system

Abstract

We provide a system that can verify that the inspection was conducted with the appropriate load applied. [Solution] The system comprises an inspection device for inspecting a vehicle, a detection unit for detecting load information related to the load applied to the passenger seat area of ​​the vehicle during inspection, and an output unit for linking and outputting the inspection results from the inspection device and the load information detected by the detection unit.

Description

Technical Field

[0001] The present disclosure relates to a system.

Background Art

[0002] Patent Document 1 discloses a technique for driving a vehicle autonomously or by remote control in a vehicle manufacturing process. In the manufacturing process, various inspections are performed.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Among various inspections, for example, in a sideslip inspection or a braking inspection, the inspection results may vary depending on the presence or absence of a vehicle occupant, that is, the presence or absence of a load. There is a need for a system that can confirm that an inspection has been performed with an appropriate load applied.

Means for Solving the Problems

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

[0006] (1) According to one aspect of the present disclosure, a system is provided. This system includes an inspection facility for inspecting a vehicle, a detection unit for detecting load information regarding a load applied to the passenger seat portion of the vehicle during the inspection, and an output unit for associating and outputting the result of the inspection by the inspection facility and the load information detected by the detection unit. According to this system, the output unit associates and outputs the result of the inspection by the inspection facility and the load information detected by the detection unit, so it is possible to confirm whether the inspection has been performed with an appropriate load applied. (2) In the system of the above form, the passenger seat section includes a seat on which the passenger of the vehicle sits, and the detection section may include a seat sensor provided on the seat for detecting the load information relating to the load applied to the seat. In this type of system, the detection unit includes a sheet sensor provided on the sheet that detects load information related to the load applied to the sheet, so it is possible to confirm whether or not the inspection was performed with an appropriate load applied to the sheet. (3) In the system of the above form, the passenger seat portion further includes a floor panel on which the feet of the passenger seated on the seat are placed, and the detection unit further includes a load sensor provided on the floor panel for detecting the load information relating to the load applied to the floor panel. In this type of system, the detection unit includes a load sensor installed on the floor panel that detects load information related to the load applied to the floor panel, so it is possible to confirm whether or not the inspection was performed with an appropriate load applied to the floor panel. (4) In the system of the above form, the detection unit may include an imaging device that images the occupant seat area, and the load information relating to the load applied to the occupant seat area may be detected from the imaging data obtained by the imaging device. In this type of system, the detection unit includes an imaging device that images the occupant seat area, and detects load information related to the load applied to the occupant seat area from the imaging data obtained by the imaging device. Therefore, load information can be detected using imaging devices installed in the vehicle or in the factory. (5) According to other forms of the present disclosure, a system is provided. This system comprises: an inspection device for inspecting a vehicle; a detection unit for detecting load information relating to a load applied to the passenger seat of the vehicle during the inspection; and an output unit for outputting the results of the inspection by the inspection device if the load information detected by the detection unit meets predetermined criteria, and not outputting the results if the load information detected by the detection unit does not meet predetermined criteria. In this type of system, the output unit outputs the inspection results from the inspection equipment if the load information detected by the detection unit meets a predetermined standard, and does not output the inspection results if the load information detected by the detection unit does not meet the predetermined standard. Therefore, by setting appropriate load information as the predetermined standard, inspection results can be obtained only when the inspection is performed with an appropriate load applied.

[0007] This disclosure can be implemented in forms other than the system described above, such as a vehicle inspection method, a program for implementing the inspection method, a non-temporary recording medium on which the program is recorded, or a program product. The program product may be provided, for example, as a recording medium on which the program is recorded, or as a program product that can be distributed via a network. [Brief explanation of the drawing]

[0008] [Figure 1] This is a conceptual diagram showing the system configuration in the first embodiment. [Figure 2] This is a block diagram showing the system configuration. [Figure 3] This is a flowchart showing the processing procedure for vehicle driving control in the first embodiment. [Figure 4] This flowchart shows the procedure for outputting inspection results and load information. [Figure 5] This is a diagram to explain the output process. [Figure 6] This is a diagram illustrating the system of the second embodiment. [Figure 7] This is a flowchart showing the output processing procedure of the third embodiment. [Figure 8] This is an explanatory diagram showing the schematic configuration of the system in the fourth embodiment. [Figure 9] This is a flowchart showing the processing procedure for vehicle driving control in the fourth embodiment. [Modes for carrying out the invention]

[0009] A. First Embodiment: <Overview of System 50> Figure 1 is a conceptual diagram showing the configuration of the system 50 in the first embodiment. The system 50 comprises one or more vehicles 100 as mobile bodies, a control device 200, and one or more sensors 300.

