Vehicle control system, vehicle manufacturing method, program, and information processing device.

Abstract

This vehicle control system provides security by enabling remote or automated vehicle control while simultaneously disabling remote or automated vehicle control functions. [Solution] A vehicle control system (100) is provided, comprising: a vehicle (101) equipped with a communication terminal (102) having a communication function; an ECU (103) mounted on the vehicle that performs driving control of the vehicle using communication via the communication terminal; a transmission unit (104) that transmits control instruction values ​​used for driving control of the vehicle to the ECU via the communication terminal from outside the vehicle; and a deactivation request unit (105) that requests the ECU via the communication terminal from outside the vehicle to irreversibly deactivate the vehicle's driving control, wherein if deactivation is requested by the deactivation request unit after driving control has been performed, irreversible deactivation of the driving control is performed.

Description

Technical Field

[0001] The present disclosure relates to a vehicle control system, a vehicle manufacturing method, a program, and an information processing device.

Background Art

[0002] Patent Document 1 describes an invention of an authentication system and an authentication method that enable high security. In the invention described in Patent Document 1, when performing challenge-response authentication between a vehicle and a terminal, a vehicle side generates a raw value of a random number value. The raw value is converted into a first converted random number in the vehicle, and a first authentication value is generated from this first converted random number value. The first authentication value on the vehicle side is transmitted from the vehicle to the terminal and compared with the first authentication value generated in the same manner at the terminal. Further, the terminal converts the raw value of the random number value received from the vehicle into a second converted random number value, and generates a second authentication value from this second converted random number value. The second authentication value on the terminal side is transmitted from the terminal to the vehicle and compared with the second authentication value generated in the same manner at the vehicle. If both the collation of the first authentication value and the second authentication value are successful, the challenge-response authentication proceeds to be established.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the invention of Patent Document 1, in order to generate a random number for generating an authentication value, it is required to mount a true random number generator on a terminal or an in-vehicle ECU (Electronic Control Unit). Further, when sharing a random number between a vehicle and a terminal, security measures such as encrypting a message using a public key cryptosystem are required in order to sufficiently ensure the confidentiality of the message including the random number.

[0005] Therefore, the purpose of this disclosure is to provide a vehicle control system that ensures security by performing remote or automatic vehicle control while simultaneously disabling remote or automatic vehicle control functions. [Means for solving the problem]

[0006] The vehicle control system of this disclosure is A vehicle equipped with a communication terminal that has communication capabilities, An ECU (Electronic Control Unit) mounted on the vehicle performs driving control of the vehicle using communication via the aforementioned communication terminal, A transmitting unit that transmits control instruction values ​​used for controlling the operation of the vehicle to the ECU via the communication terminal from outside the vehicle, The system includes a deactivation request unit that requests the ECU to irreversibly deactivate the vehicle's driving control from outside the vehicle via the communication terminal, This is a vehicle control system that performs irreversible deactivation of the aforementioned driving control after it has been executed.

[0007] The above configuration provides a vehicle control system that ensures security by performing remote or automatic vehicle control while simultaneously disabling remote or automatic vehicle control functions.

[0008] The vehicle control system of this disclosure further, The aforementioned control instruction values ​​are communicated using CAN (Controller Area Network) communication. The disabling of the aforementioned driving control is characterized by being communicated using diagnostic communication.

[0009] With the above configuration, by utilizing existing communication standards appropriately, it is possible to provide an inexpensive and highly secure vehicle control system.

[0010] The vehicle control system of this disclosure further The method is characterized in that, after disabling the aforementioned driving control, the disabling is confirmed using diagnostic communication.

[0011] With the above configuration, invalidation can be confirmed using an existing communication standard.

[0012] The vehicle control system of the present disclosure further The vehicle control system is characterized in that driving control is executed during inspection at a vehicle factory, and invalidation is executed before shipment.

[0013] With the above configuration, control of the vehicle before shipment can be performed by automatic driving.

[0014] The vehicle control system of the present disclosure The communication terminal is characterized by being a dongle or a data communication module.

[0015] The above configuration is an example of a communication terminal through which a vehicle can communicate with a remote information processing device such as a server.

[0016] The vehicle control system of the present disclosure The communication terminal is characterized by being collected by an operator after invalidation of the driving control.

[0017] With the above configuration, after shipment, communication for remote or automatic driving cannot be performed, and security can be ensured.

[0018] The vehicle control system of the present disclosure Invalidation of the driving control burns the circuit of the ECU, or deletes the application that exhibits the communication function stored in the ECU, or rewrites the software that exhibits the communication function stored in the ECU, and is executed by doing so.

[0019] With the above configuration, irreversible invalidation of driving control is performed, and security can be ensured.

[0020] The vehicle control system of the present disclosure The invalidation of the operation control is performed when it is detected that the vehicle has reached a predetermined position, or when an operator performs a predetermined operation, or when referring to production management information and confirming that operation control is not necessary, or when an invalidation instruction is received, or when the vehicle has completed a predetermined power supply by the power supply device, or when the wrapping of the vehicle is completed, and is characterized by being executed.

