the configuration of a vehicle involved in an inspection process. [Figure 4] 10 is a flowchart showing the procedure of an inspection process. [Figure 5] 4 is a flowchart showing a processing procedure for vehicle travel control. [Figure 6] 10 is a flowchart showing the procedure of an inspection process according to a second embodiment. [Figure 7] 10 is a flowchart showing a processing procedure for inspecting a braking force difference between the left and right front wheels. [Figure 8]FIG. 10 is a diagram illustrating the configuration of a vehicle involved in an inspection process according to a third embodiment. [Figure 9] 10 is a diagram illustrating the configuration of a vehicle and the configuration of a drive system involved in an inspection process of a fourth embodiment. FIG. [Figure 10] FIG. 10 is a block diagram showing the configuration of a vehicle in a fifth embodiment. [Figure 11] FIG. 13 is an explanatory diagram showing a schematic configuration of a system according to a sixth embodiment. [Figure 12] 13 is a flowchart showing a processing procedure for vehicle travel control in a sixth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: 1 is a conceptual diagram showing the configuration of a system 50 according to the first embodiment. The 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] 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, and any position in the factory FC can be expressed by X, Y, and Z coordinates in the global coordinate system GC. The factory FC has a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a road TR along which the vehicle 100 can travel. In the factory FC, a plurality of external sensors 300 are installed along the road TR. The position of each external sensor 300 in the factory FC is adjusted in advance. The vehicle 100 moves from the first location PL1 to the second location PL2 along the road TR in an unmanned operation.

[0013] In this embodiment, an inspection process of the brake system 150, which will be described later, is carried out at the first location PL1. Then, the vehicle 100 that passes the inspection is moved to the second location PL2 where the next process is carried out. On the other hand, the vehicle 100 that does not pass the inspection is moved to a repair shop (not shown).

[0014] 2 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.

[0015] The actuator group 120 includes a drive actuator 121 and a brake actuator 122. The drive actuator 121 is a drive actuator for rotating the front wheels 81 or the rear wheels 82, which will be described later. The brake actuator 122 is a braking actuator for braking the vehicle 100 when it is moving and for keeping the vehicle 100 stopped when it is stopped.

[0016] In addition to the above configuration, the vehicle 100 includes an internal sensor group 160. The internal sensor group 160 includes a rotation speed sensor 161 shown in FIG. 3 (described later) and an acceleration sensor 162 shown in FIG. 3 (described later). The vehicle control unit 115 directly or indirectly receives detection signals from sensors included in the internal sensor group 160. Note that receiving a detection signal indirectly means receiving the detection signal via an actuator included in the actuator group 120.

[0017] 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.

[0018] 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.

[0019] The server 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 is connected to the input / output interface 203 for communicating with various devices external to the server 200. The communication device 205 can communicate with the vehicle 100 via wireless communication, and can communicate with each external sensor 300 via wired communication or wireless communication. The processor 201 executes a program PG2 stored in the memory 202 to realize various functions, including the function of the remote control unit 210.

[0020] 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.

[0021] In addition to the above configuration, the processor 201 has a drive control unit 211, a brake control unit 212, an acquisition unit 213, a determination unit 214, and an inspection information creation unit 215. In addition to the above configuration, the memory 202 stores a program PG3. The drive control unit 211, the brake control unit 212, the acquisition unit 213, the determination unit 214, and the inspection information creation unit 215 are functional units realized by executing the program PG3. The drive control unit 211 controls a drive system 140 (described later) that applies torque to wheels 80 (described later) of the vehicle 100 to rotate the wheels 80. The brake control unit 212 controls a brake system 150 (described later) that generates braking force on the vehicle 100. The acquisition unit 213 acquires rotation information related to the rotational state of the wheels 80. The rotation information is information about the vehicle 100. The drive control unit 211, the brake control unit 212, the acquisition unit 213, and the determination unit 214 perform part of an inspection process (described later). The server 200 functions as a control device for inspecting the braking force of the vehicle 100 .

[0022] 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.

[0023] 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.

[0024] Fig. 3 is a diagram illustrating the configuration of vehicle 100, which is involved in the inspection process described below. As shown in Fig. 3, vehicle 100 includes drive system 140 and brake system 150. The manufacturing method for vehicle 100 includes an assembly process for assembling vehicle 100 including brake system 150, and an inspection process for inspecting the operation of assembled vehicle 100. This inspection process includes the inspection process described below.

[0025] In this embodiment, the drive system 140 is provided in the vehicle 100. The drive system 140 includes the drive actuator 121 described above and an electric motor as the drive source 71 that generates torque. The vehicle 100 in this embodiment is an electric vehicle that runs on an electric motor. The vehicle 100 includes wheels 80 and axles 90. The wheels 80 include front wheels 81 and rear wheels 82. The front wheels 81 include a right front wheel 81r and a left front wheel 81l. The rear wheels 82 include a right rear wheel 82r and a left rear wheel 82l. The axles 90 include a front axle 91 and a rear axle 92. The vehicle 100 in this embodiment is a rear-wheel drive vehicle in which the driving force of the drive source 71 is transmitted to the rear axle 92.

[0026] The brake system 150 includes a service brake system 151 and a parking brake system 152. The service brake system 151 is used to brake the vehicle 100 when it is moving. The parking brake system 152 is used to keep the vehicle 100 stationary when it is stopped. In this embodiment, the brake system 150 is a mechanical brake system. In this disclosure, a mechanical brake system refers to a brake that mechanically brakes the wheels 80. Mechanical braking specifically refers to a brake that brakes by contacting a member that is integral with the wheel or a gear that rotates in conjunction with the axle, for example.

[0027] In this embodiment, a friction brake mechanism is applied to the service brake system 151. A disc type or a drum type friction brake mechanism can be used. The service brake system 151 includes the above-described brake actuator 122, a brake pedal 151a, and a hydraulic unit 151b. When the brake pedal 151a is depressed, the displacement of the brake pedal 151a is transmitted to a master cylinder included in the hydraulic unit 151b. More specifically, the displacement of the brake pedal 151a is converted into an electrical signal, specifically a voltage, by the brake actuator 122. The brake actuator 122 transmits hydraulic pressure corresponding to the converted voltage to the master cylinder. The hydraulic unit 151b transmits hydraulic pressure generated by the master cylinder included in the hydraulic unit 151b to friction brake mechanisms provided on each of the two front wheels 81 and each of the two rear wheels 82. As a result, each of the four wheels 80 is braked by the friction material of the friction brake mechanism. The greater the displacement of the brake pedal 151a, the greater the hydraulic pressure applied to the hydraulic unit 151b, and the greater the braking force applied to the wheels 80 by the friction brake mechanism. Note that the displacement of the brake pedal 151a may be transmitted to the master cylinder as hydraulic pressure without being converted into voltage, and in this case, the brake actuator 122 may transmit the hydraulic pressure to the master cylinder via a path different from the path from the brake pedal 151a to the master cylinder.

[0028] In this embodiment, a so-called electric parking brake (EPD) in which the operation of the parking brake mechanism is electrically operated is applied to the parking brake system 152. In this embodiment, the two rear wheels 82 are provided with disc-type parking brake mechanisms.

[0029] The parking brake system 152 includes a brake actuator 122, a parking brake switch 152a, and a parking brake motor 152b. When the parking brake switch 152a is set to the ON state, the parking brake motor 152b is activated and a disc of a parking brake mechanism (not shown) is pressed against a disc rotor of the parking brake mechanism, thereby exerting a braking action. In detail, when the parking brake switch 152a is set to the ON state, an electrical signal indicating that the parking brake switch 152a has been set to the ON state is transmitted to the brake actuator 122. When the electrical signal indicating that the parking brake switch 152a has been set to the ON state is transmitted, the brake actuator 122 activates the parking brake motor 152b.

