Remote automated driving system and server

Abstract

To provide a technique capable of executing remote control after shipping and appropriately invalidating the remote control in a remote autonomous driving system.SOLUTION: A remote autonomous driving system comprises: a remote control part for causing a vehicle to travel by remote control, the vehicle capable traveling by remote control in a manufacturing process in a factory for manufacturing vehicles, and in a transportation process outside the factory for shipping a manufactured vehicle from the factory and transporting the vehicle to a destination, the vehicle including a communication part having a communication function, and a driving control part for executing driving control of the vehicle; an invalidation execution part for executing invalidation processing for invalidating the remote control; and an invalidation instruction part for determining whether or not to execute the invalidation processing by using transit point information relating to remote control in at least one transit point through which the vehicle passes in the transportation process, and when it is determined to execute the invalidation processing, instructing the invalidation execution part to execute the invalidation processing.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present disclosure relates to a remote automated driving system and a server. [Background technology]

[0002] For example, Patent Document 1 discloses a vehicle driving method in a manufacturing system for manufacturing vehicles, in which a vehicle is driven by remote control from the end of an assembly line of the manufacturing system to a parking lot of the manufacturing system. [Prior art documents] [Patent documents]

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

[0004] It is being considered that the remote control function will be disabled at the time of shipping the vehicle from the manufacturing factory. However, there is a demand for remote control after shipping, for example, when parking the vehicle at a stopover point after shipping or loading it onto a ship. Therefore, there is a demand for technology that allows remote control after shipping and executes the disablement appropriately. [Means for solving the problem]

