Vehicle control system

Abstract

To provide a vehicle control system that can suppress a decrease in work efficiency even when performing work on the front of the vehicle while the vehicle is moving under its own power. [Solution] The vehicle control system according to this disclosure comprises a sensor that detects the position information of a moving vehicle, and a controller that controls the movement of the vehicle based on the position information acquired from the sensor, and is a vehicle control system that allows a vehicle to move autonomously in a predetermined direction on a work line while a worker moves and performs work. When the controller is to perform work on the front of the vehicle in a work line that the vehicle is about to enter, it controls the vehicle to move backward on the work line.

Description

Technical Field

[0001] The present disclosure relates to a vehicle control system.

Background Art

[0002] For example, as disclosed in Patent Document 1, when manufacturing a vehicle, instead of transporting the vehicle by, for example, a conveyor, a technology (self-propelled transport technology) for self-propelling and transporting the vehicle by autonomous control or remote control is known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, when performing work while self-propelling a vehicle without using a belt conveyor on a work line for inspection, assembly, etc., the operator needs to move with the vehicle. Here, when assembling or inspecting parts on the front side of the vehicle, the operator performs the work while moving backward, so there is a problem of reduced work efficiency.

[0005] [[ID=‎38]] The present disclosure has been made in view of such circumstances, and provides a vehicle control system capable of suppressing a decrease in work efficiency even when performing work on the front part of a vehicle while self-propelling the vehicle.

Means for Solving the Problems

[0006] The vehicle control system according to the present disclosure is a sensor that detects position information of a traveling vehicle, a controller that controls the traveling of the vehicle based on the position information acquired from the sensor, and includes A vehicle control system in which a vehicle is driven in a predetermined direction on a work line while an operator moves and performs work, The aforementioned controller, When performing work on the front of the vehicle in a work line into which the vehicle is about to enter, the vehicle is controlled to travel in reverse within that work line.

[0007] In the vehicle control system described herein, when work is to be performed on the front of a vehicle in a work line it is about to enter, the system controls the vehicle to travel in reverse within that work line. Therefore, even when working on the front of a vehicle, the worker can work while facing forward and following the vehicle, thus suppressing a decrease in work efficiency. [Effects of the Invention]

[0008] This disclosure provides a vehicle control system that can suppress a decrease in work efficiency even when performing work on the front of a vehicle while the vehicle is moving under its own power. [Brief explanation of the drawing]

[0009] [Figure 1] This is a block diagram showing the control system of a vehicle control system according to the first embodiment. [Figure 2] This is a schematic side view showing a work line on which a vehicle moves under its own power in a vehicle control system according to the first embodiment. [Figure 3] This is a schematic side view showing a work line on which a vehicle moves under its own power, in a vehicle control system according to a modified example of the first embodiment. [Figure 4] This is a diagram illustrating the vehicle's driving control. [Figure 5] This is a control block diagram illustrating example 1 of the driving control system. [Figure 6] This is a flowchart to explain example 1 of the driving control system. [Figure 7] This is a control block diagram illustrating example 2 of the driving control system. [Figure 8] This is a flowchart to explain example 2 of the driving control system. [Modes for carrying out the invention]

[0010] Specific embodiments of the present invention will be described in detail below with reference to the drawings. However, the present invention is not limited to the following embodiments. Also, for clarity of explanation, the following description and drawings have been simplified as appropriate.

[0011] (First Embodiment) <Overview of Vehicle Control System> First, an overview of the vehicle control system according to the first embodiment will be described with reference to Figure 1. Figure 1 is a block diagram showing the control system of the vehicle control system according to the first embodiment. As shown in Figure 1, the vehicle control system (also simply referred to as the system) 50 includes a server 200 and a camera 310, and controls the movement of the vehicle 100.

[0012] The vehicle control system 50 is applied, for example, to the control of a vehicle 100 that moves autonomously on a work line in a vehicle manufacturing plant where the vehicle 100 is manufactured. Therefore, the vehicle 100 to be controlled is a self-propelled vehicle that can move autonomously during the manufacturing process. In other words, the vehicle 100 is a vehicle that can move autonomously during the manufacturing process.