[0030] The type of parking brake mechanism applied to the parking brake system 152 is not limited to a disc type, and may be a drum type, etc. Also, the parking brake mechanism may be used in combination with the brake mechanism of the service brake system 151.

[0031] As described above, the internal sensor group 160 shown in Fig. 2 includes the rotational speed sensor 161 and acceleration sensor 162 shown in Fig. 3. The rotational speed sensor 161 detects the rotational speed and rotational angle of the electric motor serving as the driving source 71, and transmits a signal representing the detected rotational speed and rotational angle to the vehicle control unit 115. The acceleration sensor 162 detects the acceleration of the vehicle 100, and transmits a signal representing the detected acceleration to the vehicle control unit 115. The acceleration detected by the acceleration sensor 162 includes the acceleration in the forward / backward direction of the vehicle 100 and the acceleration in the left / right direction of the vehicle 100.

[0032] FIG. 4 is a flowchart showing the procedure of an inspection process that realizes the inspection method of this embodiment. In the inspection process, the system 50 functions as an inspection system. The inspection process shown in FIG. 4 is performed on one vehicle 100. In this embodiment, in the inspection process, an inspection of the service brake system 151 and an inspection of the parking brake system 152 for the rear wheels 82 are performed. The inspections are performed in accordance with predetermined inspection conditions. The inspection conditions include the state of the road surface on which the vehicle 100 to be inspected is placed, and the torque setting value and braking force setting value for each inspection.

[0033] The vehicle 100 that is the subject of the inspection process has already had the drive system 140 and the brake system 150 assembled.

[0034] Specifically, the completion of assembly of drive system 140 means that the assembly of the mechanical components that make up drive system 140 has been completed, that the liquids used in drive system 140, such as lubricating oil and coolant, are provided in drive system 140, and that the adjustment of the drive force of drive source 71 has been completed. The adjustment of the drive force is, for example, the adjustment of the rotational speed value of drive source 71 in response to the operation amount of an accelerator pedal (not shown).

[0035] Specifically, the completion of assembly of brake system 150 refers to a state in which the assembly of mechanical components constituting brake system 150 is complete, the brake system 150 is provided with the liquids used in brake system 150, such as lubricating oil, coolant, and oil used in hydraulic unit 151b, and further, the adjustment of the braking force of brake system 150 is complete. The adjustment of the braking force is, for example, the adjustment of the hydraulic pressure value in hydraulic unit 151b in response to the operation amount of brake pedal 151a.

[0036] In step S11, it is determined whether the brake system 150 is normal. The brake system 150 has a self-diagnosis function. Specifically, the brake system 150 performs self-diagnosis using sensors and the like to check whether there is a leak in the fluid used in the brake system 150, whether a connector used in wiring that transmits electrical signals has come loose, and the like. If an abnormality is detected in these self-diagnoses, an abnormality signal is input to the vehicle control unit 115. If no abnormality signal is input to the vehicle control unit 115, the brake system 150 is determined to be normal. On the other hand, if an abnormality signal is input to the vehicle control unit 115, the brake system 150 is determined to be abnormal, i.e., to be abnormal.

[0037] If it is determined in step S11 that the brake system 150 is normal, then it is determined in step S12 whether the drive system 140 is normal. Like the brake system 150, the drive system 140 also has a self-diagnosis function. If an abnormality is detected in these self-diagnoses, an abnormality signal is input to the vehicle control unit 115. If no abnormality signal is input to the vehicle control unit 115, the drive system 140 is determined to be normal. On the other hand, if an abnormality signal is input to the vehicle control unit 115, the drive system 140 is determined to be abnormal, i.e., to be abnormal.

[0038] If it is determined in step S12 that the drive system 140 is normal, it is determined in step S13 whether the road surface is normal. Braking force varies depending on the road surface condition, due to factors such as fluctuations in the friction force between the tires and the road surface. Therefore, in step S13, if the predetermined road surface condition included in the inspection conditions matches the detected road surface condition, the road surface is determined to be normal. On the other hand, in step S13, if the predetermined road surface condition does not match the detected road surface condition, the road surface is determined to be abnormal, i.e., not normal. Typically, the predetermined road surface condition is a condition in which the road surface is not inclined, is flat, and is not wet. Note that, for example, a wet road surface condition may be set as the predetermined road surface condition of the inspection conditions.

[0039] In this embodiment, step S13 is performed by image processing using an image captured by a camera serving as the external sensor 300 shown in FIG.

[0040] In this embodiment, steps S11, S12, and S13 are performed by the determination unit 214 included in the server 200. In detail, for steps S11 and S12, information on whether or not an abnormal signal has been input to the vehicle control unit 115 is transmitted from the vehicle 100 to the server 200. The determination unit 214 determines whether or not the system is normal using the information on whether or not an abnormal signal has been input. For step S13, the determination unit 214 determines whether or not the system is normal using an image transmitted from the external sensor 300. In another embodiment, the determinations for steps S11, S12, and S13 may each be made visually by an inspector.

[0041] If it is determined in step S13 that the road surface condition is normal, then in step S15 a braking force test is performed on the rear wheels 82. The braking force test on the rear wheels 82 is performed by causing the drive actuator 121 to drive the rear wheels 82 while the service brake system 151 is exerting braking force, and detecting whether the rear wheels 82 rotate.

[0042] In this embodiment, step S15 and the next step S16 are performed by remote control of the server 200.

[0043] Specifically, in step S15, the drive control unit 211 creates an inspection control signal for inspecting the braking force of the rear wheels 82 for operating the drive actuator 121 for the vehicle 100 and transmits it to the vehicle 100. Additionally, in step S15, the brake control unit 212 creates an inspection control signal for inspecting the braking force of the rear wheels 82 for operating the service brake system 151 and transmits it to the vehicle 100. The inspection control signal includes a set value of the hydraulic pressure to be applied to the hydraulic unit 151b and a set value of the torque to be output from the drive source 71. The set value of the hydraulic pressure and the set value of the torque to be output, which are included in the inspection control signal, are values ​​determined by the inspection conditions.

[0044] Upon receiving the test control signal, the vehicle 100 activates the electric motor serving as the drive source 71 and the service brake system 151. Specifically, the vehicle control unit 115 controls the drive actuator 121 to output a specified torque in accordance with the test control signal. The vehicle control unit 115 also controls the brake actuator 122 to control the hydraulic unit 151b at a specified hydraulic pressure in accordance with the test control signal. This applies torque to the rear wheels 82, and braking force to the rear wheels 82. During the period in which torque and braking force are applied to the rear wheels 82, the detection values ​​of the rotational speed sensor 161 and the acceleration sensor 162 are transmitted from the vehicle 100 to the server 200. The detection values ​​of the rotational speed sensor 161 are also referred to as rotational information. The rotational information is information related to the rotational state of the wheels 80. The detection values ​​of the acceleration sensor 162 are also referred to as acceleration information. The rotational information and acceleration information are collectively referred to as sensor information. The acquisition unit 213 of the server 200 receives and acquires the detection values ​​of the rotation speed sensor 161 and the detection values ​​of the acceleration sensor 162 transmitted from the vehicle 100. In this embodiment, both the rotation information and the acceleration information are used to perform a braking force test, which will be described later. In another embodiment, either the rotation information or the acceleration information may be used to perform a braking force test, which will be described later.

[0045] In step S16, a braking force test is performed on the parking brake system 152. The braking force test is performed by causing the drive actuator 121 to drive the rear wheels 82 while the parking brake system 152 is exerting braking force, and detecting whether the rear wheels 82 rotate.

[0046] Specifically, in step S16, the drive control unit 211 transmits to the vehicle 100 an inspection control signal for inspecting the braking force of the parking brake to activate the drive actuator 121. Additionally, in step S16, the brake control unit 212 transmits to the vehicle 100 an inspection control signal for inspecting the braking force of the parking brake to activate the parking brake system 152. The inspection control signal includes a set value of the torque to be output to the parking brake motor 152b and a set value of the torque to be output to the drive source 71. Note that each set value included in the inspection control signal is a value determined by the inspection conditions.