[0021] The above configuration is an example of a trigger for invalidating operation control.

[0022] The vehicle control system of the present disclosure executes operation control based on information from an imaging device installed in a vehicle factory, and invalidates the operation control based on information on the actions of an operator captured by the imaging device, and is characterized by this.

[0023] With the above configuration, operation control can be executed using an imaging device installed in a vehicle factory for various purposes such as safety, and the operation control can be invalidated.

[0024] The vehicle control system of the present disclosure is characterized in that after the irreversible operation control is invalidated, the vehicle performs a predetermined action.

[0025] With the above configuration, an operator can confirm the invalidation of the irreversible operation control of the vehicle.

[0026] The vehicle control system of the present disclosure The predetermined action is the lighting of an emergency flashing light, or the sounding of a horn, or the wiper operation, or moving the wheels left and right, or display on a monitor installed outside the vehicle, and is characterized by this.

[0027] The above configuration is an example of a predetermined operation to confirm the irreversible disabling of the operation control.

[0028] The vehicle manufacturing method described herein is: During inspection at the vehicle factory, the vehicle's operation is controlled by a request made from outside the vehicle via a communication terminal. This is a vehicle manufacturing method that, before shipment, irreversibly disables the vehicle's driving control in response to a request made from outside the vehicle via the communication terminal.

[0029] The above configuration provides a vehicle manufacturing method that ensures security by performing remote or automatic vehicle control while simultaneously disabling the remote or automatic vehicle control function. Furthermore, it enables the manufacturing of vehicles by performing autonomous driving control before shipment.

[0030] The program disclosed herein is The operation of the vehicle is controlled by a request made from outside the vehicle via a communication terminal, This program causes the Electronic Control Unit (ECU) installed in the vehicle to perform an irreversible deactivation of the vehicle's driving control in response to a request from outside the vehicle via the communication terminal.

[0031] The above configuration allows for the provision of a program that ensures security by performing remote or automated vehicle control while simultaneously disabling the remote or automated vehicle control function.

[0032] The server in this disclosure is A transmitting unit that transmits control instruction values ​​used to control the operation of the vehicle to the ECU via a communication terminal from outside the vehicle, The information processing device includes a deactivation request unit that requests the ECU to irreversibly deactivate the vehicle's driving control from outside the vehicle via the communication terminal.

[0033] The above configuration provides an information processing device that ensures security by performing remote or automatic vehicle control while simultaneously disabling the remote or automatic vehicle control function. [Effects of the Invention]

[0034] This disclosure provides a vehicle control system that ensures security by disabling remote or automated vehicle control functions while simultaneously performing remote or automated vehicle control. [Brief explanation of the drawing]

[0035] [Figure 1] This is a schematic diagram of a vehicle control system according to an embodiment. [Figure 2] This is a block diagram showing an example configuration of a vehicle control system according to an embodiment. [Figure 3] This is a flowchart of the manufacturing method of a vehicle according to the embodiment. [Figure 4] This is a conceptual diagram showing the configuration of system 50 in the first embodiment. [Figure 5] The configuration of System 50 is shown in block diagram. [Figure 6] This is a flowchart showing the processing procedure for controlling the movement of the vehicle 400 in the first embodiment. [Figure 7] This is an explanatory diagram showing the schematic configuration of system 50v in the second embodiment. [Figure 8] This is a flowchart showing the processing procedure for vehicle 400V driving control in the second embodiment. [Modes for carrying out the invention]

[0036] Embodiment Embodiments of the present invention will be described below with reference to the drawings. However, the invention claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential for solving the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations have been omitted where necessary.

[0037] (Description of the vehicle control system according to the embodiment) Figure 1 is a schematic diagram of a vehicle control system according to an embodiment. Figure 2 is a block diagram showing an example of the configuration of the vehicle control system according to an embodiment. The vehicle control system according to an embodiment will be described with reference to Figures 1 and 2.

[0038] The vehicle control system 100 is used, for example, in a vehicle manufacturing plant. During vehicle manufacturing, it is necessary to move the vehicle remotely or automatically during inspection and disable the remote or automatic control before shipment. Remote or automatic control during inspection allows for unmanned operation, reducing the likelihood of accidents caused by human error. Furthermore, disabling the remote or automatic control before shipment prevents the vehicle from being remotely controlled during use. The vehicle control system 100 enables automated driving control of the vehicle before shipment.

[0039] As shown in Figures 1 and 2, the vehicle control system 100 comprises a vehicle 101, a communication terminal 102, an ECU (Electronic Control Unit) 103, a transmission unit 104, and a deactivation request unit 105.

[0040] Vehicle 101 can be used in any vehicle that is manufactured and inspected, such as passenger cars, trucks, buses, and construction vehicles.