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

[0006] (1) According to one embodiment of the present disclosure, a remote automated driving system is provided. The remote automated driving system includes a remote control unit that drives a vehicle that can be driven by remote control during a manufacturing process in a factory where a vehicle is manufactured and during a transport process outside the factory where the manufactured vehicle is shipped from the factory and transported to a destination, the remote control unit having a communication unit with a communication function and a driving control unit that executes driving control of the vehicle, an invalidation execution unit that executes invalidation processing to invalidate the remote control, and an invalidation instruction unit that determines whether or not to execute the invalidation processing using route information related to the remote control for at least one route through which the vehicle passes during the transport process, and instructs the invalidation execution unit to execute the invalidation processing when it is determined that the invalidation processing is to be executed. According to this embodiment of the remote automatic operation system, it is possible to disable the remote control in response to a request for remote control during the transportation process after shipment. Therefore, it is possible to execute the remote control after shipment and to disable the remote control appropriately. (2) In the remote automated driving system of the above aspect, the route information may include information regarding whether the remote control can be executed at the route. When the remote control cannot be executed at the route, the invalidation instruction unit may instruct the invalidation execution unit to execute the invalidation process. According to this form of remote automated driving system, the timing for disabling remote control can be determined to match the feasibility of remote control at intermediate points after shipment. (3) In the remote automated driving system of the above embodiment, the invalidation instruction unit may instruct the invalidation execution unit to execute the invalidation processing at the timing when the remote control at all intermediate points where the remote control can be executed is completed. According to this form of remote automatic driving system, the invalidation process can be executed at an appropriate timing in accordance with requests for remote control during the transportation process after shipment. (4) In the remote automated driving system of the above aspect, the route information may include information regarding whether the remote control is executed at the route. When the remote control is not executed at the route, the invalidation instruction unit may instruct the invalidation execution unit to execute the invalidation process. According to this embodiment of the remote automatic driving system, the timing for disabling remote control can be determined to coincide with whether or not the intermediate point after shipment will execute remote control. (5) In the remote automated driving system of the above embodiment, the invalidation instruction unit may instruct the invalidation execution unit to execute the invalidation processing at the timing when the remote control is completed at all intermediate points where the remote control is executed. According to this form of remote automatic driving system, the invalidation process can be executed at an appropriate timing in accordance with requests for remote control during the transportation process after shipment. (6) In the remote automated driving system of the above aspect, the route information may include information on whether the route has a route invalidation instruction unit that instructs the invalidation execution unit to execute the invalidation process at the route. When the route does not have the route invalidation instruction unit, the invalidation instruction unit may instruct the invalidation execution unit to execute the invalidation process. According to this form of remote automated driving system, the timing for disabling remote control can be determined to match the presence or absence of a route disable instruction unit at the route point after shipment. (7) In the remote automated driving system of the above embodiment, the disable instruction unit may determine a disable timing for disabling the remote control using the route information, and instruct the disable execution unit to execute the disable processing at the determined disable timing. According to this form of remote automatic driving system, the invalidation process can be executed at an appropriate timing in accordance with requests for remote control during the transportation process after shipment. (8) In the remote automated driving system of the above aspect, the disable execution unit may be provided in the vehicle. The disable instruction unit may determine a disable timing for disabling the remote control by using the route information, and instruct the disable execution unit provided in the vehicle to execute the disable process at the determined disable timing. According to this embodiment of the remote automated driving system, the invalidation process can be executed without communicating with an external device such as a route control device at the invalidation timing. (9) The remote automated driving system of the above aspect may further include a route information management unit that updates the route information. According to this form of remote automated driving system, by updating information regarding the remote control of route points, the timing of invalidation can be determined based on the latest situation of the route points. (10) According to another aspect of the present disclosure, there is provided a server, the server including a remote control unit that drives a vehicle that can be driven by remote control during a manufacturing process in a factory where a vehicle is manufactured and during a transport process outside the factory where the manufactured vehicle is shipped from the factory and transported to a destination, the remote control unit having a communication unit with a communication function, a driving control unit that executes driving control of the vehicle, and an invalidation execution unit that executes an invalidation process to invalidate the remote control, and an invalidation instruction unit that determines whether or not to execute the invalidation process using route information related to the remote control for at least one route through which the vehicle passes during the transport process, and instructs the invalidation execution unit to execute the invalidation process when it is determined that the invalidation process should be executed. According to the server of this embodiment, it is possible to disable the remote control in response to a request for remote control during the transportation process after shipment. Therefore, it is possible to run the vehicle by remote control after shipment, and it is possible to disable the remote control appropriately. The present disclosure may be realized in various forms other than a remote automated driving system, for example, a vehicle, a method for manufacturing a vehicle, a method for controlling a vehicle, a computer program for implementing the control method, a non-transitory recording medium on which the computer program is recorded, etc. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram showing a schematic configuration of a remote automatic driving system according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the internal functional configuration of a server. [Diagram 3] FIG. 4 is an explanatory diagram showing an example of product information. [Figure 4] FIG. 4 is an explanatory diagram showing an example of route point information. [Diagram 5] FIG. 2 is an explanatory diagram showing automatic driving control of a vehicle by remote control of a remote control unit. [Figure 6] FIG. 1 is an explanatory diagram showing a schematic overview of a vehicle manufacturing process and transportation process. [Figure 7] FIG. 2 is a block diagram showing the internal functional configuration of a route control device. [Figure 8] FIG. 11 is an explanatory diagram illustrating a schematic diagram of an instruction path for invalidation processing. [Figure 9] 11 is a flowchart showing a processing routine of a nullification process in a factory. [Figure 10] 13 is a flowchart showing a processing routine for invalidation processing at a stopover point. [Figure 11] FIG. 11 is an explanatory diagram illustrating a schematic configuration of a remote automated driving system according to a second embodiment. [Figure 12] 13 is a flowchart showing a processing routine of a disabling process within a factory executed by a remote automated driving system according to a third embodiment. [Figure 13] 13 is a flowchart showing a processing routine of a disabling process within a factory executed by a remote automated driving system according to a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A. First embodiment: FIG. 1 is an explanatory diagram showing a schematic configuration of a remote automatic driving system 500 of the first embodiment. The remote automatic driving system 500 controls automatic driving of the vehicle 100 by remote control. Specifically, the remote automatic driving system 500 automatically drives the vehicle 100 in a manufacturing process in a factory FC where the vehicle 100 is manufactured by remote control. In addition, the remote automatic driving system 500 can automatically drive the vehicle 100 outside the factory FC via a route control device 400 provided at a route outside the factory FC during the transportation process from the vehicle 100 manufactured in the manufacturing process to a destination such as a dealer of the vehicle 100 after the vehicle 100 manufactured in the manufacturing process is shipped from the factory FC. In this embodiment, the vehicle 100 is, for example, a passenger car, a truck, a bus, and a construction vehicle. In this specification, a completed state as a product and a semi-finished product or work-in-progress state during manufacturing are collectively called a "vehicle".