[0047] Upon receiving the test control signal, the vehicle 100 activates the electric motor serving as the drive source 71 and also activates the parking brake system 152. Specifically, the vehicle control unit 115 controls the drive actuator 121 to control the electric motor so as to output the torque specified in the test control signal. The vehicle control unit 115 also controls the brake actuator 122 to control the parking brake motor 152b so as to output the torque specified in the test control signal. As a result, torque is applied to the rear wheels 82, and braking force is applied to the rear wheels 82. The detection values ​​of the rotational speed sensor 161 and the acceleration sensor 162 during the period in which the torque and braking force are applied to the rear wheels 82 are transmitted from the vehicle 100 to the server 200. The acquisition unit 213 of the server 200 receives and acquires the detection values ​​of the rotational speed sensor 161 and the acceleration sensor 162 transmitted from the vehicle 100.

[0048] In step S19 as a determination process, the determination unit 214 determines whether the inspection is passed or not using the acquired sensor information. Specifically, in step S19, it is determined whether the braking force inspection of the rear wheels 82 and the braking force inspection of the parking brake are passed or not.

[0049] With respect to the braking force inspection of the rear wheels 82, the determination unit 214 determines that the inspection is passed if both the detection value of the rotation speed sensor 161 and the detection value of the acceleration sensor 162 indicate that the rear wheels 82 are not rotating. When the rear wheels 82 are rotating, the vehicle 100 moves. Therefore, the detection value of the acceleration sensor 162 can be used to determine whether the rear wheels 82 are rotating. On the other hand, when at least one of the detection values ​​of the rotation speed sensor 161 and the acceleration sensor 162 indicates that the rear wheels 82 are rotating, the determination unit 214 determines that the inspection is not passed, i.e., that the inspection is unsuccessful. In other words, when the rear wheels 82 are not rotating when a torque defined in the inspection conditions and a braking force defined in the inspection conditions are applied to the rear wheels 82, the determination unit 214 determines that the braking force inspection of the rear wheels 82 satisfies the predetermined inspection criteria.

[0050] The determination unit 214 also makes a determination regarding the braking force inspection of the parking brake in the same manner as the braking force inspection of the rear wheels 82. That is, the determination unit 214 determines that the inspection is passed when both the detection value of the rotational speed sensor 161 and the detection value of the acceleration sensor 162 indicate that the rear wheels 82 are not rotating. On the other hand, when at least one of the detection value of the rotational speed sensor 161 and the detection value of the acceleration sensor 162 indicates that the rear wheels 82 are rotating, the determination unit 214 determines that the inspection is not passed, i.e., that the inspection is failed. The determination unit 214 stores the determination result in the memory 202.

[0051] In this embodiment, in step S19, the determination unit 214 makes a determination using both the detection value of the rotation speed sensor 161 and the detection value of the acceleration sensor 162. In another embodiment, the determination unit 214 may make a determination using either the detection value of the rotation speed sensor 161 or the detection value of the acceleration sensor 162.

[0052] In step S20, the inspection information creation unit 215 creates inspection information using the judgment result made by the judgment unit 214. The inspection information includes pass / fail results of the braking force inspection of the rear wheels 82 and pass / fail results of the braking force inspection of the parking brake. The inspection information creation unit 215 stores the created inspection information in the memory 202.

[0053] In step S21, the determination unit 214 determines whether the braking force test is passed. If it is determined that both the braking force test of the rear wheels 82 and the braking force test of the parking brake are passed, the determination unit 214 determines in step S21 that the test is passed. On the other hand, if it is determined that at least one of the braking force test of the rear wheels 82 and the braking force test of the parking brake is failed, the determination unit 214 determines that the braking force test is not passed, i.e., is failed.

[0054] If the determination unit 214 determines in step S21 that the inspection is passed, then in step S22, the vehicle 100 moves to the second location PL2 by unmanned driving, and this inspection process ends. Step S22 will be described with reference to FIG. 5.

[0055] Fig. 5 is a flowchart showing the processing procedure for driving control of vehicle 100. In the processing procedure in Fig. 5, processor 201 of server 200 executes program PG2 to function as remote control unit 210. Also, processor 111 of vehicle 100 executes program PG1 to function as vehicle control unit 115.

[0056] 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 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 S1, the processor 201 acquires the vehicle position information using a captured image acquired from a camera, which is the external sensor 300.

[0057] 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 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the system 50, and is pre-stored in the memory 202 of the server 200. The detection model DM may be, for example, a trained machine learning model that has been trained to achieve either semantic segmentation or instance segmentation. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset may be used. The training dataset may, for example, include a plurality of training images including the vehicle 100 and labels indicating whether each region in the training image represents the vehicle 100 or a region other than the vehicle 100. During CNN training, it is preferable to update the parameters of the CNN by backpropagation (error backpropagation method) so as to reduce the error between the output result of the detection model DM and the label. In addition, the processor 201 can acquire the orientation of the vehicle 100 by estimating it based on the orientation of the movement vector of the vehicle 100 calculated from the positional change of the feature points of the vehicle 100 between frames of the captured image using, for example, an optical flow method.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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 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.

[0062] 4, if it is determined that the brake system 150 is not normal, the process proceeds to step S23. If it is determined that the drive system 140 is not normal, the process proceeds to step S23.

[0063] In step S23, the vehicle 100 is moved by a worker to a repair shop (not shown). Step S23 is performed when there is an abnormality in either the brake system 150 or the drive system 140. By having the worker move the vehicle 100, it is possible to reliably move the vehicle 100 to the repair shop. The vehicle 100 can be moved by a worker driving the vehicle 100, by placing the vehicle 100 on a transport vehicle, or by being towed by a towing vehicle. After step S23 is performed, this inspection process ends. At least one of the brake system 150 and the drive system 140 of the vehicle 100 moved to the repair shop is repaired. The inspection process is then performed again on the repaired vehicle 100.

[0064] If it is determined in step S13 that the road surface is not normal, then in step S24, the vehicle 100 is moved by an operator to another location, such as another inspection location or a waiting location. After step S24 is performed, this inspection process ends.

[0065] If it is determined in step S21 that the inspection has not passed, then in step S25, the vehicle 100 is moved to a repair shop (not shown). After step S25 is performed, this inspection process ends. After the vehicle 100 is moved to the repair shop, the brake system 150 is repaired. The inspection process is then performed again on the repaired vehicle 100. The repair shop to which the vehicle 100 is moved in step S23 and the repair shop to which the vehicle 100 is moved in step S25 may be the same location or different locations. Furthermore, the movement in step S25 may be performed by a worker or by unmanned driving. The method of movement may be determined based on the inspection results in step S21. For example, if the braking force inspection of the rear wheels 82 passes, there is a high possibility that the desired self-propelled movement will occur, so it is preferable to move the vehicle by unmanned driving.

[0066] According to the first embodiment described above, the server 200 includes a drive control unit 211, a brake control unit 212, an acquisition unit 213, and a determination unit 214. In a braking force inspection process, the drive control unit 211 controls the drive system 140 using an inspection control signal. In a braking force inspection process, the brake control unit 212 controls the brake system 150 using an inspection control signal. The acquisition unit 213 acquires a detection value of the rotational speed sensor 161 as rotation information and a detection value of the acceleration sensor 162 as acceleration information. The determination unit 214 uses the sensor information to determine whether the braking force of the vehicle 100 meets the inspection standard. In an inspection of the braking force of the rear wheels 82, the brake control unit 212 controls the brake control unit 212 to apply a braking force to the wheels 80 via the brake actuator 122. Instead of a person applying a braking force to the wheels 80 by pressing the brake pedal 151a, the braking force is applied by the brake actuator 122. Therefore, it is possible to reduce variations in the hydraulic pressure of the hydraulic unit 151b during the inspection and improve the accuracy of the braking force inspection. Furthermore, since the brake pedal 151a is not operated by a person during the inspection, it is possible to prevent work errors related to human operation.