[0010] 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, 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.

[0011] In this embodiment, the vehicle 100 is configured to be able to run unmanned. "Unmanned operation" means operation without the operation of a passenger. Operation of the vehicle means operation related to at least one of the following: "going," "turning," or "stopping." Unmanned operation 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 passenger who does not perform operation of the vehicle may be on board the vehicle 100 while it is running unmanned. A passenger who does not perform operation of the vehicle includes, for example, a person who is simply sitting in the seat of the vehicle 100, or a person who is performing work other than operation of the vehicle, such as assembly, inspection, or operation of switches, while on board the vehicle 100. Operation by a passenger is sometimes called "manned operation."

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

[0013] In this embodiment, the system 50 is used in the factory FC that manufactures the vehicle 100. The reference coordinate system of the factory FC is the global coordinate system GC, and any position within the factory FC can be expressed in terms of the X, Y, and Z coordinates in the global coordinate system GC. The factory FC includes a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a runway TR on which the vehicle 100 can travel. The vehicle 100 moves from the first location PL1 to the second location PL2 through the runway TR by autonomous driving. At the first location PL1 and the second location PL2, assembly for manufacturing the vehicle 100 and various inspections are performed.

[0014] An inspection facility 500 is provided at the second location PL2. The vehicle 100 that has moved to the second location PL2 heads for the inspection facility 500 by autonomous driving. The inspection facility 500 inspects the vehicle 100. In this embodiment, the inspection facility 500 performs a braking inspection. The inspection facility 500 includes a communication device (not shown) and can communicate with other devices including the vehicle 100 and the control device 200 by wired communication or wireless communication. The inspection facility 500 transmits the results of the inspection to the control device 200 via the communication device.

[0015] A plurality of sensors 300 are installed at the first location PL1, the second location PL2, and the runway TR. The sensor 300 is a sensor provided outside the vehicle 100. The sensor 300 in the present embodiment is a sensor that captures the vehicle 100 from the outside of the vehicle 100. The sensor 300 includes a communication device (not shown) and can communicate with other devices including the vehicle 100 and the control device 200 by wired communication or wireless communication.

[0016] Specifically, the sensor 300 is composed of a camera as an imaging unit. The camera as the sensor 300 captures the vehicle 100 and outputs imaging data.

[0017] <Configuration of System 50> FIG. 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 driven under the control of the vehicle control device 110, and a communication device 130 for communicating with an external device such as the control device 200 by wireless communication. The actuator group 120 includes an actuator of a driving device for accelerating the vehicle 100, an actuator of a steering device for changing the traveling direction of the vehicle 100, and an actuator of a braking device for decelerating the vehicle 100.

[0018] The vehicle control device 110 is composed of 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 to be communicable bidirectionally via the internal bus 114. The actuator group 120 and the communication device 130 are connected to the input / output interface 113. The processor 111 realizes various functions including the function as the vehicle control unit 115 by executing the program PG1 stored in the memory 112.

[0019] The vehicle control unit 115 drives the vehicle 100 by controlling the actuator group 120. The vehicle control unit 115 can drive the vehicle 100 by controlling the actuator group 120 using the driving control signal received from the control device 200. The driving control signal is a control signal for driving the vehicle 100. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the driving control signal may include the speed of the vehicle 100 as a parameter instead of, or in addition to, the acceleration of the vehicle 100.

[0020] The detection unit 140 detects load information related to the load applied to the occupant seat area of ​​the vehicle 100 during inspection by the inspection equipment 500. The load information includes the magnitude of the load and whether or not a load is present. The detection unit 140 transmits the detected load information to the control device 200 via the communication device 130. Details of the detection unit 140 will be described later.