[0009] As shown in FIG. 1, the factory FC is equipped with a front process 50, a rear process 60, and a track RT for the vehicle 100. The track RT is a transport section for the vehicle 100 in the factory FC that connects the front process 50 and the rear process 60. The factory FC is not limited to being one building or being present at one site or address, and may be present across multiple buildings, multiple sites, multiple addresses, etc., in the manufacturing process. The term "inside the factory FC" includes the range from when the vehicle 100 is completed to the waiting place where the completed vehicle 100 is loaded for shipment. In addition, "the vehicle 100 travels in the factory FC" includes the case where the vehicle 100 travels in a transport section between processes at multiple locations, such as the track RT, the case where the vehicle 100 travels within the process, and the case where the vehicle 100 travels on not only private roads but also public roads between factories at multiple locations in order to move between the factories at multiple locations. In the following description, an example will be given in which the location of the factory FC is in Japan.

[0010] The upstream process 50 is, for example, an assembly process in which parts are attached to a vehicle body. The downstream process 60 is, for example, an inspection process for the vehicle 100. The vehicle 100 removed from the upstream process 50 becomes a work in progress for the downstream process 60, and travels on the road RT to the downstream process 60, which is the destination. The vehicle 100 is introduced into the downstream process 60 when permission to enter the downstream process 60 is obtained. When the vehicle 100 completes the inspection process as the downstream process 60, it is completed as a product, and travels to a waiting area in the factory FC to wait for shipment, as described later. Thereafter, the vehicle 100 is shipped to a destination country corresponding to each vehicle 100. The "destination country" means the destination of the vehicle 100 manufactured in the factory FC.

[0011] Each process in the factory FC, including the front-end process 50 and the back-end process 60, is equipped with a process management device for managing the manufacturing information of the vehicle 100. The "manufacturing information" includes, for example, the progress of the process, the number of work-in-progress, the number of products being processed, the manufacturing time for each process, the start time and end time of the process for each process, the vehicle identification information of the vehicle 100 present in each process, the number of vehicles scheduled to be manufactured per day, the target manufacturing time for the process to manufacture one vehicle 100, and the like. The target manufacturing time is sometimes called the "takt time." The "vehicle identification information" refers to various information that can individually identify the vehicle 100. The vehicle identification information includes, for example, ID information given to each vehicle 100, specification information such as the model, color, and shape of the vehicle 100, and production management information such as the name of the process in progress for the vehicle 100. The vehicle identification information can be acquired, for example, from an RF-ID (Radio Frequency-Identification: Radio Mobile Identification) tag attached to the vehicle 100. When a plurality of vehicles 100 are manufactured in groups, such as one lot, a lot number or the like may be used as the vehicle identification information. The vehicle identification information may also be position information of the vehicle 100 in the factory FC, such as coordinates on the road RT or coordinates in the factory FC. The process management device of each process acquires the manufacturing status of the vehicle 100 in each process from a camera or sensor (not shown) provided in each process, and transmits the acquired manufacturing status to the server 300. The manufacturing status of each process may be transmitted to a production management device that manages the manufacturing status of each process in the factory FC. Note that the front-end process 50 and the rear-end process 60 are not limited to an assembly process or an inspection process, and various processes may be adopted as long as the vehicle 100 after processing in the front-end process 50 and the rear-end process 60 can run by remote control.