[0013] As shown in Figure 1, the server 200 includes a memory 202, a communication device 205, a position estimation unit 207, and a driving control unit 208. The vehicle 100 includes a vehicle control device 110, an actuator group 120, and a communication device 130. Furthermore, the server 200 may consist not only of a single physical device, but also of multiple distributed devices.

[0014] The server 200 functions as a controller that controls the movement of the vehicle 100, which is the target of control, while estimating the position of the vehicle 100 based on the image of the vehicle 100 received from the camera 310.

[0015] In server 200, communication device 205 communicates with camera 310 and vehicle 100 via network 500. The communication device 205 receives data such as a captured image from the camera 310, and transmits information (vehicle control information) for controlling the travel of the vehicle 100 generated based on the image to the vehicle 100.

[0016] Position estimation unit 207 recognizes vehicle 100 and estimates the position of vehicle 100 based on an image of vehicle 100 captured by camera 310. Specifically, communication device 205 receives data such as a captured image from camera 310, and position estimation unit 207 estimates the position of vehicle 100 by performing analysis of the received captured image (i.e., image analysis).

[0017] Travel control unit 208 generates information (vehicle control information) for controlling the travel of vehicle 100 based on the position of vehicle 100 estimated by position estimation unit 207. The vehicle control information generated by travel control unit 208 is transmitted to vehicle 100 via communication device 205. In vehicle 100, communication device 130 receives the vehicle control information transmitted from server 200, and vehicle control device 110 operates actuator group 120 based on the received vehicle control information to make vehicle 100 travel.

[0018] Camera 310 is a form of external sensor 300 described later, and images vehicle 100 traveling on a work line, for example, from above. That is, camera 310 functions as a sensor for detecting the position information of traveling vehicle 100. Camera 310 has a communication function, and data such as an image captured by camera 310 is transmitted to server 200 via network 500.

[0019] Furthermore, the driving control unit 208 generates information for controlling the orientation of the vehicle 100 based on work information relating to the work performed by the worker on each vehicle 100 in each work line. This work information is stored, for example, in the memory 202. Here, the work information includes, for example, information on which part of the vehicle 100—front, rear, or side—is to be worked on in each work line.

[0020] More specifically, the driving control unit 208 controls the orientation of each vehicle 100 in each work line as follows, based on the above work information. When performing work on the front of vehicle 100 in a work line into which vehicle 100 is about to enter, the vehicle 100 is controlled to travel backward along the direction of travel of the work line.

[0021] On the other hand, when performing work on the rear of the vehicle 100 in a work line into which the vehicle 100 is about to enter, the vehicle 100 is controlled to travel forward along the direction of the line in that work line.

[0022] Furthermore, when performing work on the side of the vehicle 100 in a work line into which the vehicle 100 is about to enter, the vehicle may be controlled, for example, to maintain the direction in which the vehicle 100 is traveling. In this specification, "worker" includes a work robot.

[0023] <Details of the work line where the vehicle control system is applied> Next, with reference to Figure 2, the details of the work line to which the vehicle control system according to this embodiment is applied will be described. Figure 2 is a schematic side view showing a work line on which a vehicle moves under its own power in the vehicle control system according to the first embodiment.

[0024] Note that the right-handed XYZ Cartesian coordinate system shown in Figure 2 is for convenience in explaining the positional relationships of the constituent elements. In Figure 2 and other diagrams, for example, the positive Z-axis direction is the vertically upward direction, and the XY plane is the horizontal plane; these are common to all drawings.

[0025] The first and second work lines shown in Figure 2 extend in the X-axis direction, and multiple vehicles 100a, 100b, and 100c, which are the targets of the vehicle control system, self-propel in the positive X-axis direction along the first and second work lines. As shown in Figure 2, cameras 310 are arranged in parallel in the X-axis direction at predetermined intervals above the first and second work lines.