[0041] The communication terminal 102 is a terminal having a communication function for communicating with devices outside the vehicle. The communication terminal 102 is a wireless communication terminal mounted on the vehicle 101, such as a dongle. The dongle is collected by a worker before shipment after the remote or automatic control is disabled. The communication terminal may also be a Data Communication Module (DCM). The communication terminal 102 may also be a wired communication terminal. The communication terminal 102 can communicate using CAN (Controller Area Network) communication and diagnostic communication, which are common for vehicle control and inspection. CAN communication is a communication standard that allows transmission or reception in multiple directions. Diagnostic communication is a communication standard that allows a one-to-one correspondence between requests and responses, and is used for fault diagnosis, etc.

[0042] ECU103 is a general-purpose ECU, such as a brake ECU, that is mounted on and controls vehicle 101. ECU103 performs remote or automatic driving control of the vehicle using communication via a communication terminal. Therefore, ECU103 controls the vehicle's actuators according to control instruction values ​​via CAN communication. Control instruction values ​​are data necessary for driving control, such as steering angle, acceleration, map and route information for automatic driving, and video. Driving control refers to the control of acceleration, speed, and steering angle. Furthermore, after performing remote or automatic driving control, ECU103 irreversibly disables the remote or automatic driving control of the vehicle via instructions via diagnostic communication. Therefore, ECU103 is equipped with a secure microcontroller that includes an FPGA (Field Programmable Gate Array) and flash memory. ECU103 is equipped with, for example, a hardware security module. Security can be enhanced inexpensively by using different existing communication standards.

[0043] The transmitting unit 104 is an external information processing device of the vehicle, such as a control PC (Personal Computer) or a server. The transmitting unit 104 transmits control instruction values ​​to the ECU 103 via the communication terminal 102 from outside the vehicle 101 to request remote or automatic driving control of the vehicle. Therefore, the transmitting unit 104 transmits control instruction values ​​for remote or automatic driving control to the vehicle 101 via CAN communication.

[0044] The deactivation request unit 105 is an external information processing device of the vehicle, such as an electronic inspection device. The deactivation request unit 105 requests the ECU 103 from outside the vehicle 101 via the communication terminal 102 to irreversibly deactivate the vehicle's remote or automatic driving control. Therefore, the deactivation request unit 105 requests the vehicle 101 to deactivate the remote or automatic driving control via diagnostic communication.

[0045] Here, the transmission unit 104 is described as a different information processing device from the invalidation request unit 105, but they may be the same information processing device. The information processing device may be a single device or multiple information processing devices. Furthermore, some or all of the functions of the information processing device can be distributed to the cloud. Also, it is described as there being only one communication terminal 102. However, there may be multiple communication terminals 102, and different communication terminals may be used for each communication standard.

[0046] Using these devices, the vehicle control system 100 performs irreversible deactivation of remote or automatic driving control after performing remote or automatic driving control. Irreversible deactivation of driving control can be achieved by burning out the circuit used for remote or automatic driving control. Possible methods for burning out the circuit include using a fuse or short-circuiting it with solder. Alternatively, irreversible deactivation of driving control can be achieved by deleting the application for remote or automatic driving control from the software installed in the vehicle, or by rewriting the software installed in the vehicle.

[0047] Irreversible deactivation of driving control can be triggered when the vehicle reaches a predetermined position in the process. This predetermined position may be, for example, the end of a process in a factory, the position just before shipment, or the position in a process where remote or automated driving ceases. The predetermined position may be acquired by an information processing device or by the vehicle itself.

[0048] The irreversible deactivation of driving control can be triggered when a worker performs a predetermined action. This predetermined action might be, for example, operating a turn signal, or when a worker is photographed by an imaging device and takes a predetermined action, such as a predetermined posture. Thus, the worker's predetermined action may be acquired by either an information processing device or the vehicle itself.

[0049] The irreversible deactivation of driving control may be triggered by referring to production management information and confirming that driving control is no longer necessary. Production management information is information about which vehicles are where at this time. The information processing device may refer to the production management information and send a deactivation instruction from the transmission unit 104.

[0050] Irreversible deactivation of the operation control may be triggered by receiving a remote or automatic deactivation instruction for the operation control. For example, the transmission unit 104 of the information processing device transmits the deactivation instruction.

[0051] The irreversible deactivation of the driving control may be triggered when the vehicle completes the predetermined power supply at the power supply device. Alternatively, the imaging device may record the time it entered the power supply device and notify the information processing device that the predetermined power supply has been completed according to the power supply time, thereby triggering the deactivation. Furthermore, the vehicle may monitor its State of Charge (SOC) and detect that the predetermined power supply has been completed, which may also trigger the deactivation.

[0052] Irreversible deactivation of driving controls may be triggered when a worker completes the wrapping of the vehicle. Wrapping refers to the application of protective seals before delivery.

[0053] Furthermore, after disabling the operation control, the disabling is confirmed using diagnostic communication. In this way, disabling can be confirmed using existing communication standards. If disabling was not successful, the disabling request unit 105 will again attempt to communicate for disabling.

[0054] In addition to confirming the deactivation of the driving control using diagnostic communication, the deactivation of the driving control may also be confirmed visually by a person. For example, after irreversible deactivation of the driving control has been performed, the vehicle may perform a predetermined action. This predetermined action may be the activation of hazard lights, the sounding of the horn, the operation of the wipers, the movement of the wheels from side to side, or a display indicating completion on a monitor installed on the outside of the vehicle.