[0012] The vehicle 100 includes a communication unit 190, a power receiving device 150, a battery 120, a PCU 130, a motor 140, and an ECU (Electronic Control Unit) 180. The communication unit 190 is a wireless communication device mounted on the vehicle 100, such as a dongle. The communication unit 190 has a communication function of communicating using CAN (Controller Area Network) communication that can be used for controlling the vehicle 100, and diagnosis communication that can be used for fault diagnosis. The CAN communication is a communication standard that can transmit or receive in multiple directions, and the diagnosis communication is a communication standard that can associate requests and responses one-to-one. The communication unit 190 performs wireless communication with devices outside the vehicle 100, such as a server 300 connected to the network 72, a production management device (not shown) that manages the production information of the vehicle 100, and a route control device 400, via an access point 70 in the factory FC. The communication unit 190 receives a control signal for remote control of the vehicle 100 and a control signal for disabling the remote control from the server 300 and the route control device 400.

[0013] The power receiving device 150 converts AC power supplied from an external power supply device or the like into DC power using a rectifier, and supplies the DC power to the battery 120 as a load. The battery 120 is, for example, a rechargeable secondary battery such as a lithium ion battery or a nickel-metal hydride battery. The battery 120 is, for example, a high-voltage battery of several hundred volts, and stores power used for running the vehicle 100. When the power supplied from the external power supply device to the power receiving device 150 and the regenerative power generated by the motor 140 are supplied to the battery 120, the battery 120 is charged.

[0014] The motor 140 is, for example, an AC synchronous motor, and functions as an electric motor and a generator. When the motor 140 functions as an electric motor, the motor 140 is driven by the electric power stored in the battery 120 as a power source. The output of the motor 140 is transmitted to the wheels via a reduction gear and an axle. When the vehicle 100 is decelerating, the motor 140 functions as a generator that utilizes the rotation of the wheels, and generates regenerative electric power. A PCU (Power Control Unit) 130 is electrically connected between the motor 140 and the battery 120.

[0015] The PCU 130 has an inverter, a boost converter, and a DC / DC converter. The inverter converts DC power supplied from the battery 120 into AC power and supplies the converted AC power to the motor 140. The inverter converts regenerative power supplied from the motor 140 into DC power and supplies it to the battery 120. The boost converter boosts the voltage of the battery 120 when the power stored in the battery 120 is supplied to the motor 140. The DC / DC converter lowers the voltage of the battery 120 when the power stored in the battery 120 is supplied to an auxiliary device or the like.

[0016] The ECU 180 is mounted on the vehicle 100 and executes various controls of the vehicle 100. The ECU 180 includes a memory such as an HDD, an optical recording medium, and a semiconductor memory, and a CPU as a central processing unit. The CPU executes various computer programs stored in the memory, thereby realizing various functions such as the invalidation execution unit 182 and the driving control unit 184. The driving control unit 184 executes driving control of the vehicle 100. The "driving control" is, for example, adjustment of acceleration, speed, and steering angle. In the driving control by remote control, the driving control unit 184 controls each actuator mounted on the vehicle 100 according to a control signal of the remote control received from the server 300 via the communication unit 190. The ECU 180 also controls the exchange of power between the battery 120 and the motor 140 by controlling the PCU 130.