[0026] Here, for example, the second work line shown in the lower part of Figure 2 is located on the positive X-axis side of the first work line shown in the upper part of Figure 2. A section is provided between the first and second work lines in which the direction of the vehicles can be switched. As shown in the upper part of Figure 2, workers LW11, LW12, and LW13 perform work on vehicles 100a, 100b, and 100c, respectively, on the first work line. Then, as shown in the lower part of Figure 2, workers LW21, LW22, and LW33 perform work on vehicles 100a, 100b, and 100c, respectively, on the second work line.

[0027] More specifically, as shown in the upper part of Figure 2, in the first work line, workers LW11, LW12, and LW13 move together with vehicles 100a, 100b, and 100c, which are self-propelled in the positive X-axis direction, and perform work on vehicles 100a, 100b, and 100c, respectively. The work includes, for example, inspection and assembly. In the first work line, since the work is performed on the rear of vehicles 100a, 100b, and 100c, workers LW11, LW12, and LW13 can work while moving forward in the positive X-axis direction together with vehicles 100a, 100b, and 100c.

[0028] Next, in the second work line shown in the lower part of Figure 2, work is performed on the front sections of vehicles 100a, 100b, and 100c. Therefore, the orientation of vehicles 100a, 100b, and 100c is switched in the section between the first and second work lines. As a result, as shown in the lower part of Figure 2, in the second work line, vehicles 100a, 100b, and 100c travel backward in the positive X-axis direction.

[0029] In the second work line, since work is performed on the front sections of vehicles 100a, 100b, and 100c, workers LW21, LW22, and LW23 can work while moving forward in the positive X-axis direction along with vehicles 100a, 100b, and 100c.

[0030] In this scenario, if vehicles 100a, 100b, and 100c move forward in the second work line, similar to the first work line, workers LW21, LW22, and LW23 will need to work while moving backward, which reduces work efficiency.

[0031] In contrast, in this embodiment, as shown in the lower part of Figure 2, in the second work line where work is performed on the front of vehicles 100a, 100b, and 100c, vehicles 100a, 100b, and 100c travel in reverse. Therefore, workers LW21, LW22, and LW23 can work while moving forward together with vehicles 100a, 100b, and 100c, thereby suppressing a decrease in work efficiency.

[0032] Although not shown in the diagram, when working on the rear of vehicles 100a, 100b, and 100c in the third work line following the second work line, vehicles 100a, 100b, and 100c are switched to a forward-facing position and driven. On the other hand, when working on the front of vehicles 100a, 100b, and 100c in the third work line, vehicles 100a, 100b, and 100c are driven while remaining in a reverse-facing position.

[0033] Furthermore, when performing work on the sides of vehicles 100a, 100b, and 100c, the orientation of vehicles 100a, 100b, and 100c does not matter; they can be facing forward or backward. Therefore, when performing work on the sides of vehicles 100a, 100b, and 100c in the third work line, they can either travel facing backward or switch to a forward-facing orientation. However, traveling in the third work line facing backward reduces the number of times the orientation of vehicles 100a, 100b, and 100c needs to be changed.

[0034] As described above, in the vehicle control system 50 according to this embodiment, when work is to be performed on the front of the vehicle in a work line that the vehicle is about to enter, the system controls the vehicle to travel in reverse in that work line. Therefore, even when working on the front of the vehicle, the worker can work while facing forward and following the vehicle, thus suppressing a decrease in work efficiency.

[0035] (Modified version of the first embodiment) Next, with reference to Figure 3, the details of the work line to which the modified vehicle control system of this embodiment is applied will be described. Figure 3 is a schematic side view showing a work line on which a vehicle moves under its own power in the modified vehicle control system of the first embodiment. Figure 3 corresponds to Figure 2. Here, the upper part of Figure 3 is the same as the upper part of Figure 2.

[0036] As shown in the upper part of Figure 3, in the first work line, workers LW11, LW12, and LW13 move together with vehicles 100a, 100b, and 100c, which are self-propelled in the positive X-axis direction, and perform work on vehicles 100a, 100b, and 100c, respectively. In the first work line, work is performed on the rear of vehicles 100a, 100b, and 100c, so workers LW11, LW12, and LW13 can work while moving forward in the positive X-axis direction together with vehicles 100a, 100b, and 100c.