[0055] After confirming the required operation, the worker boards the vehicle to retrieve the dongle or begins driving to the next destination.

[0056] In this way, using existing technologies, it is possible to provide a vehicle remote control system that ensures security by performing remote or automated vehicle control while simultaneously disabling remote or automated vehicle control functions. Therefore, an inexpensive and secure system can be built.

[0057] (Description of the vehicle manufacturing method according to the embodiment) Figure 3 is a flowchart of the vehicle manufacturing method according to the embodiment. The vehicle manufacturing method according to the embodiment will be explained with reference to Figure 3.

[0058] The vehicle manufacturing method according to this embodiment uses a vehicle control system 100. First, the vehicle 101 is controlled remotely or automatically (step S301). After the vehicle is assembled in the vehicle factory, the vehicle is remotely or automatically controlled for operation based on a request from outside the vehicle 101 via a communication terminal 102 during inspection. For this purpose, the transmission unit 104 transmits the vehicle 101 control instruction value to the ECU 103 via CAN communication through the communication terminal 102. The ECU 103 then receives the control instruction value. Operation control is realized by the ECU 103, and the vehicle is driven by remote or automatic control.

[0059] Next, remote or automatic driving control is disabled (step S302). Before shipment, the vehicle's remote driving control is irreversibly disabled by a request from outside the vehicle via a communication terminal. Therefore, when remote or automatic vehicle control is no longer needed, the disable request unit 105 sends a disable request to the ECU 103 via diagnostic communication through the communication terminal 102. The ECU 103 then receives the disable request. Finally, the ECU 103 transitions to a state where it disables the reception of control instruction values ​​from the transmission unit 104. This ensures security.

[0060] In this way, a vehicle manufacturing method can be provided that ensures security by performing remote or automated vehicle control while simultaneously disabling remote or automated vehicle control functions. Furthermore, vehicles can be manufactured with automated control before shipment.

[0061] (Description of the system in the first embodiment) Figure 4 is a conceptual diagram showing the configuration of the system 50 in the first embodiment. The system 50 comprises one or more vehicles 400 as mobile bodies, a server 200, and one or more external sensors 300.

[0062] In this disclosure, “mobile object” means an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (so-called flying car). A vehicle may be a wheeled vehicle or a tracked vehicle, such as a passenger car, truck, bus, motorcycle, car, tank, or construction vehicle. Vehicles include electric vehicles (BEVs: Battery Electric Vehicles), gasoline vehicles, hybrid vehicles, and fuel cell vehicles. If the mobile object is not a vehicle, the terms “vehicle” and “car” in this disclosure may be replaced with “mobile object” as appropriate, and the term “driving” may be replaced with “moving” as appropriate.

[0063] Vehicle 400 is configured to operate autonomously. "Autonomous operation" means operation without the operation of a passenger. Operation refers to operations related to at least one of the following: "going," "turning," or "stopping" of Vehicle 400. Autonomous operation is achieved by automatic or manual remote control using devices located outside Vehicle 400, or by autonomous control of Vehicle 400. Vehicle 400 operating autonomously may have passengers on board who do not perform operation. Passengers who do not perform operation include, for example, people simply sitting in the seats of Vehicle 400, or people performing tasks other than operation, such as assembly, inspection, or operating switches, while on board Vehicle 400. Operation by a passenger is sometimes called "manned operation."

[0064] In this specification, "remote control" includes "fully remote control," in which all operations of the vehicle 400 are completely determined from outside the vehicle 400, and "partial remote control," in which some operations of the vehicle 400 are determined from outside the vehicle 400. Furthermore, "autonomous control" includes "fully autonomous control," in which the vehicle 400 autonomously controls its own operations without receiving any information from external devices, and "partial autonomous control," in which the vehicle 400 autonomously controls its own operations using information received from external devices.

[0065] In this embodiment, system 50 is used in a factory FC where vehicle 400 is manufactured. The reference coordinate system of the factory FC is the global coordinate system GC. That is, any position within the factory FC is represented by X, Y, Z coordinates in the global coordinate system GC. The factory FC comprises a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a track TR on which vehicle 400 can travel. Multiple external sensors 300 are installed in the factory FC along the track TR. The position of each external sensor 300 in the factory FC is pre-adjusted. Vehicle 400 moves from the first location PL1 to the second location PL2 via the track TR by unmanned operation.

[0066] Figure 5 is a block diagram showing the configuration of system 50. The vehicle 400 includes a vehicle control device 410 for controlling various parts of the vehicle 400, an actuator group 420 including one or more actuators driven under the control of the vehicle control device 410, and a communication device 430 for communicating wirelessly with external devices such as a server 200. The actuator group 420 includes actuators for a drive system to accelerate the vehicle 400, actuators for a steering system to change the direction of travel of the vehicle 400, and actuators for a braking system to decelerate the vehicle 400.