[0017] The invalidation execution unit 182 performs invalidation processing to invalidate the remote control of the vehicle 100. More specifically, the invalidation execution unit 182 receives an invalidation instruction requesting the vehicle 100 to invalidate the driving control by remote control from the invalidation instruction unit 316 of the server 300 or the route invalidation instruction unit 416 of the route control device 400 by diagnosis communication via the communication unit 190. "Invalidation of driving control by remote control" means that the function of executing driving control according to remote control is lost among the functions of the driving control unit 184. The invalidation execution unit 182 that receives the invalidation instruction transitions to a state in which the control request of the remote control is invalidated. By invalidating the driving control by remote control, it is possible to prevent unauthorized remote control of the vehicle 100 from a third party. The invalidation of the remote control includes reversible invalidation that can restore the invalidated remote control to a valid state when a predetermined condition is satisfied, and irreversible invalidation that cannot be restored. Reversible invalidation can be realized, for example, by encrypting a program that performs a function of executing driving control according to remote control among the functions of the driving control unit 184, and making it possible to decrypt the program only by a person having a predetermined authority. Irreversible invalidation can be realized, for example, by deleting the program or physically disconnecting the connection to hardware having the function. In this embodiment, unless otherwise specified, an example of executing irreversible invalidation will be described. From the viewpoint of security enhancement, it is preferable that the ECU 180 further includes a secure microcomputer equipped with an FPGA (Field Programmable Gate Array) and a flash memory, and an HSM (Hardware Security Module).

[0018] The remote automatic driving system 500 includes a vehicle detector and a server 300. The vehicle detector detects the position and orientation of the vehicle 100. In this embodiment, the vehicle detector is a camera 80. The camera 80 is fixed at a position where it can capture an image of the road RT and the traveling vehicle 100. The camera 80 acquires an image that allows the relative position of the vehicle 100 with respect to the road RT to be confirmed. The image captured by the camera 80 is used for remote control of the vehicle 100. By using the image captured by the camera 80, it is possible to perform automatic driving of the vehicle 100 by remote control without using a detector mounted on the vehicle 100 such as a camera, a millimeter wave radar, or a LiDAR. However, a detector mounted on the vehicle 100 may be used auxiliary to prevent a collision during remote control by the remote automatic driving system 500. The vehicle detector is installed in the factory FC, and various detectors capable of detecting the vehicle 100 other than the camera 80, such as an infrared sensor, a laser sensor, an ultrasonic sensor, a millimeter wave radar, or a LiDAR, may be used as long as the position and orientation of the vehicle 100 can be obtained.

[0019] 2 is a block diagram showing the internal functional configuration of the server 300. The server 300 includes a CPU 310 as a central processing unit, a storage device 320, and a communication unit 390, which are connected to each other via an internal bus, an interface circuit, etc. The communication unit 390 is a circuit for communicating with the vehicle 100, the route control device 400, etc. via the network 72.

[0020] The storage device 320 is, for example, a RAM, a ROM, a hard disk drive (HDD), a solid state drive (SSD), etc. In a readable / writable area of ​​the storage device 320, for example, product information 322 acquired from each process or a production management device, and route point information 324 acquired from the route point control device 400 are stored.

[0021] FIG. 3 is an explanatory diagram showing an example of the product information 322. The product information 322 shows the correspondence between the vehicle identification information ID1-ID4, the destination country, and the first and second stopovers that are passed through during the transportation process before arriving at the destination country. In the example of FIG. 3, the vehicle 100 having the vehicle identification information ID1 is shipped to a dealer in the United States via the first port PT1 and the second port PT2 as stopovers. The vehicle 100 having the vehicle identification information ID2 is shipped to a dealer in Japan via only the third port PT3. The stopovers are not limited to the case where two stopovers, the first stopover and the second stopover, are set, and a single stopover or a plurality of stopovers (three or more) may be set. The product information 322 is shared by the stopover control device 400 and stored in the stopover control device 400 as product information 422.

[0022] FIG. 4 is an explanatory diagram showing an example of the route information 324. The route information 324 shows information related to remote control for each route. "Remote control availability" refers to, for example, whether infrastructure for remote control is in place, and indicates whether each route can perform automatic driving of the vehicle 100 by remote control. The infrastructure for remote control refers to, for example, facilities used for remote control of the vehicle 100, such as a communication function with the vehicle 100 and a vehicle detector, and routes on which the vehicle 100 can travel. The route information 324 is acquired by sharing product information 422 acquired by the route control device 400, and is successively updated to the latest state by the route control device 400.