[0021] The control device 200 is composed of a computer comprising a processor 201, memory 202, input / output interface 203, and internal bus 204. The control device 200 is, for example, a server. 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 devices outside the control device 200 is connected to the input / output interface 203. The communication device 205 can communicate with the vehicle 100 by wireless communication and can communicate with each sensor 300 by wired or wireless communication. The processor 201 implements various functions, including those of a remote control unit 210, an acquisition unit 211, and an output unit 212, by executing a program PG2 stored in memory 202.

[0022] The remote control unit 210 acquires detection results from sensors, generates a driving control signal to control the actuator group 120 of the vehicle 100 using the detection results, and transmits the driving control signal to the vehicle 100 to control the unmanned operation of the vehicle 100. 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 100. In other words, the remote control unit 210 may operate these various devices and auxiliary equipment by remote control.

[0023] The acquisition unit 211 acquires the results of the inspection performed by the inspection equipment 500 and the load information detected by the detection unit 140.

[0024] The output unit 212 outputs the inspection results acquired by the acquisition unit 211, linked with the load information. Details of the acquisition unit 211 and the output unit 212 will be described later.

[0025] <Vehicle 100 driving control> Figure 3 is a flowchart showing the processing procedure for controlling the vehicle 100's movement in the first embodiment. This procedure is performed to allow the vehicle 100 to move autonomously. In the processing procedure shown in Figure 3, the processor 201 of the control device 200 functions as a remote control unit 210 by executing program PG2. The processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing program PG1.

[0026] In step S1, the processor 201 of the control device 200 acquires vehicle position information using the detection result output from the 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 100 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 sensor 300.

[0027] In detail, in step S1, the processor 201 detects the outline 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 obtains the position of the vehicle 100 by converting the calculated coordinates to coordinates in the global coordinate system GC. The outline 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, within or outside the system 50 and pre-stored in the memory 202 of the control device 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 (hereinafter referred to as CNN) trained by supervised learning using a training dataset can be used. The training dataset has, for example, multiple training images including the vehicle 100 and labels indicating whether each region in the training image is a region indicating the vehicle 100 or a region indicating something other than the vehicle 100. 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 100 by, for example, using the optical flow method, estimating the orientation of the vehicle 100's movement vector calculated from the positional changes of the vehicle 100's feature points between frames of the captured image.

[0028] In step S2, the processor 201 of the control device 200 determines the next target location to which the vehicle 100 should go. In this embodiment, the target location is represented by X, Y, Z coordinates in the global coordinate system GC. The memory 202 of the control device 200 pre-stores a reference route RR, which is the path that the vehicle 100 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 to which the vehicle 100 should go. The processor 201 determines the target location on the reference route RR beyond the current location of the vehicle 100.

[0029] In step S3, the processor 201 of the control device 200 generates a driving control signal to drive the vehicle 100 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 100 accelerates if the speed is lower than the target speed, and determines the acceleration so that the vehicle 100 decelerates if the speed is higher than the target speed. Furthermore, if the vehicle 100 is located on the reference path RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the reference path RR, and if the vehicle 100 is not located on the reference path RR, in other words, if the vehicle 100 has deviated from the reference path RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 returns to the reference path RR.

[0030] In step S4, the processor 201 of the control device 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats the acquisition of vehicle position information, determination of target position, generation of driving control signal, and transmission of driving control signal at predetermined intervals.

[0031] In step S5, the processor 111 of the vehicle 100 receives a driving control signal transmitted from the control device 200. In step S6, the processor 111 of the vehicle 100 controls the actuator group 120 using the received driving control signal, thereby driving the vehicle 100 at the acceleration and steering angle expressed in the driving control signal. The processor 111 repeats the reception of the driving control signal and the control of the actuator group 120 at predetermined intervals. According to the system 50 in this embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using transport equipment such as cranes or conveyors.

[0032] <Output processing of inspection results and load information> Figure 4 is a flowchart showing the procedure for outputting inspection results and load information (hereinafter also referred to as "output processing"). Figure 5 is a diagram illustrating the output processing. Output processing is performed as one step in the inspection by the inspection equipment 500. More specifically, output processing is performed to confirm whether the inspection was carried out with an appropriate load applied.