[0067] The drive system 140 also includes an electric motor, which is a drive source 71 provided in the vehicle 100. As a result, during testing, torque can be applied to the wheels 80 by operating the electric motor. Therefore, braking force testing can be performed without using a device that is separate from the vehicle 100 and that applies torque to the wheels 80.

[0068] Furthermore, the drive control unit 211 remotely controls the drive system 140. The brake control unit 212 remotely controls the brake system 150. Therefore, the number of personnel required for the inspection process can be reduced.

[0069] The inspection information creating unit also creates inspection information, which can be used for, for example, inspection history and improvements to the manufacturing process.

[0070] Furthermore, in step S19, the determination unit 214 determines that the inspection criterion is met if it indicates that the rear wheel 82 is not rotating. In this way, by determining that the rear wheel 82 to which a predetermined torque is applied is not rotating, it can be determined that the brake system 150 has a predetermined braking force.

[0071] B. Second embodiment: 6 is a flowchart showing the procedure of the inspection process of this embodiment. This embodiment differs from the first embodiment in that, in addition to the above-mentioned braking force inspection, the following inspections are performed: a braking force inspection of the front wheels 81, an inspection of the left-right difference in braking force of the front wheels 81, and an inspection of the left-right difference in braking force of the rear wheels 82. The same processing steps as in the first embodiment are given the same reference numerals, and detailed explanations will be omitted as appropriate. This embodiment will be described taking as an example a case where the vehicle 100 to be inspected is a four-wheel drive electric vehicle.

[0072] In the inspection process of this embodiment, steps S11 to S13 in Fig. 6 are performed in the same manner as in the first embodiment. If it is determined in step S13 that the road surface condition is normal, a braking force inspection of the front wheels 81 is performed in step S14.

[0073] In this embodiment, each braking force inspection is performed by remote control of the server 200, similarly to the first embodiment.

[0074] Specifically, in step S14, similar to step S15 of the first embodiment, the drive control unit 211 creates an inspection control signal for inspecting the braking force of the front wheels 81 for operating the drive actuator 121 for the vehicle 100 and transmits it to the vehicle 100. Additionally, in step S14, the brake control unit 212 creates an inspection control signal for inspecting the braking force of the front wheels 81 for operating the service brake system 151 and transmits it to the vehicle 100. Furthermore, the vehicle 100 transmits sensor information to the server 200, similar to step S15 of the first embodiment.

[0075] The set value of the torque to be output from the drive source 71 in step S14 and the set value of the torque to be output from the drive source 71 in the next step S15 may be the same or different. The set value of the oil pressure to be applied to the hydraulic unit 151b in step S14 and the set value of the oil pressure to be applied to the hydraulic unit 151b in the next step S15 may be the same or different. If the set value of the torque to be output and the set value of the oil pressure are the same, either step S14 or step S15 may be omitted.

[0076] After steps S15 and S16 are performed, step S17 is performed to check the difference in braking force between the left and right front wheels 81. This test is performed to check the difference in braking force between the left front wheel 81l as the left wheel and the right front wheel 81r as the right wheel.

[0077] FIG. 7 is a flowchart showing the processing procedure for testing the braking force difference between the left and right front wheels 81. The testing of the braking force difference between the left and right front wheels 81 is the same as the testing of the braking force of the front wheels 81 in that the drive actuator 121 drives the front wheels 81 while the service brake system 151 is exerting braking force. In the testing of the braking force difference between the left and right wheels 81, the torque applied to drive the front wheels 81 is changed to detect the minimum torque value at which it is determined that the left front wheel 81l is rotating and the minimum torque value at which it is determined that the left front wheel 81l is rotating. In other words, the maximum torque value at which it is determined that the left front wheel 81l is not rotating is treated as the braking force of the left front wheel 81l. The same is true for the right front wheel 81r. Then, the difference between the braking force of the left front wheel 81l and the braking force of the right front wheel 81r is compared with a threshold value.

[0078] Steps S31 to S33 shown in Fig. 7 are also referred to as an inspection processing routine. In the inspection processing routine, the processor 201 uses a variable n and a constant N. The memory 202 stores first to Nth torques as inspection conditions for inspecting the braking force difference between the left and right wheels. As described above, the inspection of the braking force difference between the left and right wheels requires the wheels 80 to rotate, and therefore the hydraulic pressure setting value is preferably smaller than the hydraulic pressure setting value for an inspection of a braking force other than the left and right difference, for example, the braking force inspection of the front wheels 81.

[0079] In S31 of FIG. 7, the nth torque and the test braking force are applied to the front wheels 81. In the first step S31 after the start of the test processing routine, the first torque is applied. The torque value is set to be larger as the torque number is larger. The test braking force is the value of the braking force for testing the left-right braking force difference, i.e., the hydraulic pressure value.

[0080] Specifically, in step S31, the drive control unit 211 creates an inspection control signal for inspecting the braking force difference between the left and right front wheels 81 for operating the drive actuator 121 for the vehicle 100, and transmits the signal to the vehicle 100. Additionally, in step S31, the brake control unit 212 creates an inspection control signal for inspecting the braking force difference between the left and right front wheels 81 for operating the service brake system 151, and transmits the inspection control signal to the vehicle 100. The inspection control signal that is transmitted includes a set value of the hydraulic pressure to be applied to the hydraulic unit 151b and a set value of the n-th torque to be output from the drive source 71. As in step S15, the vehicle 100 transmits sensor information.

[0081] In step S32, the acquisition unit 213 acquires and stores in the memory 202 sensor information in a state in which the n-th torque and the test braking force are applied to the left front wheel 81l and the right front wheel 81r.

[0082] In step S33, the determination unit 214 determines whether both the right front wheel 81r and the left front wheel 81l are rotating. More specifically, the determination unit 214 determines whether the right front wheel 81r is rotating, and also determines whether the left front wheel 81l is rotating. If it is determined that both the right front wheel 81r and the left front wheel 81l are not rotating, in step S34, the determination unit 214 determines whether the variable n is equal to or greater than the constant N.

[0083] If it is determined in step S34 that the variable n is not equal to or greater than the constant N, then in step S35 the determination unit 214 increments the variable n and returns the processing step to S31. As a result, in step S33, the torque is changed to be larger until both the right front wheel 81r and the left front wheel 81l are rotating or the torque number to be set reaches the Nth number, and the inspection processing routine is repeatedly executed.

[0084] If it is determined in step S33 that both the right front wheel 81r and the left front wheel 81l have rotated, or if it is determined in step S34 that the number n is equal to or greater than the constant N, this processing routine ends.

[0085] Step S18 in FIG. 6 is performed in the same manner as step S17 except that the inspection target is not the front wheel 81 but the right rear wheel 82r and the left rear wheel 82l, and therefore a description thereof will be omitted.

[0086] In step S19, the determination unit 214 determines whether each test is passed or not using the acquired sensor information. The method of determining whether the braking force test of the rear wheels 82 and the braking force test of the parking brake are the same as those in the first embodiment, and therefore description thereof will be omitted. The method of determining whether the braking force test of the front wheels 81 is passed or not is performed in the same manner as the method of determining whether the braking force test of the rear wheels 82 is passed or not. That is, with regard to the braking force test of the front wheels 81, the determination unit 214 determines that the test is passed when both the detection value of the rotational speed sensor 161 and the detection value of the acceleration sensor 162 indicate that the rear wheels 82 are not rotating. On the other hand, when at least one of the detection value of the rotational speed sensor 161 and the detection value of the acceleration sensor 162 indicates that the rear wheels 82 are rotating, the determination unit 214 determines that the test is not passed, i.e., that the test is failed.