[0023] "Implementation of remote control" indicates whether or not a route point implements remote control. "Presence or absence of route point invalidation instruction unit" indicates whether or not the route point control device 400 of each route point is equipped with a route point invalidation instruction unit 416. Note that the route point information 324 does not need to include all of the items "possibility of remote control", "implementation of remote control", and "presence or absence of route point invalidation instruction unit", but it is sufficient to include at least one of these items, and these items may be combined in any manner.

[0024] In the example of FIG. 4, the first port PT1, the second port PT2, and the fifth port PT5 are "allowed" for remote control, "will be implemented" for remote control, and "present" for the waypoint invalidation instruction section. Therefore, the first port PT1, the second port PT2, and the fifth port PT5 can perform self-propelled transportation of the vehicle 100 by remote control. The third port PT3 is "allowed" for remote control, but "will not be implemented". The fourth port PT4 is "not allowed" for remote control during maintenance. The sixth port PT6 is "not present" for the waypoint invalidation instruction section. Therefore, the third port PT3, the fourth port PT4, and the sixth port PT6 do not perform self-propelled transportation of the vehicle 100 by remote control.

[0025] Returning to Fig. 2, various programs for implementing the functions provided in this embodiment are stored in the storage device 320. When the computer programs stored in the storage device 320 are executed by the CPU 310, the CPU 310 functions as a remote control unit 312, an invalidation instruction unit 316, a route information acquisition unit 318, and the like. Some or all of these functions may be configured by hardware circuits. The route information acquisition unit 318 acquires route information 324 from the route control device 400.

[0026] The invalidation instruction unit 316 instructs the invalidation execution unit 182 of the vehicle 100 in the factory FC to execute invalidation processing. When the vehicle 100 is outside the factory FC, such as a route point, the invalidation instruction unit 316 instructs the route point invalidation instruction unit 416 of the route point control device 400 to instruct the vehicle 100 to execute invalidation processing. In this embodiment, the invalidation instruction unit 316 further determines the invalidation timing for invalidating the remote control of the vehicle 100 by using information on the remote control during the transportation process. The invalidation instruction unit 316 instructs the invalidation execution unit 182 or the route point invalidation instruction unit 416 to execute invalidation processing at the determined invalidation timing.

[0027] The invalidation instruction unit 316 refers to the product information 322 and the route information 324 of the vehicle 100 shown in Fig. 3 and Fig. 4 as "information related to remote control during the transportation process". By referring to the product information 322, it is possible to obtain the destination country and route for each vehicle 100. Furthermore, by referring to the route information 324, it is possible to determine the invalidation timing at which the invalidation process is executed for each vehicle 100.

[0028] The remote control unit 312 executes automatic travel of the vehicle 100 in the factory FC by remote control. More specifically, the remote control unit 312 transmits a control signal to the vehicle 100 via the communication unit 390, requesting remote control of the vehicle 100. When the vehicle 100 accepts the request for remote control, the ECU 180 realizes driving control according to the control signal, and as a result, the vehicle 100 travels automatically. The transportation of the vehicle 100 using automatic travel by remote control is also called "self-propelled transportation." The self-propelled transportation of the vehicle 100 can suppress or prevent human-caused accidents when the vehicle 100 travels.

[0029] Fig. 5 is an explanatory diagram showing automatic driving control of the vehicle 100 by remote control of the remote control unit 312. In the example of Fig. 5, the track RT includes a first track RT1, a second track RT2, a third track RT3, and a fourth track RT4, which are continuous with each other. The first track RT1 and the second track RT2 are connected to each other via a right-angle curve. A parking lot PA is connected between the third track RT3 and the fourth track RT4. Under normal circumstances, the remote control unit 312 drives the vehicle 100 along the track RT to a loading position PG for the subsequent process 60.