[0037] Next, as shown in the lower part of FIG. 3, on the second work line, for vehicles 100a and 100c, similar to the lower part of FIG. 2, work is performed on the front part. Therefore, in the section between the first work line and the second work line, the directions of vehicles 100a and 100c are switched. Therefore, as shown in the lower part of FIG. 3, on the second work line, vehicles 100a and 100c travel backward in the positive X-axis direction. As a result, workers LW21 and LW23 can perform work while moving forward in the positive X-axis direction together with vehicles 100a and 100c.

[0038] On the other hand, as shown in the lower part of FIG. 3, on the second work line, for vehicle 100b, different from the lower part of FIG. 2, following the first work line, work is performed on the rear part. Therefore, in the section between the first work line and the second work line, the traveling direction of vehicle 100b is not switched. Therefore, as shown in the lower part of FIG. 3, on the second work line as well, vehicle 100b travels forward in the positive X-axis direction. As a result, worker LW22 can perform work while moving forward in the positive X-axis direction together with vehicle 100b.

[0039] Thus, in the modified example shown in FIG. 3, when a plurality of vehicles 100a, 100b, and 100c are about to enter the work line, on the work line, vehicles 100a and 100c that perform work on the front part are controlled to travel backward. On the other hand, vehicle 100b that performs work on the rear part is controlled to travel forward. That is, as shown in the lower part of FIG. 3, on the same work line, vehicle 100b traveling forward and vehicles 100a and 100c traveling backward may coexist.

[0040] Hereinafter, in system 50, a traveling control example for controlling the traveling of vehicle 100 will be described.

[0041] <A. Traveling Control Example 1> FIG. 4 is a conceptual diagram showing the configuration of system 50 in traveling control example 1. System 50 includes one or more vehicles 100 as moving bodies, a server 200, and one or more external sensors 300. Furthermore, if the moving object is not a vehicle, the terms "vehicle" and "car" in this disclosure may be replaced with "moving object" as appropriate, and the term "driving" may be replaced with "moving" as appropriate.

[0042] Vehicle 100 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 100. Autonomous operation is achieved by automatic or manual remote control using a device located outside vehicle 100, or by autonomous control of vehicle 100.

[0043] A vehicle 100 operating under unmanned driving conditions may have passengers on board who do not perform driving operations. Passengers who do not perform driving operations include, for example, people simply sitting in the seats of vehicle 100, or people performing tasks other than driving operations, such as assembly, inspection, or operating switches, while on board vehicle 100. Driving by passengers may be referred to as "manned driving."

[0044] In this specification, "remote control" includes "fully 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 operations of the vehicle 100 are determined from outside the vehicle 100. Furthermore, "autonomous control" includes "fully autonomous control," in which the vehicle 100 autonomously controls its own operations without receiving any information from external devices, and "partial autonomous control," in which the vehicle 100 autonomously controls its own operations using information received from external devices.

[0045] In this embodiment, system 50 is used in a factory FC where vehicle 100 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 100 can travel. Multiple external sensors 300 are installed along the track TR in the factory FC. The position of each external sensor 300 in the factory FC is pre-adjusted. Vehicle 100 moves from the first location PL1 to the second location PL2 via the track TR by unmanned operation.

[0046] Figure 5 is a block diagram showing the configuration of system 50. The vehicle 100 includes a vehicle control device 110 for controlling various parts 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 wirelessly with external devices such as a server 200. The actuator group 120 includes actuators for a drive system to accelerate the vehicle 100, actuators for a steering system to change the direction of travel of the vehicle 100, and actuators for a braking system to decelerate the vehicle 100.

[0047] The vehicle control device 110 is composed of a computer comprising a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected via the internal bus 114 to enable bidirectional communication. The input / output interface 113 is connected to an actuator group 120 and a communication device 130. The processor 111 implements various functions, including those of a vehicle control unit 115, by executing a program PG1 stored in the memory 112.