[0033] As shown in Figure 4, in step S10, the acquisition unit 211 acquires the inspection results and load information. Below, the load information will be explained first, followed by the inspection results.

[0034] As shown in Figure 5, the vehicle 100 has an occupant seat area 105. In this embodiment, the occupant seat area 105 includes a seat 106 on which the occupant of the vehicle 100 sits, and a floor panel 107 on which the occupant's feet are placed. A weight W1 is placed on the seat 106. A weight W2 is placed on the floor panel 107. The weight of weight W1 is, for example, 40 kg. The weight of weight W2 is, for example, 10 kg. In braking tests, the test results may vary depending on whether or not there is an occupant in the vehicle 100. Since the vehicle 100 can be driven unmanned, weights W1 and W2 are installed instead of an occupant. This ensures that the load applied to the vehicle 100 is secured even when the vehicle 100 has been moved to the inspection equipment 500 by unmanned operation and no occupant is on board.

[0035] Vehicle 100 has a detection unit 140 which includes a seat sensor SS and a load sensor FS. The seat sensor SS is located below the seat surface of the seat 106. The seat sensor SS detects the magnitude of the load applied to the seat 106 as load information. The load sensor FS is located below the floor panel 107. The load sensor FS detects the magnitude of the load applied to the floor panel 107 as load information. The seat sensor SS and the load sensor FS output the magnitude of the applied load to the acquisition unit 211 of the control device 200. In this embodiment, the seat sensor SS outputs that the magnitude of the load applied to the seat 106 is 40 kg, and the load sensor FS outputs that the magnitude of the load applied to the floor panel 107 is 10 kg. As a result, the acquisition unit 211 acquires the magnitude of the load applied to the seat sensor SS and the magnitude of the load applied to the floor panel 107 as load information.

[0036] The inspection equipment 500 has multiple rollers 510. With each wheel 101 of the vehicle 100 supported by each roller 510, the inspection equipment 500 drives the rollers 510 to rotate, thereby driving the wheels 101. In the braking test, the peripheral speed of the driving roller 510 and the peripheral speed of the driven wheels 101 are the same, so the longitudinal position of the vehicle 100 does not change. The inspection equipment 500 controls the rollers 510 so that their rotational speed reaches a predetermined target rotational speed. When the rotational speed of the rollers 510 reaches the target rotational speed, the remote control unit 210 remotely controls the vehicle 100 to activate the vehicle's braking system, and the inspection equipment 500 stops the driving rotation of the rollers 510. The inspection equipment 500 uses a braking force sensor to detect the braking force applied to the rollers 510 from the vehicle 100's braking system. The inspection equipment 500 outputs the detected braking force as an inspection result to the acquisition unit 211 of the control device 200. The inspection result includes information on whether or not the braking system of the vehicle 100 operated correctly. The acquisition unit 211 then acquires the inspection result.

[0037] As shown in Figure 4, in step S20, the output unit 212 outputs the inspection result and load information linked together. In this embodiment, the output unit 212 outputs the braking force detected by the inspection equipment 500, the magnitude of the load detected by the seat sensor SS, and the magnitude of the load detected by the load sensor FS together. The output may be performed, for example, by a speaker or by a display device.

[0038] Once the output process shown in Figure 4 is complete, the inspector checks the outputted information. If the outputted information meets the inspection criteria, vehicle 100 moves from location PL2 to the second location by unmanned operation, and other inspection processes are performed. If the outputted information does not meet the inspection criteria, adjustments to vehicle 100 are performed.

[0039] According to the system 50 of the first embodiment described above, the output unit 212 outputs the results of the inspection by the inspection equipment 500 and the load information detected by the detection unit 140 in a linked manner, so that it is possible to confirm whether or not the inspection was performed with an appropriate load.

[0040] Furthermore, according to the system 50 of the first embodiment, the detection unit 140 includes a sheet sensor SS provided on the sheet 106, so it is possible to confirm whether or not the inspection was performed with an appropriate load applied to the sheet 106.

[0041] Furthermore, according to the system 50 of the first embodiment, the detection unit 140 includes a load sensor FS provided on the floor panel 107, so it is possible to confirm whether or not the inspection was performed with an appropriate load applied to the floor panel 107.