[0087] Regarding the pass / fail of the braking force test for the left-right difference between the front wheels 81, the determination unit 214 determines that the test is pass if the difference between the minimum value of torque at which it is determined that the left front wheel 81l has rotated and the minimum value of torque at which it is determined that the right front wheel 81r has rotated is equal to or less than a predetermined threshold. On the other hand, if the difference is greater than the threshold, the determination unit 214 determines that the test is not pass, i.e., is fail. In other words, if the difference is equal to or less than the threshold, the determination unit 214 determines that the test for the left-right difference between the front wheels 81 meets the predetermined test criteria.

[0088] The determination unit 214 determines whether the left-right difference in braking force test for the rear wheels 82 has passed or failed in the same manner as the determination unit 214 determines whether the left-right difference in braking force test for the front wheels 81 has passed or failed. That is, the determination unit 214 determines whether the test has passed when the difference between the minimum value of torque at which it is determined that the left rear wheel 82l has rotated and the minimum value of torque at which it is determined that the left front wheel 81l has rotated is equal to or smaller than a predetermined threshold value.

[0089] In step S20, the inspection information created by the inspection information creation unit 215 associates the inspection conditions for each inspection item with a pass / fail result, which is fourth information related to the judgment made by the judgment unit 214. The inspection conditions include second information related to the torque for each inspection and third information related to the braking force. The second information related to the torque is, for example, the value of the torque to be output by the electric motor. The third information related to the braking force is, for example, the value of the hydraulic pressure applied to the hydraulic unit 151b or the value of the torque to be output by the parking brake motor 152b. The pass / fail result is the judgment result of the judgment unit 214, and is information indicating either pass or fail. In step S19, the inspection information creation unit stores the created inspection information in memory 202.

[0090] In step S21, the judgment unit 214 judges whether the test is passed. If the judgment unit 214 judges that all of the tests from step S14 to step S18 are passed, it judges that the test is passed in step S21. On the other hand, if the judgment unit 214 judges that at least one of the tests from step S14 to step S18 is not passed, it judges that the test is not passed in step S21.

[0091] Steps S22, S23, S24, and S25 are performed in the same manner as in the first embodiment, and therefore description thereof will be omitted.

[0092] In this embodiment, a four-wheel drive electric vehicle has been described as an example of the vehicle 100 to be inspected. In addition, the inspection method of this embodiment can also be applied to vehicles 100 such as two-wheel drive vehicles and part-time four-wheel drive vehicles. When inspecting the braking force of rear wheels 82 of a front-wheel drive vehicle, torque is applied to front wheels 81 by drive actuator 121. Applying torque to front wheels 81 causes rear wheels 82 to rotate in the same way as when driving, so that braking force inspection of rear wheels 82 can be performed.

[0093] According to the second embodiment described above, in step S31, the drive control unit 211 controls the drive system 140 to apply the n-th torque to the front wheels 81. In step S31, the brake control unit 212 controls the brake system 150 to apply an inspection braking force to the front wheels 81. In step S19, the determination unit 214 determines that the inspection criterion is met if the difference between the minimum value of torque at which it is determined that the right front wheel 81r is rotating and the minimum value of torque at which it is determined that the left front wheel 81l is rotating is equal to or less than a predetermined threshold. This makes it possible to inspect the difference in braking force between the left and right front wheels 81.

[0094] Furthermore, in step S20, the inspection information creation unit 215 creates inspection information that associates the second information related to the torque, the third information related to the braking force, and the fourth information related to the judgment by the judgment unit 214. This allows the inspection information including more detailed information to be used as an inspection history or the like.

[0095] C. Third embodiment: 8 is a diagram illustrating the configuration of a vehicle 2100 involved in the inspection process of this embodiment. The vehicle 2100 of this embodiment differs from the vehicle 100 of the first embodiment in that an electric motor, which is the drive source 71, is provided independently for each of the four wheels 80. The drive control unit 211 of the server 200 controls the drive actuator 121 to independently control each of the four wheels 80. The same components as those in the above embodiments are denoted by the same reference numerals, and detailed description thereof will be omitted where appropriate.

[0096] As described above, the vehicle 2100 is a four-wheel drive vehicle, and the left front wheel 81l, the right front wheel 81r, the left rear wheel 82l, and the right rear wheel 82r of the vehicle 2100 are each provided with an electric motor as the drive source 71. Thus, by independently operating the four drive sources 71, torque can be applied independently to each of the four wheels. As in the first embodiment, a rotation speed sensor 161 is attached to each electric motor.

[0097] The procedure of the inspection process in this embodiment is the same as the flowchart shown in Fig. 6, so only the differences will be explained using Fig. 6. The same processing steps as those in the above embodiments are given the same reference numerals, and detailed explanations will be omitted as appropriate.

[0098] In this embodiment, the four wheels 80 can be independently controlled. Therefore, in step S14, the vehicle 2100 is instructed to control the drive source 71 corresponding to the front wheels 81. In step S15, the vehicle 2100 is instructed to control the drive source 71 corresponding to the rear wheels 82.

[0099] In step S17, a braking force test is performed on each of the right front wheel 81r and the left front wheel 81l. That is, when a braking force test is performed on the right front wheel 81r, torque and braking force are applied only to the right front wheel 81r, and it is determined whether the right front wheel 81r rotates.

[0100] In this embodiment, the vehicle 2100 to be inspected has been described as an electric vehicle equipped with an electric motor for each of the four wheels 80. In addition to this, the inspection method of this embodiment can also be applied to an electric vehicle in which the number of electric motors as drive sources is less than the number of wheels, and each of the four wheels 80 is controlled independently.

[0101] According to the third embodiment described above, the drive control unit 211 independently controls each of the four wheels 80. This allows the braking force to be inspected independently for each of the four wheels 80.

[0102] D. Fourth embodiment: 9 is a diagram illustrating the configuration of a vehicle 3100 and the configuration of a drive system 3140 involved in the inspection process of this embodiment. The vehicle 3100 of this embodiment differs from the vehicle 100 of the first embodiment in that the drive source 71 is an engine vehicle, and the parking brake system 3152 is manual. The drive system 3140 of this embodiment differs from the drive system 140 of the first embodiment in that it is separate from the vehicle 3100. The same components as those in the above embodiments are denoted by the same reference numerals, and detailed descriptions will be omitted as appropriate.

[0103] The vehicle 3100 of this embodiment is a front-wheel drive vehicle in which the driving force of an engine, which is the driving source 71, is transmitted to the front wheels 81. When a brake lever 3152a of the parking brake system 3152 is operated by a person, the operation is mechanically transmitted to a parking brake mechanism. The brake lever 3152a may be a lever operated by a person's hand or a lever operated by a person's foot.

[0104] The drive system 3140 is provided at the first location PL1. The drive system 3140 includes four inspection rotors 3141, a rotor electric motor 3142, a robot 3143, and an inspection control device 3145. The four inspection rotors 3141 are provided for each of the four wheels 80. Each inspection rotor 3141 is capable of contacting the wheel 80 and rotating the wheel 80. In detail, each inspection rotor 3141 includes multiple rotors so that it can contact the tire at multiple points to ensure stable rotation of the wheel 80. The four inspection rotors 3141 rotate by driving force transmitted from the rotor electric motor 3142. The four inspection rotors 3141 can rotate independently of each other. Each of the four inspection rotors 3141 is provided with a rotation angle sensor 3146. The robot 3143 operates a brake lever 3152a. The test control device 3145 is capable of communicating with the server 200 .