[0048] The vehicle control unit 115 drives the vehicle 100 by controlling the actuator group 120. The vehicle control unit 115 drives the vehicle 100 by controlling the actuator group 120 using the driving control signal received from the server 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.

[0049] 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 100 via wireless communication and 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.

[0050] 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, thereby driving the vehicle 100 by remote control. In other words, the remote control unit 210 includes the functions of the position estimation unit 207 and the driving control unit 208 shown in Figure 1.

[0051] Furthermore, the remote control unit 210 may generate and output control signals not only for driving control signals, but also for controlling 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.

[0052] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that detects the vehicle 100 from outside the vehicle 100. The external sensor 300 is equipped with a communication device (not shown) and can communicate with other devices such as the server 200 via wired or wireless communication.

[0053] Specifically, the external sensor 300 is comprised of a camera. The camera, acting as the external sensor 300, captures an image including the vehicle 100 and outputs the captured image as the detection result.

[0054] Figure 6 is a flowchart illustrating the processing procedure for vehicle 100's driving control in an example of driving control. 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 111 of the vehicle 100 functions as a vehicle control unit 115 by executing program PG1.

[0055] In step S110, the processor 201 of the server 200 acquires vehicle position information of the vehicle 100 using the detection results output from the 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 100 in the global coordinate system GC of the factory FC. Specifically, in step S110, the processor 201 acquires vehicle position information using the captured image acquired from the camera, which is the external sensor 300.

[0056] In detail, in step S110, the processor 201 (position estimation unit 207 as shown in Figure 1 as a functional block) 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.

[0057] 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 of system 50 and pre-stored in the memory 202 of server 200. Examples of detection models DM include pre-trained machine learning models that have been trained to perform 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.

[0058] The training dataset includes, for example, multiple training images containing vehicle 100, and labels indicating whether each region in the training images represents vehicle 100 or something other than vehicle 100. During CNN training, it is preferable to update the CNN parameters using backpropagation to reduce the error between the output result of the detection model DM and the labels. Furthermore, the processor 201 can obtain the orientation of vehicle 100 by, for example, using the optical flow method, estimating it based on the direction of the vehicle 100's movement vector calculated from the positional changes of the vehicle 100's feature points between frames of the captured images.

[0059] In step S120, the processor 201 of the server 200 determines the next target location that the vehicle 100 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 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 that the vehicle 100 should head to. The processor 201 determines the target location on the reference route RR beyond the vehicle 100's current location.

[0060] In step S130, the processor 201 of the server 200 generates a driving control signal for driving the vehicle 100 toward the determined target position. The processor 201 calculates the driving speed of the vehicle 100 from the change in the position of the vehicle 100, and compares the calculated driving speed with the target speed. Overall, when the driving speed is lower than the target speed, the processor 201 determines the acceleration so that the vehicle 100 accelerates, and when the driving speed is higher than the target speed, the processor 201 determines the acceleration so that the vehicle 100 decelerates. Further, when the vehicle 100 is located on the reference route RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the reference route RR, and when the vehicle 100 is not located on the reference route RR, in other words, when the vehicle 100 has deviated from the reference route RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 returns to the reference route RR.

[0061] In step S140, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats the acquisition of the position of the vehicle 100, the determination of the target position, the generation of the driving control signal, and the transmission of the driving control signal at a predetermined cycle.

[0062] In step S150, the processor 111 of the vehicle 100 receives the driving control signal transmitted from the server 200. In step S160, the processor 111 of the vehicle 100 controls the actuator group 120 using the received driving control signal, and drives the vehicle 100 at the acceleration and steering angle represented by the driving control signal. The processor 111 repeats the reception of the driving control signal and the control of the actuator group 120 at a predetermined cycle. According to the system 50 in this example, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using conveying equipment such as a crane or a conveyor.