[0042] B. Second Embodiment: Figure 6 is a diagram illustrating the system 50b of the second embodiment. The detection unit 140 in the system 50b of the second embodiment differs from the system 50 of the first embodiment in that it includes an imaging device C1 and a processing device C2 instead of the sheet sensor SS and load sensor FS. The other components of the system 50b of the second embodiment are the same as those of the system 50 of the first embodiment, so their description is omitted.

[0043] As shown in Figure 6, the vehicle 100 has an imaging device C1 and a processing device C2 as a detection unit 140. The imaging device C1 images the passenger seat area 105 and outputs the image data. More specifically, the imaging device C1 images the weight W1 placed on the seat 106 and the weight W2 placed on the floor panel 107. In this embodiment, the imaging device C1 is a camera that photographs the interior of the vehicle.

[0044] The processing unit C2 detects load information related to the load applied to the occupant seat 105 from the imaging data. The processing unit C2 is configured as a computer having a processor and memory. The load information in this embodiment is the presence or absence of a load. That is, the processing unit C2 detects whether or not weights W1 and W2 are included in the imaging data. Such detection is performed, for example, by pattern matching using the imaging data of weights W1 and W2 stored in memory beforehand and the imaging data output by the imaging device C1. The detection of the presence or absence of a load may be performed not only by pattern matching but also by any image processing method. The processing unit C2 outputs the result of the load detection to the acquisition unit 211 of the control device 200. The acquisition unit 211 acquires the inspection results from the inspection equipment 500 and the load presence or absence output by the processing unit C2. The output unit 212 outputs the inspection results acquired by the acquisition unit 211 and the load presence or absence linked together.

[0045] According to the system 50b of the second embodiment described above, the detection unit 140 includes an imaging device C1 that images the occupant seat area 105, and a processing device C2 that detects load information related to the load applied to the occupant seat area 105 from the imaging data obtained by the imaging device C1. Therefore, load information can be detected using the imaging device C1 provided in the vehicle 100.

[0046] C. Third Embodiment: Figure 7 is a flowchart showing the output processing procedure of the third embodiment. The system of the third embodiment differs from the system 50 of the first embodiment in its function as an output unit 212. Configurations not described below are the same as those of the system 50 of the first embodiment. The system of the third embodiment may be used in combination with the system 50b of the second embodiment.

[0047] In the third embodiment, the output unit 212 outputs the inspection result from the inspection equipment 500 when the load information detected by the detection unit 140 meets a predetermined standard, and does not output the inspection result when the load information detected by the detection unit 140 does not meet the predetermined standard. The predetermined standard is, for example, the lower limit of the appropriate load magnitude for the inspection of the inspection equipment 500. Alternatively, the predetermined standard may be a range of load magnitudes. Alternatively, the predetermined standard may be that any load is applied. The predetermined standard is stored in the memory 202.

[0048] The flowchart shown in Figure 7 differs from the flowchart shown in Figure 4 in the processing from step S20 onwards, but the processing at step S10 is the same. The processing from step S15 onwards shown in Figure 7 will be explained below.

[0049] In step S15, the output unit 212 determines whether the load information acquired by the acquisition unit 211 meets a predetermined standard. If the load information does not meet the predetermined standard (step S15: NO), the output unit 212 terminates the process without outputting the inspection result. If the load information meets the predetermined standard (step S15: YES), the output unit 212 outputs the inspection result (step S20b). In step S20 of the first embodiment, the output unit 212 outputs the inspection result and load information linked together, but in step S20b of the third embodiment, the output unit 212 outputs only the inspection result.

[0050] According to the system 50 of the third embodiment described above, the output unit 212 outputs the inspection result from the inspection equipment 500 when the load information detected by the detection unit 140 meets a predetermined standard, and does not output the inspection result when the load information detected by the detection unit 140 does not meet the predetermined standard. Therefore, by setting appropriate load information as the predetermined standard, the inspection result can be obtained only when the inspection is performed with an appropriate load applied.

[0051] D. Fourth Embodiment: Figure 8 is an explanatory diagram showing the schematic configuration of system 50v in the fourth embodiment. In this embodiment, system 50v differs from the first embodiment in that it does not have a control device 200. Also, in this embodiment, vehicle 100v can be driven by autonomous control of vehicle 100v. The other configurations are the same as in the first embodiment unless otherwise specified. Note that system 50v of the fourth embodiment may be used in combination with the systems of the second and third embodiments.