[0067] The vehicle control device 410 is comprised of a computer comprising a processor 411, a memory 412, an input / output interface 413, and an internal bus 414. The processor 411, the memory 412, and the input / output interface 413 are connected via the internal bus 414 to enable bidirectional communication. The input / output interface 413 is connected to an actuator group 420 and a communication device 430. The processor 411 implements various functions, including those of a vehicle control unit 415, by executing a program PG1 stored in the memory 412.

[0068] The vehicle control unit 415 drives the vehicle 400 by controlling the actuator group 420. The vehicle control unit 415 can drive the vehicle 400 by controlling the actuator group 420 using the driving control signal received from the server 200. The driving control signal is a control signal for driving the vehicle 400. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 400 as parameters. In other embodiments, the driving control signal may include the speed of the vehicle 400 as a parameter instead of, or in addition to, the acceleration of the vehicle 400.

[0069] The server 200 is composed of a computer comprising a processor 201, memory 202, an input / output interface 203, and an internal bus 204. The processor 201, memory 202, and input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 for communicating with various external devices of the server 200 is connected to the input / output interface 203. The communication device 205 can communicate with the vehicle 400 via wireless communication and can communicate with each external sensor 300 via wired or wireless communication. The processor 201 implements various functions, including those of a remote control unit 210, by executing a program PG2 stored in memory 202.

[0070] The remote control unit 210 acquires detection results from the sensors, generates a driving control signal to control the actuator group 420 of the vehicle 400 using the detection results, and transmits the driving control signal to the vehicle 400, thereby driving the vehicle 400 by remote control. In addition to the driving control signal, the remote control unit 210 may also generate and output control signals to control various auxiliary equipment and actuators that operate various devices such as wipers, power windows, and lamps, which are provided on the vehicle 400. In other words, the remote control unit 210 may operate these various devices and auxiliary equipment by remote control.

[0071] The external sensor 300 is a sensor located outside the vehicle 400. In this embodiment, the external sensor 300 is a sensor that detects the vehicle 400 from outside the vehicle 400. 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 or wireless communication.

[0072] Specifically, the external sensor 300 is comprised of a camera. The camera, acting as the external sensor 300, captures an image including the vehicle 400 and outputs the captured image as the detection result.

[0073] Figure 6 is a flowchart showing the processing procedure for controlling the movement of the vehicle 400 in the first embodiment. In the processing procedure shown in Figure 6, the processor 201 of the server 200 functions as a remote control unit 210 by executing program PG2. The processor 411 of the vehicle 400 functions as a vehicle control unit 415 by executing program PG1.

[0074] In step S1, the processor 201 of the server 200 acquires vehicle position information of the vehicle 400 using the detection results output from the external sensor 300. The vehicle position information is the position information that forms the basis for generating the driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 400 in the global coordinate system GC of the factory FC. Specifically, in step S1, the processor 201 acquires vehicle position information using the captured image acquired from the camera, which is the external sensor 300.

[0075] In detail, in step S1, the processor 201 detects the outline of the vehicle 400 from the captured image, calculates the coordinates of the positioning point of the vehicle 400 in the coordinate system of the captured image, i.e., the local coordinate system, and obtains the position of the vehicle 400 by converting the calculated coordinates to coordinates in the global coordinate system GC. The outline of the vehicle 400 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, within or outside the system 50 and pre-stored in the memory 202 of the server 200. Examples of the detection model DM include a trained machine learning model that has been trained to implement either semantic segmentation or instance segmentation. As this machine learning model, for example, a convolutional neural network (CNN) trained by supervised learning using a training dataset can be used. The training dataset has, for example, multiple training images including the vehicle 400 and labels indicating whether each region in the training image is a region indicating the vehicle 400 or a region indicating something other than the vehicle 400. During CNN training, it is preferable that the CNN parameters be updated using backpropagation to reduce the error between the output result of the detection model DM and the label. Furthermore, the processor 201 can obtain the orientation of vehicle 400 by, for example, using the optical flow method, estimating the orientation of the vehicle 400's movement vector calculated from the positional changes of the vehicle 400's feature points between frames of the captured image.

[0076] In step S2, the processor 201 of the server 200 determines the next target location that the vehicle 400 should head to. In this embodiment, the target location is represented by X, Y, Z coordinates in the global coordinate system GC. The memory 202 of the server 200 pre-stores a reference route RR, which is the path that the vehicle 400 should travel. The route is represented by a node indicating the starting point, nodes indicating waypoints, a node indicating the destination, and links connecting each node. The processor 201 uses the vehicle position information and the reference route RR to determine the next target location that the vehicle 400 should head to. The processor 201 determines the target location on the reference route RR beyond the current location of the vehicle 400.

[0077] In step S3, the processor 201 of the server 200 generates a driving control signal to drive the vehicle 400 toward the determined target position. The processor 201 calculates the vehicle's speed from the change in the vehicle's position and compares the calculated speed with the target speed. Overall, the processor 201 determines the acceleration so that the vehicle 400 accelerates if the speed is lower than the target speed, and determines the acceleration so that the vehicle 400 decelerates if the speed is higher than the target speed. Furthermore, if the vehicle 400 is located on the reference path RR, the processor 201 determines the steering angle and acceleration so that the vehicle 400 does not deviate from the reference path RR, and if the vehicle 400 is not located on the reference path RR, in other words, if the vehicle 400 has deviated from the reference path RR, the processor 201 determines the steering angle and acceleration so that the vehicle 400 returns to the reference path RR.