[0063] <B: Driving Control Example 2> Figure 7 is an explanatory diagram showing the schematic configuration of system 50v in driving control example 2. In this example, system 50v differs from driving control example 1 in that it does not have a server 200. Also, in this configuration, vehicle 100v can be driven by vehicle 100v's autonomous control. The other configurations are the same as above unless otherwise specified.

[0064] In this example, the processor 111v of the vehicle control device 110v functions as the vehicle control unit 115v by executing the program PG1 stored in 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 example, in addition to the program PG1, the detection model DM and the reference path RR are pre-stored in memory 112v.

[0065] Figure 8 is a flowchart showing the processing procedure for vehicle 100V's driving control in Example 2. In the processing procedure shown in Figure 8, the vehicle 100V's processor 111V functions as a vehicle control unit 115V by executing program PG1.

[0066] In step S210, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection results output from the camera, which is an external sensor 300. In step S220, the processor 111v determines the next target location that vehicle 100v should head to.

[0067] In step S230, the processor 111v generates a driving control signal to drive the vehicle 100v toward the determined target position. In step S240, the processor 111v controls the actuator group 120 using the generated driving control signal, thereby driving the vehicle 100v according to the parameters expressed in the driving control signal.

[0068] The processor 111v repeatedly performs the following actions at predetermined intervals: acquiring vehicle position information, determining the target position, generating driving control signals, and controlling the actuators. In this example, system 50v allows vehicle 100v to be driven autonomously without the need for remote control of vehicle 100v by server 200.

[0069] YY: Other examples of driving control (YY1) In the above example, the external sensor 300 is a camera. However, the external sensor 300 does not have to be a camera; for example, it could 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 100. In this case, the server 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] In (YY2) Driving control example 1, the server 200 performs the processing from acquiring vehicle position information to generating driving control signals. In contrast, the vehicle 100 may perform at least a part of the processing from acquiring vehicle position information to generating driving control signals. For example, the following forms (1) to (3) may be used.

[0071] (1) The server 200 may acquire vehicle location information, determine the next target location that vehicle 100 should head to, and generate a route from the vehicle 100'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 100. Vehicle 100 may generate a driving control signal so that vehicle 100 travels along the route received from the server 200, and may use the generated driving control signal to control the actuator group 120.

[0072] (2) The server 200 may acquire vehicle location information and transmit the acquired vehicle location 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 location 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 detection results output from the internal sensors may be used for at least one of the generation of a path and the generation of a 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, gyroscopes, etc.

[0074] 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 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 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 driving control signal when generating the driving control signal.

[0075] (YY3) In the driving control example 2, 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.

[0076] (YY4) In driving control example 2, vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. Alternatively, vehicle 100v may be equipped with an internal sensor, and vehicle 100v may acquire vehicle position information using the detection results of the internal sensor. In that case, the vehicle 100v determines the next target position to go to and generates a path from the vehicle 100v's current location, as shown in the acquired vehicle position information, to the target position. Then, a driving control signal is generated to travel along the generated path, and the actuator group 120 is controlled using the generated driving control signal. With this configuration, vehicle 100v can travel without using the detection results of the external sensor 300 at all.

[0077] Vehicle 100V may acquire 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 driving control signals. Furthermore, all the functional configurations of system 50V may be provided within vehicle 100V. In other words, the processing implemented by system 50V in this disclosure may be implemented by vehicle 100V alone.

[0078] (YY5) In driving control example 1, the server 200 automatically generates driving control signals to be transmitted to the vehicle 100. Alternatively, the server 200 may generate driving control signals to be transmitted to the vehicle 100 in accordance with the operations 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 an external sensor 300, a steering wheel for remotely controlling the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 via wired or wireless communication, and the server 200 may generate driving control signals in accordance with the operations applied to the control device.

[0079] (YY6) In each of the above driving control examples, the vehicle 100 only needs to have a configuration that allows it to move by unmanned operation, and may be in 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 a group of actuators 120.