[0052] In this embodiment, the processor 111v of the vehicle control device 110v functions as a vehicle control unit 115v by executing the program PG1 stored in memory 112v. The vehicle control unit 115v 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 120, thereby enabling the vehicle 100v 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 memory 112v.

[0053] Figure 9 is a flowchart showing the processing procedure for vehicle 100V's driving control in the fourth embodiment. In the processing procedure shown in Figure 9, the vehicle 100V's processor 111V functions as a vehicle control unit 115V by executing program PG1.

[0054] In step S901, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection result output from the camera, which is the sensor 300. In step S902, the processor 111v determines the target position to which the vehicle 100v should next go. In step S903, the processor 111v generates a driving control signal to drive 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 to drive the vehicle 100v according to the parameters expressed 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 control device 200.

[0055] Furthermore, as shown in Figure 8, the processor 111v of this embodiment also functions as an acquisition unit 125v and an output unit 135v by executing the program PG1 stored in memory 112. The acquisition unit 125v has the same function as the acquisition unit 211 of the first embodiment. The output unit 135v has the same function as the output unit 212 of the first or third embodiment. Therefore, in this embodiment, the same processing as the output processing shown in Figures 4 and 7 is performed by the processor 111v of the vehicle 100v.

[0056] The system 50v of the fourth embodiment described above can also perform vehicle 100 driving control and output processing, similar to the systems 50 and 50b of the first, second, and third embodiments.

[0057] E. Other Embodiments 1: (E1) In each of the embodiments described above, an example has been given in which the inspection equipment 500 performs a braking test, but the disclosure is not limited thereto. The inspection equipment 500 may perform any test. For example, the test may be a side slip test, an accelerator test, or the like.

[0058] (E2) In each of the above embodiments, at least one of the functions of the acquisition unit 211 and the output unit 212 may be performed by the inspection equipment 500. In this configuration, the inspection equipment 500 includes a computer having a processor and memory.

[0059] (E3) In each of the above embodiments, the vehicle 100 was controlled by unmanned operation, but the disclosure is not limited thereto. The vehicle 100 may be controlled by manned operation.

[0060] (E4) In each of the above embodiments, the load was applied to the occupant seat 105 by weights W1 and W2, but the disclosure is not limited thereto. The load may be applied by the occupant. In such a configuration, the seat sensor SS and load sensor FS in the system 50 of the first embodiment can detect the load applied to the seat 106 and floor panel 107, similar to the weights W1 and W2. In addition, the imaging device C1 in the system 50b of the second embodiment can image the occupant seated in the occupant seat 105, and the processing device C2 can detect the presence or absence of a load by using the image data of the occupant seated in the occupant seat 105.

[0061] (E5) In each of the above embodiments, the detection unit 140 may detect load information of any seat. The seats are, for example, the driver's seat, the passenger seat, and the rear seats.

[0062] (E6) In the first embodiment described above, the detection unit 140 had both a sheet sensor SS and a load sensor FS, but the disclosure is not limited thereto. The detection unit 140 may have only one of the sheet sensor SS and the load sensor FS.

[0063] (E7) In the second embodiment described above, the imaging device C1 was provided on the vehicle 100, but the disclosure is not limited thereto. The imaging device C1 may be provided outside the vehicle 100. The imaging device C1 may be provided, for example, on a factory FC.

[0064] (E8) In the second embodiment described above, the imaging device C1 was a camera, but the disclosure is not limited thereto. The imaging device C1 may be, for example, a rangefinder. The rangefinder is, for example, a LiDAR (Light Detection and Ranging) device. In this case, the imaging device C1 may output 3D point cloud data.

[0065] (E9) In the second embodiment described above, weights W1 and W2 may be marked with markers indicating the magnitude of the load. The markers may have any external shape that can be captured by the imaging device C1. For example, weight W1 may be marked with a circle indicating that the weight of weight W1 is 40 kg, and weight W2 may be marked with a square indicating that the weight of weight W2 is 10 kg. The processing device C2 may use such markers to detect the magnitude of the load applied to the occupant seat 105.