[0078] In step S4, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 400. The processor 201 repeats the process of acquiring the position of the vehicle 400, determining the target position, generating the driving control signal, and transmitting the driving control signal at predetermined intervals.

[0079] In step S5, the processor 411 of the vehicle 400 receives a driving control signal transmitted from the server 200. In step S6, the processor 411 of the vehicle 400 controls the actuator group 420 using the received driving control signal, thereby driving the vehicle 400 at the acceleration and steering angle indicated in the driving control signal. The processor 411 repeats the reception of the driving control signal and the control of the actuator group 420 at predetermined intervals. According to the system 50 in this embodiment, the vehicle 400 can be driven by remote control, and the vehicle 400 can be moved without using transport equipment such as cranes or conveyors.

[0080] (Description of the system in the second embodiment) Figure 7 is an explanatory diagram showing the schematic configuration of system 50v in the second embodiment. In this embodiment, system 50v differs from the first embodiment in that it does not have a server 200. Also, in this embodiment, vehicle 400v can be driven by autonomous control of vehicle 400v. The other configurations are the same as in the first embodiment unless otherwise specified.

[0081] In this embodiment, the processor 411v of the vehicle control device 410v functions as a vehicle control unit 415v by executing the program PG1 stored in the memory 412v. The vehicle control unit 415v acquires the output results from the sensors, generates a driving control signal using the output results, and outputs the generated driving control signal to operate the actuator group 420, thereby enabling the vehicle 400v to be driven autonomously. In this embodiment, in addition to the program PG1, the detection model DM and the reference path RR are pre-stored in the memory 412v.

[0082] Figure 8 is a flowchart showing the processing procedure for vehicle 400v's driving control in the second embodiment. In the processing procedure shown in Figure 8, the vehicle 400v's processor 411v functions as a vehicle control unit 415v by executing program PG1.

[0083] In step S101, the processor 411v of the vehicle control device 410v acquires vehicle position information using the detection result output from the camera, which is an external sensor 300. In step S102, the processor 411v determines the target position to which the vehicle 400v should next go. In step S103, the processor 411v generates a driving control signal to drive the vehicle 400v toward the determined target position. In step S104, the processor 411v controls the actuator group 420 using the generated driving control signal to drive the vehicle 400v according to the parameters expressed in the driving control signal. The processor 411v 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 400v can be driven by autonomous control of the vehicle 400v without remote control of the vehicle 400v by the server 200.

[0084] (YY: Other embodiments) (YY1) In each of the above embodiments, the external sensor 300 is a camera. However, the external sensor 300 does not have to be a camera; for example, it may be a LiDAR (Light Detection And Ranging). In this case, the detection result output by the external sensor 300 may be 3D point cloud data representing the vehicle 400. In this case, the server 200 and the vehicle 400 may acquire vehicle position information by template matching using the 3D point cloud data as the detection result and pre-prepared reference point cloud data.

[0085] (YY2) In the first embodiment described above, the server 200 performs the processing from acquiring vehicle position information to generating a driving control signal. In contrast, the vehicle 400 may perform at least a part of the processing from acquiring vehicle position information to generating a driving control signal. For example, the following forms (1) to (3) may be used.

[0086] (1) The server 200 may acquire vehicle location information, determine the next target location that vehicle 400 should head to, and generate a route from the vehicle 400's current location, as shown in the acquired vehicle location information, to the target location. The server 200 may generate a route to the target location between the current location and the destination, or it may generate a route to the destination. The server 200 may transmit the generated route to vehicle 400. Vehicle 400 may generate a driving control signal so that vehicle 400 travels along the route received from the server 200, and may use the generated driving control signal to control the actuator group 420.

[0087] (2) The server 200 may acquire vehicle location information and transmit the acquired vehicle location information to the vehicle 400. The vehicle 400 may determine the next target location to which the vehicle 400 should go, generate a route from the vehicle 400's current location shown in the received vehicle location information to the target location, generate a driving control signal so that the vehicle 400 travels along the generated route, and control the actuator group 420 using the generated driving control signal.

[0088] (3) In the embodiments of (1) and (2) above, the vehicle 400 is equipped with internal sensors, and the detection results output from the internal sensors may be used in at least one of the generation of a route and the generation of a driving control signal. The internal sensors are sensors mounted on the vehicle 400. The internal sensors may include, for example, sensors that detect the motion state of the vehicle 400, sensors that detect the operating state of each part of the vehicle 400, and sensors that detect the environment around the vehicle 400. Specifically, the internal sensors may include, for example, cameras, LiDAR, millimeter-wave radar, ultrasonic sensors, GPS sensors, acceleration sensors, gyro sensors, etc. For example, in the embodiment of (1) above, the server 200 may acquire the detection results of the internal sensors and reflect the detection results of the internal sensors in the route when generating a route. In the embodiment of (1) above, the vehicle 400 may acquire the detection results of the internal sensors and reflect the detection results of the internal sensors in the driving control signal when generating a driving control signal. In the embodiment of (2) above, the vehicle 400 may acquire the detection results of the internal sensors and reflect the detection results of the internal sensors in the route when generating a route. In the embodiment described in (2) above, the vehicle 400 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal.