[0080] When vehicle 100 acquires information from the outside for unmanned operation, vehicle 100 may also be equipped with a communication device 130. In other words, vehicle 100 that can move by unmanned operation may not have at least some of its interior components such as a driver's seat and dashboard, at least some of its exterior components such as bumpers and fenders, and may not have a body shell.

[0081] In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before it is shipped from the factory FC, or the remaining parts such as the body shell may be attached to the vehicle 100 after it has been shipped from the factory FC, while the remaining parts such as the body shell are not attached to the vehicle 100. Each part may be attached from any direction, such as the top, bottom, front, rear, right, or left side of the vehicle 100, and each part 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 the vehicle 100 in the first embodiment.

[0082] (YY7) Vehicle 100 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 vehicle 100. For example, the platform of vehicle 100 may be manufactured by combining a forward module that constitutes the front of the platform, a central module that constitutes the middle of the platform, and a rear module that constitutes the rear of the platform.

[0083] Furthermore, the number of modules constituting the platform is not limited to three; it may be two or fewer, or four or more. In addition, in addition to, or instead of, the components constituting parts of the vehicle 100 that are different from the platform may be modularized. Moreover, various modules may include any exterior parts such as bumpers and grilles, or any interior parts such as seats and consoles.

[0084] Furthermore, a mobile body of any kind, not limited to vehicle 100, 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 some of the parts constituting the module as a single part by casting. Molding methods for integrally molding a single part, especially a relatively large part, are also called gigacast or megacast. For example, the forward module, central module, and rear module mentioned above may be manufactured using gigacast.

[0085] (YY8) Transporting vehicle 100 using the unmanned operation of the 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 fuel cell (FC) that manufactures vehicle 100, at least a portion of the transport of vehicle 100 is realized by autonomous transport.

[0086] (YY9) In each of the above driving control examples, 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.

[0087] Furthermore, this disclosure can be realized by having a CPU (Central Processing Unit) execute a computer program to perform some or all of the processing in the external sensor 300, vehicle 100, server 200, etc. as described above.

[0088] The program described above includes, when loaded into a computer, a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments. The program may be stored in a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include RAM (Random-Access Memory), ROM (Read-Only Memory), flash memory, SSD (Solid-State Drive), or other memory technologies, CD-ROM, DVD (Digital Versatile Disc), Blu-ray® disc, or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage, or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include temporary computer-readable medium or a communication medium that includes electrically, optically, acoustically, or otherwise propagating signals.

[0089] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure are possible, as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate. [Explanation of Symbols]

[0090] 50 Vehicle control systems Vehicles 100, 100a, 100b, 100c 110 Vehicle control system 111 processors 112 memory 113 Input / Output Interfaces 114 Internal bus 115 Vehicle Control Unit 120 Actuator Group 130 Communication equipment 200 servers 201 Processor 202 memory 203 Input / Output Interfaces 204 Internal Bus 205 Communication equipment 207 Position estimation part 208 Driving Control Unit 210 Remote Control Unit 300 External Sensors 310 Camera 500 Networks

Claims

1. A sensor that detects the location information of a moving vehicle, The system includes a controller that controls the movement of the vehicle based on the position information acquired from the sensor, A vehicle control system in which a vehicle is driven in a predetermined direction on a work line while an operator moves and performs work, The aforementioned controller, When performing work on the front of the vehicle in a work line into which the vehicle is about to enter, the vehicle is controlled to travel in reverse within that work line. Vehicle control system.

2. The aforementioned controller, When performing work on the rear of the vehicle in the work line into which the vehicle is about to enter, the vehicle is controlled to travel forward within the work line. The vehicle control system according to claim 1.

3. The aforementioned controller, When performing work on the side of the vehicle in the work line into which the vehicle is about to enter, the system controls the vehicle to maintain the direction in which it is traveling. The vehicle control system according to claim 1 or 2.

4. When multiple vehicles attempt to enter the work line at predetermined intervals, The aforementioned controller, In the said work line, vehicles performing work on the front section are controlled to travel in reverse. In the said work line, vehicles performing work on the rear section are controlled to travel in a forward direction. The vehicle control system according to claim 2.

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