[0066] (E10) In the second embodiment described above, the detection of load information performed by the processing unit C2 may be performed by the processor 111 of the vehicle 100, or by the processor 201 of the control device 200. Alternatively, the detection of load information performed by the processing unit C2 may be performed by the processor of the inspection equipment 500. In such a configuration, the processing unit C2 may be omitted.

[0067] (E11) In the third embodiment described above, the output unit 212 output only the inspection results, but the disclosure is not limited thereto. The output unit 212 may also output load information along with the inspection results.

[0068] (E12) The output unit 212 may output at least the results of the inspection by the inspection equipment 500 when predetermined conditions regarding load information are met. The predetermined conditions include, for example, that a load has been detected, that the load meets predetermined criteria, and that the magnitude of the load is within a predetermined range. The predetermined conditions are stored in the memory 202. For example, when the predetermined condition that a load has been detected is met, the output unit 212 outputs the inspection results linked with the load information detected by the detection unit 140. In addition, the output unit 212 outputs the results of the inspection by the inspection equipment 500 when the load meets predetermined criteria, and does not output the results when the load does not meet predetermined criteria. This configuration also allows for confirmation that the inspection was performed with an appropriate load.

[0069] F. Other Embodiments 2: (F1) In each of the above embodiments, the sensor 300 is not limited to a camera, but may be, for example, a distance measuring device. The distance measuring device may be, for example, a LiDAR. In this case, the detection result output by the sensor 300 may be 3D point cloud data representing the vehicle 100. In this case, the control device 200 and the vehicle 100 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.

[0070] (F2) In the first embodiment described above, the control device 200 performs the processing from acquiring vehicle position information to generating a driving control signal. Alternatively, the vehicle 100 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 also be used.

[0071] (1) The control device 200 may acquire vehicle position information, determine the next target location to which the vehicle 100 should go, and generate a route from the vehicle 100's current location, as shown in the acquired vehicle position information, to the target location. The control device 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 control device 200 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a driving control signal so that the vehicle 100 travels along the route received from the control device 200, and may use the generated driving control signal to control the actuator group 120.

[0072] (2) The control device 200 may acquire vehicle position information and transmit the acquired vehicle position information to the vehicle 100. The vehicle 100 may determine the next target location to which the vehicle 100 should go, generate a route from the vehicle 100's current location shown in the received vehicle position information to the target location, generate a driving control signal so that the vehicle 100 travels along the generated route, and control the actuator group 120 using the generated driving control signal.

[0073] (3) In the embodiments of (1) and (2) above, the vehicle 100 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 the route and the generation of the driving control signal. The internal sensors are sensors mounted on the vehicle 100. The internal sensors may include, for example, sensors that detect the motion state of the vehicle 100, sensors that detect the operating state of each part of the vehicle 100, and sensors that detect the environment around the vehicle 100. 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 control device 200 may acquire the detection results of the internal sensors and reflect the detection results of the internal sensors in the route when generating the route. In the embodiment of (1) above, the vehicle 100 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 the driving control signal. In the embodiment of (2) above, the vehicle 100 may acquire the detection results of the internal sensors and reflect the detection results of the internal sensors in the route when generating the route. In the embodiment described in (2) above, the vehicle 100 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 the driving control signal.

[0074] (F3) In the fourth embodiment described above, the vehicle 100v 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 100v 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 100v 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.

[0075] (F4) In the fourth embodiment described above, the vehicle 100v acquires vehicle position information using the detection results of the sensor 300. Alternatively, the vehicle 100v may be equipped with an internal sensor, which may acquire vehicle position information using the detection results of the internal sensor, determine the next target location to which the vehicle 100v should go, generate a route from the vehicle 100v's current location to the target location as shown in the acquired vehicle position information, generate a driving control signal for driving along the generated route, and control the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can drive without using the detection results of the sensor 300 at all. The vehicle 100v may also acquire the target arrival time and congestion information from outside the vehicle 100v and reflect the target arrival time and congestion information in at least one of the route and the driving control signal.