[0089] (YY3) In the second embodiment described above, the vehicle 400v is equipped with an internal sensor, and the detection result output from the internal sensor may be used in at least one of the generation of the route and the generation of the driving control signal. For example, the vehicle 400v may acquire the detection result from the internal sensor and reflect the detection result from the internal sensor in the route when generating the route. The vehicle 400v may acquire the detection result from the internal sensor and reflect the detection result from the internal sensor in the driving control signal when generating the driving control signal.

[0090] (YY4) In the second embodiment described above, the vehicle 400v acquires vehicle position information using the detection results of the external sensor 300. In contrast, the vehicle 400v may be equipped with an internal sensor, and the vehicle 400v may acquire vehicle position information using the detection results of the internal sensor, determine the next target position to which the vehicle 400v should go, generate a route from the vehicle 400v's current location to the target position as shown in the acquired vehicle position information, generate a driving control signal for driving along the generated route, and control the actuator group 420 using the generated driving control signal. In this case, the vehicle 400v can drive without using the detection results of the external sensor 300 at all. The vehicle 400v may also acquire target arrival time and congestion information from outside the vehicle 400v and reflect the target arrival time and congestion information in at least one of the route and the driving control signal. Furthermore, all the functional configurations of the system 50v may be provided in the vehicle 400v. That is, the processing realized by the system 50v in this disclosure may be realized by the vehicle 400v alone.

[0091] (YY5) In the first embodiment described above, the server 200 automatically generates a driving control signal to be transmitted to the vehicle 400. Alternatively, the server 200 may generate a driving control signal to be transmitted to the vehicle 400 in accordance with the operation of an external operator located outside the vehicle 400. For example, the external operator may operate a control device that includes a display for displaying captured images output from the external sensor 300, a steering wheel for remotely controlling the vehicle 400, 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.

[0092] (YY6) In each of the above embodiments, the vehicle 400 only needs to have a configuration that allows it to move by unmanned operation, and may take the form of a platform having the configuration described below. Specifically, in order for the vehicle 400 to perform the three functions of "driving," "turning," and "stopping" by unmanned operation, it only needs to be equipped with at least a vehicle control device 410 and an actuator group 420. When the vehicle 400 acquires information from the outside for unmanned operation, the vehicle 400 may further be equipped with a communication device 130. That is, the vehicle 400 that can move by unmanned operation does not need to have at least some of the interior parts such as the driver's seat and dashboard installed, it does not need to have at least some of the exterior parts such as the bumper and fender installed, and it does not need to have a body shell installed. In this case, the remaining parts such as the body shell may be installed on the vehicle 400 before it is shipped from the factory FC, or the remaining parts such as the body shell may be installed on the vehicle 400 after it has been shipped from the factory FC while the remaining parts such as the body shell are not installed on the vehicle 400. Each component may be mounted from any direction, such as the top, bottom, front, rear, right, or left side of the vehicle 400, and they may be mounted from the same direction or from different directions. The positioning of the platform can also be determined in the same way as for the vehicle 400 in the first embodiment.

[0093] (YY7) Vehicle 400 may be manufactured by combining multiple modules. A module means a unit composed of multiple parts grouped together according to the part or function of the vehicle 400. For example, the platform of vehicle 400 may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the central part of the platform, and a rear module that constitutes the rear part of the platform. The number of modules that constitute the platform is not limited to three, but may be two or fewer, or four or more. In addition to, or instead of, the parts that constitute the platform may be modularized, as well as parts that constitute parts of the vehicle 400 that are different from the platform. Various modules may also include any exterior parts such as bumpers and grilles, or any interior parts such as seats and consoles. Furthermore, not limited to vehicle 400, any type of mobile body may be manufactured by combining multiple modules. Such modules may be manufactured, for example, by joining multiple parts by welding or fasteners, or by integrally molding at least a part of the parts that constitute the module as a single part by casting. A molding technique for integrally molding a single component, especially a relatively large component, is also called gigacast or megacast. For example, the front module, central module, and rear module mentioned above may be manufactured using gigacast.

[0094] (YY8) Transporting vehicle 400 using the unmanned operation of the vehicle 400 is also called "autonomous transport." The configuration for realizing autonomous transport is also called a "vehicle remote control autonomous driving transport system." Furthermore, a production method that uses autonomous transport to produce vehicle 400 is also called "autonomous production." In autonomous production, for example, at a factory FC that manufactures vehicle 400, at least a portion of the transport of vehicle 400 is realized by autonomous transport.