[0105] The inspection process in this embodiment is similar to the inspection process in the second embodiment. Therefore, differences between the inspection process in this embodiment and the second embodiment will be described with reference to Fig. 6. In the inspection process, the vehicle 3100 is set to a state in which driving force is not transmitted from the driving source 71 to the front axle 91, which is the drive shaft.

[0106] In the braking force inspection of the front wheels 81 in step S14, the drive control unit 211 creates an inspection control signal for inspecting the braking force of the front wheels 81 for operating the rotor electric motor 3142 corresponding to the front wheels 81, and transmits the inspection control signal to the drive system 3140. Additionally, in step S14, the brake control unit 212 creates an inspection control signal for inspecting the braking force of the front wheels 81 for operating the service brake system 151, and transmits the inspection control signal to the vehicle 3100. The inspection control signal includes a set value of the hydraulic pressure to be applied to the hydraulic unit 151b and a set value of the torque to be output from the rotor electric motor 3142. The set value of the hydraulic pressure and the set value of the torque to be output, which are included in the inspection control signal, are values ​​determined in the inspection conditions.

[0107] Upon receiving the inspection control signal, the inspection control device 3145 of the drive system 3140 activates the rotor electric motor 3142 corresponding to the front wheel 81. Upon receiving the inspection control signal, the vehicle 3100 activates the service brake system 151. As a result, torque is applied to the front wheel 81 of the vehicle 3100 by the rotation of the inspection rotor 3141, and a braking force is applied by the service brake system 151. The inspection control device 3145 transmits the detection value of the rotation angle sensor 3146 as rotation information to the server 200.

[0108] In the braking force inspection of the rear wheels 82 in step S15, the server 200 creates an inspection control signal for inspecting the braking force of the rear wheels 82, causing the drive system 3140 to rotate the inspection rotor 3141 corresponding to the rear wheels 82, and transmits the signal to the drive system 3140. Since the process is the same as step S14 except that the drive system 3140 is caused to perform control to rotate the rear wheels 82 instead of the front wheels 81, a description thereof will be omitted.

[0109] In step S16, the drive control unit 211 creates an inspection control signal for inspecting the braking force of the parking brake for operating the rotor electric motor 3142 corresponding to the rear wheel 82, and transmits the inspection control signal to the drive system 3140. Additionally, in step S16, the brake control unit 212 transmits an inspection control signal for inspecting the braking force of the parking brake for operating the parking brake system 152 to the drive system 3140. The inspection control signal includes a set value for the torque to be output to the rotor electric motor 3142 and a set value for the amount of displacement to be applied to the brake lever 3152a applied to the robot 3143. Note that each set value included in the inspection control signal is a value determined by the inspection conditions. As a result, torque is applied to the rear wheel 82 of the vehicle 3100 by the rotation of the inspection rotor 3141, and braking force is applied by operating the brake lever 3152a. The inspection control device 3145 transmits the detection value of the rotational speed sensor 161 as rotation information to the server 200.

[0110] In step S17, when detecting the braking force of the left front wheel 81l, the drive control unit 211 transmits an inspection control signal to the drive system 3140, rather than the vehicle 3100, to rotate the inspection rotor 3141 corresponding to the left front wheel 81l. In step S17, when detecting the braking force of the right front wheel 81r, the drive control unit 211 transmits an inspection control signal to the drive system 3140, to rotate the inspection rotor 3141 corresponding to the right front wheel 81r.

[0111] Step S18 is performed in the same manner as step S17, except that the rear wheels 82 are used instead of the front wheels 81.

[0112] According to the fourth embodiment described above, as in the above-described embodiments, the service brake system 151 is operated by the brake actuator 122. This reduces variations in the hydraulic pressure of the hydraulic unit 151b during braking force testing, improving testing accuracy. Furthermore, the drive system 3140 applies torque to the wheels 80 from outside the vehicle 3100. Therefore, if the vehicle 3100 is a gasoline-powered automobile, braking force testing can be performed without operating the engine.

[0113] E. Other embodiments of the inspection process: In steps S14, S15, and S16 of the fourth embodiment, a test is performed to determine whether the wheel 80 being tested rotates when the torque and braking force under the test conditions are applied to the wheel 80 being tested. In other embodiments, a more detailed test may be performed.

[0114] For example, in step S14, similarly to step S17, the maximum torque value at which it is determined that the left front wheel 81l does not rotate and the maximum torque value at which it is determined that the right front wheel 81r does not rotate may be inspected. Furthermore, in step S14, the front axle load, which is the weight of the front axle 91, may be detected. Specifically, a weight sensor that detects the weight of the vehicle 2100 is provided at the first location PL1 where the inspection process is performed. A detected value indicating the weight detected by the weight sensor is transmitted to the server 200 by a communication device provided at the first location PL1. The acquisition unit 213 acquires the detected value indicating the weight detected by the weight sensor. The determination unit 214 determines whether a calculated value obtained by dividing the sum of the maximum torque value at which it is determined that the left front wheel 81l does not rotate and the maximum torque value at which it is determined that the right front wheel 81r does not rotate by the front axle load is equal to or greater than the inspection standard. If the calculated value is equal to or greater than the inspection standard, the determination unit 214 determines that the vehicle has passed.

[0115] The magnitude of the torque may be the magnitude of the torque included in the inspection control signal transmitted by the drive control unit 211, or the magnitude of the drive current value flowing through the inspection rotor 3141, or the magnitude of the torque of the inspection rotor 3141 converted from the magnitude of the drive current value. The relationship between the magnitude of the drive current value flowing through the inspection rotor 3141 and the magnitude of the torque of the inspection rotor 3141 can be determined in advance by experiment.

[0116] Similarly, in step S15, the maximum value of torque at which it is determined that the left rear wheel 82l will not rotate and the maximum value of torque at which it is determined that the right rear wheel 82r will not rotate may be inspected, and the rear axle load, which is the weight of the rear axle 92, may be detected. Then, the determination unit 214 may determine whether the sum of the maximum value of torque at which it is determined that the left rear wheel 82l will not rotate and the maximum value of torque at which it is determined that the right rear wheel 82r will not rotate, divided by the rear axle load, is equal to or greater than the inspection standard.

[0117] Similarly, in step S16, the maximum torque value at which it is determined that the left rear wheel 82l will not rotate and the maximum torque value at which it is determined that the right rear wheel 82r will not rotate may be inspected, and it may be inspected whether the sum of the maximum torque value at which it is determined that the left rear wheel 82l will not rotate and the maximum torque value at which it is determined that the right rear wheel 82r will not rotate is equal to or greater than the inspection standard.

[0118] If the above-mentioned more detailed inspections are performed, the inspection information creation unit 215 may add the magnitude of the braking force, the weight of the front axle load, and the weight of the rear axle load obtained from each braking force inspection to the inspection information, thereby providing more detailed inspection information.

[0119] F. Fifth embodiment: 10 is a block diagram showing the configuration of a vehicle 4100 according to this embodiment. In the first embodiment, the inspection of the braking force in the inspection process is performed by remote control of the server 200. This embodiment differs from the first embodiment in that the inspection of the braking force is performed by the vehicle 4100 itself. The same components as those in the above embodiments are given the same reference numerals, and detailed explanations will be omitted as appropriate.

[0120] 10, the processor 111 of the vehicle 4100 further includes a drive control unit 116, a brake control unit 117, an acquisition unit 118, and a determination unit 119. The drive control unit 116, the brake control unit 117, the acquisition unit 118, and the determination unit 119 are realized by executing a program PG4 stored in the memory 112.

[0121] A drive control unit 116, a brake control unit 117, an acquisition unit 118, and a determination unit 119 are provided to inspect the braking force. The inspection process of this embodiment is the same as the inspection process of the first embodiment, and therefore, differences will be described with reference to FIG. 4.