[0076] (F5) In the first embodiment described above, the control device 200 automatically generates a driving control signal to be transmitted to the vehicle 100. Alternatively, the control device 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, an external operator may operate a control device that includes a display for displaying captured images output from the 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 control device 200 via wired or wireless communication, and the control device 200 may generate a driving control signal in accordance with the operation applied to the control device.

[0077] (F6) In each of the above embodiments, the vehicle 100 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 100 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 110 and an actuator group 120. When the vehicle 100 acquires information from the outside for unmanned operation, the vehicle 100 may further be equipped with a communication device 130. That is, the vehicle 100 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 100 before it is shipped from the factory FC, or the remaining parts such as the body shell may be installed on the vehicle 100 after it has been shipped from the factory FC while the remaining parts such as the body shell are not installed on the vehicle 100. Each component may be attached to the vehicle 100 from any direction, such as the top, bottom, front, rear, right, or left side, and may be attached 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 100 in the first embodiment.

[0078] (F7) Vehicle 100 may be manufactured by combining multiple modules. A module means a unit composed of one or more parts grouped together according to the configuration and function of vehicle 100. For example, the platform of vehicle 100 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 the platform, or in place of the platform, parts of vehicle 100 other than the platform may be modularized. 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 100, 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 module as a single part by casting. The molding method of integrally molding at least a part of the module as a single part is also called gigacast or megacast. By using Gigacast, parts of a mobile body that were conventionally formed by joining multiple components can be formed as single components. For example, the front module, central module, and rear module mentioned above may be manufactured using Gigacast.

[0079] (F8) Transporting vehicle 100 using the unmanned operation of vehicle 100 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 100 is also called "autonomous production." In autonomous production, for example, at a factory FC that manufactures vehicle 100, at least a portion of the transport of vehicle 100 is realized by autonomous transport.

[0080] (F9) 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.

[0081] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features in the embodiments corresponding to the technical features in each form described in the summary of the invention can be replaced or combined as appropriate in order to solve some or all of the above-described problems, or to 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 deleted as appropriate. [Explanation of symbols]

[0082] 50, 50b, 50v... System, 100, 100v... Vehicle, 101... Wheels, 105... Passenger compartment, 106... Seat, 107... Floor panel, 110, 110v... Vehicle control device, 111, 111v, 201... Processor, 112, 112v, 202... Memory, 113, 203... Input / Output interface, 114, 204... Internal bus, 115, 115v... Vehicle control unit, 120... Actuator group, 125v, 211... Acquisition unit, 130, 205…Communication device, 135v, 212…Output unit, 140…Detection unit, 200…Control device, 210…Remote control unit, 300…Sensor, 500…Inspection equipment, 510…Roller, C1…Imaging device, C2…Processing device, DM…Detection model, FC…Factory, FS…Load sensor, GC…Global coordinate system, PG1, PG2…Program, PL1…First location, PL2…Second location, RR…Reference path, SS…Sheet sensor, TR…Track, W1, W2…Weight

Claims

1. It is a system, Inspection equipment for inspecting vehicles, A detection unit that detects load information related to the load applied to the occupant seat of the vehicle during the inspection, An output unit that links the results of the inspection by the inspection equipment and the load information detected by the detection unit and outputs the results together. A system that includes these features.

2. The system according to claim 1, The aforementioned passenger seating area includes a seat on which the occupants of the vehicle sit, The detection unit includes a sheet sensor provided on the sheet for detecting load information relating to the load applied to the sheet. system.

3. The system according to claim 2, The aforementioned passenger seat area further includes a floor panel on which the feet of the passenger seated in the seat are placed, The detection unit further includes a load sensor provided on the floor panel for detecting load information relating to a load applied to the floor panel. system.

4. The system according to claim 1, The detection unit is Includes an imaging device for imaging the aforementioned passenger seat area, The load information relating to the load applied to the passenger seat is detected from the imaging data obtained by the imaging device. system.

5. It is a system, Inspection equipment for inspecting vehicles, A detection unit that detects load information related to the load applied to the occupant seat of the vehicle during the inspection, An output unit that outputs the results of the inspection by the inspection equipment when the load information detected by the detection unit meets a predetermined standard, and does not output the results when the load information detected by the detection unit does not meet a predetermined standard. A system that includes these features.

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