[0030] As shown in FIG. 5, the camera 80 as a vehicle detector acquires an image of the lane RT and the vehicle 100 in the parking lot PA from above. The number of cameras 80 is set to a number that can capture the entire lane RT and the parking lot PA, taking into consideration the angle of view of the camera 80. In the example of FIG. 5, the camera 80 includes a camera 801 capable of capturing an image of a range RG1 including the entire first lane RT1, a camera 802 capable of capturing an image of a range RG2 including the entire second lane RT2, a camera 803 capable of capturing an image of a range RG3 including the entire third lane RT3 and the entire fourth lane RT4, and a camera 804 capable of capturing an image of a range RG4 including the entire parking lot PA. The camera 80 is not limited to capturing an image from above the vehicle 100, but may capture an image from the front, rear, side, etc. of the vehicle 100. In addition, the cameras that capture these images may be combined in any combination.

[0031] A target route along which the vehicle 100 should travel is set in advance on the road RT. The remote control unit 312 analyzes images of the road RT and the vehicle 100 acquired by the camera 80 at predetermined time intervals, while causing the ECU 180 to execute driving control of the vehicle 100. The remote control unit 312 successively adjusts the relative position of the vehicle 100 with respect to the target route, thereby enabling the vehicle 100 to travel along the target route. Note that an image of the entire vehicle 100 may be used for the remote control, or an image of a part of the vehicle 100, such as an alignment mark provided on the vehicle 100, may be used.

[0032] As shown in FIG. 5, at the connection position of each lane, the angles of view of the cameras 80 corresponding to the connected lane overlap each other. In the example of position P1, the angle of view of the camera 801 corresponding to the first lane RT1 and the angle of view of the camera 802 corresponding to the second lane RT2 overlap each other. The vehicle 100 discharged from the previous process 50 travels to position P1 by remote control using the captured image of the camera 801. When the vehicle 100 reaches position P1, the remote control is switched to the remote control using the captured image acquired by the camera 802 instead of the camera 801, and the vehicle 100 travels on the second lane RT2. Similarly, the captured image by the camera 803 is used for traveling on the third lane RT3 and the fourth lane RT4, and the captured image by the camera 804 is used for traveling in the parking lot PA. In this way, the remote control unit 312 remotely controls the vehicle 100 while appropriately switching the captured image to be analyzed for each range of the lane RT. The remote control unit 312 can remotely control the vehicle 100 to travel from the road RT to the parking lot PA, and to withdraw from the road RT, and can further stop the vehicle in the parking position P2 in the parking lot PA.

[0033] Fig. 6 is an explanatory diagram that shows a schematic overview of the manufacturing process and transportation process of the vehicle 100. As shown in Fig. 6, "inside the factory FC" includes the manufacturing process of the vehicle 100, including the front-end process 50 and the back-end process 60 shown on the left side of Fig. 6, to the waiting area FG where the completed vehicle 100 waits to be loaded by a vehicle transporter CC1 or the like. "Outside the factory FC" includes the period from when the vehicle 100 is loaded onto the vehicle transporter CC1 to when it arrives at the dealer DL on the right side of Fig. 5. The following description will be given using the shipment to the United States shown in Figs. 3 and 4 as an example, unless otherwise specified.

[0034] FIG. 6 shows a process in which a vehicle 100 is manufactured in a factory FC in Japan and then shipped to a dealer DL in the United States, which is a destination country, via a first waypoint and a second waypoint. A waypoint control device 400 is provided at each of the first waypoint and the second waypoint. When the vehicle 100 completed in the manufacturing process is loaded onto a vehicle transporter CC1 at a waiting place FG, the process proceeds to a transport process. The loaded vehicle 100 is transported by the vehicle transporter CC1 to a first port PT1, which is an example of a first waypoint. At the first port PT1, the vehicle travels from a predetermined start position PS1 by self-propelled transport to a waiting position PG1 of a transport ship SH and is loaded onto the ship. The loaded vehicle 100 is transported by the transport ship SH to a second port PT2, which is an example of a second waypoint. The vehicle 100 that has arrived at the second port PT2 travels from a predetermined start position PS2 by self-propelled transport to a waiting position PG2. The vehicle 100 is loaded onto the vehicle transporter CC2 and transported to the dealer DL.