[0122] In the first embodiment, steps S15 and S16 are performed by the drive control unit 116 and brake control unit 117 of the vehicle 4100 in accordance with an inspection control signal transmitted from the server 200. For example, in step S15, the drive control unit 116 activates the drive actuator 121 in accordance with an inspection control signal for inspecting the braking force of the rear wheels 82, which is for activating the drive actuator 121. Additionally, in step S15, the brake control unit 117 activates the service brake system 151 in accordance with an inspection control signal for inspecting the braking force of the rear wheels 82, which is for activating the service brake system 151. Then, in step S19, the determination unit 119 uses the acquired rotation information to determine whether the inspection is successful.

[0123] In addition, when the server 200 controls the start of the inspection process and the movement from the first location PL1 to the second location PL2 for multiple vehicles 4100 in an integrated manner, the judgment unit 119 transmits the results of the inspection, whether the vehicle passed or failed, to the server 200.

[0124] According to the fifth embodiment described above, the same effects as those described above can be achieved, and the braking force can be inspected without relying on the remote control of the server 200.

[0125] G. Sixth embodiment: In this embodiment, the content of step S22 shown in Fig. 4, that is, the content explained using Fig. 5, is different from that of the first embodiment. Only this difference will be explained.

[0126] FIG. 11 is an explanatory diagram showing a schematic configuration of a system 50v in the sixth embodiment. In this embodiment, the system 50v differs from the first embodiment in that it does not include a server 200. Furthermore, the vehicle 100v in this embodiment can travel by autonomous control of the vehicle 100v. The other configurations are the same as those in the first embodiment unless otherwise specified.

[0127] In this embodiment, the processor 111v of the vehicle control device 110v functions as a vehicle control unit 115v by executing a program PG1 stored in a memory 112v. The vehicle control unit 115v acquires output results from sensors, generates a driving control signal using the output results, and outputs the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100v to drive by autonomous control. In this embodiment, in addition to the program PG1, a detection model DM and a reference route RR are pre-stored in the memory 112v.

[0128] Fig. 12 is a flowchart showing the procedure for controlling the running of the vehicle 100v in the sixth embodiment. In the procedure in Fig. 11, the processor 111v of the vehicle 100v functions as a vehicle control unit 115v by executing a program PG1.

[0129] 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 system 50v in this embodiment, the vehicle 100v can be driven by autonomous control of the vehicle 100v without remote control of the vehicle 100v by the server 200.

[0130] H. Other embodiments (other embodiments related to testing): (H1) The drive system 140 of the first embodiment is provided in the vehicle 100, while the drive system 3140 of the fourth embodiment is provided separately from the vehicle 3100. In another embodiment, the drive system may be provided either inside or outside the vehicle. Specifically, the drive system may include both the vehicle 100, which is a rear-wheel drive vehicle of the first embodiment, and an inspection rotor 3141 that drives the front wheels 81. This allows the braking force to be inspected using the inspection rotor 3141 for the wheels 80 on the axles that are not the drive wheels for a vehicle that does not have a configuration that independently controls the drive of all four wheels.

[0131] (H2) In the first embodiment, a determination process is performed to determine whether the braking force satisfies a predetermined inspection standard using sensor information obtained when torque and braking force are applied to the wheels 80. As another embodiment, the determination unit 214 may further perform a determination process to determine whether the braking force satisfies the inspection standard using rotation information obtained after torque is applied to the wheels 80 and the braking force is applied to the wheels 80, thereby stopping the vehicle 100. The rotation information is information related to the acceleration of the vehicle 100. In this embodiment, specifically, the drive control unit 211 controls the wheels 80 of the vehicle 100 to apply torque to them, thereby setting the vehicle 100 in a running state. Thereafter, the brake control unit 212 controls the wheels 80 of the vehicle 100 to apply braking force. The determination unit 214 then uses the rotation information to calculate a braking distance from the application of the braking force until the vehicle 100 stops, thereby determining whether the braking force satisfies the inspection standard. This allows the braking distance to be inspected. A specific method for calculating the braking distance is to determine the rotational speed of the axle 90 from the detection value of the rotational speed sensor 161, integrate the rotational speed over the period from when the braking force is applied until the vehicle 100 stops, and multiply the value obtained by the outer diameter of the tire. Another specific method for calculating the braking distance is to perform double integration of the detection value of the acceleration sensor 162.

[0132] (H3) In the first embodiment, both the rotation information and the acceleration information are used to perform the braking force inspection. In another embodiment, only the rotation information may be used to perform the braking force inspection, or only the acceleration information may be used instead of the rotation information. In the first embodiment, the rotation information is a detection value of the rotation speed sensor 161 that detects the rotation speed and rotation angle of the electric motor serving as the drive source 71. In another embodiment, the rotation information may be a detection value from a sensor that detects the rotation speed and rotation angle of the axle 90, for example. The rotation information may also be a captured image acquired from a camera serving as the external sensor 300. The determination unit 214 may use the captured image to determine whether the wheel 80 is rotating.

[0133] (H4) In the inspection process of the first embodiment, steps S11, S12, and S13 are performed in this order, but the order in which steps S11, S12, and S13 are performed is not limited to the order shown in FIG. 4. For example, step S13 may be performed first. Similarly, in the inspection process of the second embodiment, for example, the processing steps from step S14 to step S18 are performed in this order, but the order is not limited to the order shown in FIG. 6. For example, step S16 may be performed first.

[0134] I. Other embodiments (other embodiments relating to self-propelled transport): (I1) 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 is, for example, a LiDAR (Light Detection and Ranging). In this case, the detection result output by the external sensor 300 may be three-dimensional point cloud data representing the vehicle 100. In this case, the server 200 or the vehicle 100 may acquire vehicle position information by template matching using the three-dimensional point cloud data as the detection result and reference point cloud data prepared in advance.

[0135] (I2) 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.

[0136] (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.

[0137] (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.

[0138] (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.

[0139] (I3) In the above fourth embodiment, the vehicle 100v may be equipped with an internal sensor, and the detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. For example, the vehicle 100v may acquire the detection results of the internal sensor and, when generating a route, reflect the detection results of the internal sensor in the route. The vehicle 100v may acquire the detection results of the internal sensor and, when generating a driving control signal, reflect the detection results of the internal sensor in the driving control signal.

[0140] (I4) In the fourth embodiment, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. Alternatively, the vehicle 100v may be equipped with an internal sensor. The vehicle 100v may acquire vehicle position information using the detection results of the internal sensor, determine a target location to which the vehicle 100v should next travel, generate a route from the current location of the vehicle 100v represented in the acquired vehicle position information to the target location, generate a driving control signal for traveling along the generated route, and control the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can travel without using any of the detection results of the external sensor 300. The vehicle 100v may acquire a target arrival time or traffic congestion information from outside the vehicle 100v and reflect the target arrival time or traffic congestion information in at least one of the route and the driving control signal. Furthermore, all of the functional configuration of the system 50v may be provided in the vehicle 100v. In other words, the processing performed by the system 50v in the present disclosure may be performed solely by the vehicle 100v.

[0141] (I5) In the first embodiment described above, the server 200 automatically generates a driving control signal to be transmitted to the vehicle 100. However, the server 200 may generate a driving control signal to be transmitted to the vehicle 100 in accordance with the operation of an external operator located outside the vehicle 100. For example, the external operator may operate a control device including a display that displays an image output from the external sensor 300, a steering wheel for remotely controlling the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 via wired or wireless communication, and the server 200 may generate a driving control signal in accordance with the operation applied to the control device.

[0142] (I6) In each of the above embodiments, the vehicle 100 may be configured to be able 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 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 that can travel by unmanned driving may not be equipped with at least some of its interior parts, such as a driver's seat and a dashboard, may not be equipped with at least some of its 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. Each component may be attached from any direction, such as the upper, lower, front, rear, right 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 manner as for the vehicle 100 in the first embodiment.