[0095] (YY9) In each of the above embodiments, some or all of the functions and processes implemented in software may be implemented in hardware. Also, some or all of the functions and processes implemented in hardware may be implemented in software. As hardware for implementing the various functions in each of the above embodiments, various circuits such as integrated circuits and discrete circuits may be used.

[0096] Furthermore, some or all of the processing in the ECU103 and information processing device described above can be implemented as a computer program. Such a program can be stored using various types of non-temporary computer-readable media and supplied to a computer. Non-temporary computer-readable media include various types of tangible recording media. Examples of non-temporary computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). Programs may also be supplied to a computer using various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can be supplied to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0097] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. [Explanation of Symbols]

[0098] 100 Vehicle control system, 101 Vehicle, 102 Communication terminal, 103 ECU, 104 Transmitter, 105 Disable request unit, 50 System, 200 Server, 201 Processor, 202 Memory, 203 Input / Output interface, 204 Internal bus, 205 Communication device, 210 Remote control unit, 300 External sensor, 400 Vehicle, 410 Vehicle control device, 411 Processor, 412 Memory, 413 Input / Output interface, 414 Internal bus, 415 Vehicle control unit, 420 Actuator group, 430 Communication device, 50V system, 400V vehicle, 410V vehicle control device, 411V processor, 412V memory, 415V vehicle control unit

Claims

1. A vehicle equipped with a communication terminal that has communication capabilities, An ECU (Electronic Control Unit) mounted on the vehicle performs driving control of the vehicle using communication via the aforementioned communication terminal, A transmitting unit that transmits control instruction values ​​used for controlling the operation of the vehicle to the ECU via the communication terminal from outside the vehicle, The system includes a deactivation request unit that requests the ECU to irreversibly deactivate the vehicle's driving control from outside the vehicle via the communication terminal, If a request for disabling is received from the disabling request unit after the execution of the aforementioned operation control, an irreversible disabling of the aforementioned operation control will be performed. The control instruction value is communicated using CAN communication. The aforementioned disabling of the driving control is communicated via diagnostic communication to the vehicle control system.

2. The vehicle control system according to claim 1, wherein after the disabling of the aforementioned driving control is performed, the disabling is confirmed using diagnostic communication.

3. The vehicle control system according to claim 1, wherein the vehicle control system is executed during inspection at the vehicle factory and deactivated before shipment.

4. The vehicle control system according to claim 1, wherein the communication terminal is a dongle or a data communication module.

5. The vehicle control system according to claim 1, wherein the communication terminal is retrieved by a worker after the operation control is deactivated.

6. The disabling of the aforementioned driving control is Burning out the circuit of the aforementioned ECU, or Delete the application that performs the communication function stored in the ECU, or The vehicle control system according to claim 1, which is executed by rewriting the software that performs the communication function stored in the ECU.

7. The disabling of the aforementioned driving control is When it is detected that the vehicle has come to a predetermined position, or If the worker performs the prescribed operation, If you refer to the production management information and confirm that there is no need for operational control, If a deactivation instruction is received, When the vehicle completes the predetermined power supply with the power supply device, The vehicle control system according to claim 1, which is executed when the vehicle has completed a lap.

8. The aforementioned vehicle control system performs driving control based on information from an imaging device installed in the vehicle factory. The vehicle control system according to claim 1, wherein the operation control is disabled based on information about the worker's movements captured by the imaging device.

9. The vehicle control system according to claim 1, wherein the vehicle performs a predetermined operation after the irreversible deactivation of the driving control is performed.

10. The aforementioned predetermined operation is, The hazard lights will be turned on, or The horn sounds, or Wiper operation, or Move the wheels from side to side, or The vehicle control system according to claim 9, wherein the display is on a monitor installed on the outside of the vehicle.

11. During inspection at the vehicle factory, the vehicle's operation is controlled by a request made from outside the vehicle via a communication terminal. A vehicle manufacturing method for irreversibly disabling the vehicle's driving control when a request for disabling is made from outside the vehicle via the communication terminal after the driving control has been executed and before shipment, The aforementioned operation control is communicated using CAN communication. A vehicle manufacturing method in which the disabling of the aforementioned driving control is communicated using diagnostic communication.

12. Controlling the operation of the vehicle based on requests made from outside the vehicle via a communication terminal, A program that, when a request for disabling is made from outside the vehicle via the communication terminal after the aforementioned driving control has been executed, causes the ECU (Electronic Control Unit) installed in the vehicle to irreversibly disable the vehicle's driving control, The aforementioned operation control is communicated using CAN communication. The disabling of the aforementioned driving control is communicated via a program using diagnostic communication.

13. A transmitting unit that transmits control instruction values ​​used to control the operation of the vehicle to the ECU via a communication terminal from outside the vehicle, The system includes a deactivation request unit that requests the ECU to irreversibly deactivate the vehicle's driving control from outside the vehicle via the communication terminal, An information processing device that performs irreversible disabling of the operation control when disabling is requested by the disabling request unit after the operation control has been executed, The control instruction value is communicated using CAN communication. The disabling of the aforementioned driving control is communicated using diagnostic communication via an information processing device.

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