[0143] (I7) The vehicle 100 may be manufactured by combining multiple modules. A module refers to a unit composed of one or more parts grouped according to the configuration or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that forms the front portion of the platform, a central module that forms the center portion of the platform, and a rear module that forms the rear portion of the platform. The number of modules that form the platform is not limited to three, but may be two or less, or four or more. In addition to or instead of the platform, parts of the vehicle 100 that are different from the platform may be modularized. The various modules may include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. Any type of mobile object, not limited to the vehicle 100, may be manufactured by combining multiple modules. Such a module may be manufactured, for example, by joining multiple parts using welding or fasteners, or by integrally molding at least a portion of the module into a single component by casting. The molding method of integrally molding at least a portion of the module into a single component is also called gigacasting or megacasting. By using Gigacast, each part of a moving body that has conventionally been formed by joining multiple parts can be formed as a single part. For example, the front module, center module, and rear module described above may be manufactured using Gigacast.

[0144] (I8) Transporting vehicle 100 by using the unmanned driving of vehicle 100 is also called "self-propelled transport." The configuration for realizing self-propelled transport is also called a "vehicle remote-controlled autonomous transport system." The production method for producing vehicle 100 by using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at a factory FC where vehicle 100 is manufactured, at least a portion of the transport of vehicle 100 is realized by self-propelled transport.

[0145] (I9) In each of the above embodiments, some or all of the functions and processes implemented by software may be implemented by hardware. Furthermore, some or all of the functions and processes implemented by hardware may be implemented by software. Hardware for implementing the various functions in each of the above embodiments may be implemented by various circuits, such as integrated circuits or discrete circuits.

[0146] (I10) In the first embodiment, the judgment unit 214 judges whether the inspection is passed or not using the acquired sensor information. In another embodiment, for example, an operator may judge whether the inspection is passed or not. For example, in step S16, the operator may visually judge whether the rear wheel 82 rotates or not.

[0147] The present disclosure is not limited to the above-described embodiments and modifications, and can be realized in various configurations without departing from the spirit thereof. For example, the technical features in the embodiments and modifications 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]

[0148] 50,50v...system, 71...drive source, 80...wheel, 81...front wheel, 81l...left front wheel, 81r...right front wheel, 82...rear wheel, 82l...left rear wheel, 82r...right rear wheel, 90...axle, 91...front axle, 92...rear axle, 100,100v,2100,3100,4100...vehicle, 110,110v...vehicle control device, 111,111v...processor, 112,112v...memory, 113...input Output interface, 114... internal bus, 115, 115v... vehicle control unit, 116... drive control unit, 117... brake control unit, 118... acquisition unit, 119... determination unit, 120... actuator group, 121... drive actuator, 122... brake actuator, 130... communication device, 140... drive system, 150... brake system, 151... service brake system, 151a ...Brake pedal, 151b...Hydraulic unit, 152...Parking brake system, 152a...Parking brake switch, 152b...Parking brake motor, 160...Internal sensor group, 161...Rotation angle sensor, 162...Acceleration sensor, 200...Server, 201...Processor, 202...Memory, 203...Input / output interface, 204...Internal bus, 205...Communication device, 210...Remote control unit, 211...Drive control unit, 212...Brake control unit, 213...Acquisition unit, 214...Determination unit, 215...Inspection information creation unit, 300...External sensor, 3140...Drive system, 3141...Inspection rotor, 3142...Electric motor for rotor, 3143...Robot, 3145...Inspection control device, 3146...Rotation angle sensor, 3152...Parking brake system, 3152a...Brake lever

Claims

1. A control device for inspecting a braking force of a moving body, a drive control unit that remotely controls a drive system that applies a torque to at least one wheel of the moving body to rotate the at least one wheel so that a torque of a predetermined magnitude is applied to the at least one wheel during the inspection of the braking force; a brake control unit that remotely controls a brake system that generates the braking force on the moving body during inspection of the braking force.

2. The control device according to claim 1, an acquisition unit that acquires rotation information related to a rotation state of the at least one wheel; a determination unit that performs a determination process to determine whether the braking force satisfies a predetermined inspection standard using the rotation information in a state in which the torque and the braking force are applied to the at least one wheel.

3. The control device according to claim 2, the at least one wheel includes a plurality of wheels; The drive control unit controls each of the plurality of wheels independently.

4. The control device according to claim 2, The control device, wherein the determination unit determines that the inspection criterion is met when the at least one wheel is not rotating in the determination process.

5. The control device according to claim 2, the at least one wheel includes a right wheel and a left wheel; the control device repeatedly performs an inspection process routine by changing the magnitude of the torque; In the inspection processing routine, the drive control unit controls the drive system to apply the predetermined torque to the at least one wheel; the brake control unit controls the brake system to apply the predetermined braking force to the at least one wheel; The control device, wherein the judgment unit judges that the inspection standard is met when, in the judgment process, the difference between the minimum torque value at which it is judged that the right wheel is rotating and the minimum torque value at which it is judged that the left wheel is rotating is equal to or less than a predetermined threshold value.

6. The control device according to claim 2, a control device comprising an inspection information creation unit that creates inspection information that associates information about the torque, information about the braking force, and information about the judgment made by the judgment unit.

7. The control device according to any one of claims 1 to 6, The drive system includes an electric motor that generates the torque.

8. The control device according to claim 7, The control device, wherein the moving body is equipped with the drive system.

9. The control device according to claim 7, the drive system further includes a test rotor; The electric motor drives the inspection rotor.

10. A control device for inspecting a braking force of a moving body, a drive control unit that controls a drive system that applies torque to at least one wheel included in the moving body to rotate the at least one wheel; a brake control unit that controls a brake system that generates the braking force on the moving body; an acquisition unit that acquires information related to the acceleration of the moving object; a judgment unit that performs a judgment process to determine whether the braking force satisfies a predetermined inspection standard using information related to the acceleration of the moving body in a state in which the torque and the braking force are applied to the at least one wheel.

11. The control device according to claim 10, the acquisition unit acquires, as information related to the acceleration of the moving object, rotation information from when the torque is applied to at least one wheel until when the braking force is applied to the at least one wheel and the moving object is stopped; The determination unit performs the determination process using the rotation information.

12. An inspection system for inspecting the braking force of a moving body, comprising: a drive system that applies a torque to at least one wheel of the moving body to rotate the at least one wheel; an acquisition unit that acquires rotation information related to a rotation state of the at least one wheel; a control device; the moving body has a brake system that generates the braking force; The control device includes a drive control unit that controls the drive system and a brake control unit that controls the brake system, The inspection system further includes a judgment unit that performs a judgment process to determine whether the braking force satisfies a predetermined inspection standard using the rotation information in a state in which the torque and the braking force are applied to the at least one wheel.

13. A mobile object, At least one wheel to which torque is applied by the drive system as a result of the drive control unit controlling the drive system; a brake system controlled by a brake control unit, the brake system generating a braking force on the moving body; an acquisition unit that acquires rotation information related to a rotation state of the at least one wheel; a judgment unit that performs a judgment process to determine whether the braking force satisfies a predetermined inspection standard using the rotation information in a state in which the torque and the braking force are applied to the at least one wheel.

14. A testing method for testing the braking force of a moving body, comprising: the moving body includes at least one wheel, a drive system that applies torque to the at least one wheel, and a brake system that generates the braking force on the moving body itself; remotely controlling the braking system; remotely controlling the drive system; acquiring rotation information relating to a rotation state of the at least one wheel; and performing a determination process using the rotation information to determine whether or not the braking force satisfies a predetermined inspection standard.

15. A method for manufacturing a moving body, comprising: an assembly process of assembling the moving body including the brake system that generates the braking force on the moving body; an inspection step of inspecting the operation of the moving body assembled with the brake system, The method for manufacturing a moving body, wherein the inspection step includes at least the inspection method according to claim 14 .

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