[0035] 7 is a block diagram showing the internal functional configuration of the route control device 400. The route control device 400 includes a CPU 410 as a central processing unit, a storage device 420, and a communication unit 490, which are connected to each other via an internal bus, an interface circuit, etc. The communication unit 490 is a circuit for communicating with the vehicle 100, the server 300, and route control devices 400 at different route locations via the network 72.

[0036] The storage device 420 is, for example, a RAM, a ROM, a hard disk drive (HDD), a solid state drive (SSD), etc. When the computer program stored in the storage device 420 is executed by the CPU 410, the CPU 410 functions as a route point remote control unit 412, a route point invalidation instruction unit 416, a route point information management unit 418, etc. In the readable and writable area of ​​the storage device 420, for example, product information 422 and route point information 424 are stored. The product information 422 is substantially the same data as the product information 322 stored in the server 300, and is shared from the server 300.

[0037] The route remote control unit 412 has the same functions as the remote control unit 312, and realizes automatic driving of the vehicle 100 at the route through remote control. The route remote control unit 412 transmits a control signal to the vehicle 100 via the communication unit 490, requesting remote control of the vehicle 100.

[0038] In the example of Fig. 6, the route remote control unit 412 possessed by the route control device 400 of the first port PT1 can automatically drive the vehicle 100 at the first port PT1 by remote control. Specifically, the route remote control unit 412 realizes the self-driving transport from the start position PS1 of the first port PT1 to the waiting position PG1 after loading. The route remote control unit 412 possessed by the route control device 400 of the second port PT2 can automatically drive the vehicle 100 at the second port PT2 by remote control. Specifically, the route remote control unit 412 realizes the self-driving transport from the start position PS2 of the second port PT2 to the waiting position PG2.

[0039] The route point information management unit 418 manages route point information 424. For example, the route point information management unit 418 updates the route point information 424 by receiving an automatic update by the route point control device 400 or an input from the user. The route point information management unit 418 shares the updated route point information 424 with the server 300 and the route point control devices 400 of other route points. This allows the latest route point information 424 to be shared between the server 300 and the route point control devices 400 of other route points.

[0040] The route point invalidation instruction unit 416 has a function similar to that of the invalidation instruction unit 316, and instructs the invalidation execution unit 182 of the vehicle 100 at the route point to execute invalidation processing. The route point invalidation instruction unit 416 instructs the vehicle 100 to execute invalidation processing in accordance with the invalidation instruction from the invalidation instruction unit 316 of the server 300. Instead of or in addition to the invalidation instruction from the invalidation instruction unit 316 of the server 300, the route point invalidation instruction unit 416 may determine the invalidation timing using the product information 422 and route point information 424 stored in the storage device 420, and transmit a request to invalidate the driving control to the vehicle 100 in accordance with the determined invalidation timing.

[0041] Fig. 8 is an explanatory diagram showing a schematic diagram of an instruction path for the invalidation process. As shown in Fig. 8, when invalidation process of the vehicle 100 in the factory FC is executed, the invalidation instruction unit 316 of the server 300 instructs the invalidation execution unit 182 of the vehicle 100 to execute the invalidation process by diagnosis communication. The invalidation execution unit 182 that receives the invalidation request invalidates the control request of the remote control.

[0042] When executing invalidation processing of the vehicle 100 at the route, the invalidation instruction unit 316 of the server 300 instructs the route invalidation instruction unit 416 of the route control device 400 to execute the invalidation processing. The route invalidation instruction unit 416 instructs the invalidation execution unit 182 of the vehicle 100 to execute the invalidation processing by diagnosis communication. The invalidation execution unit 182 that has received the invalidation request invalidates the control request of the remote control.

[0043] 9 is a flowchart showing a processing routine of the invalidation process in the factory FC executed by the remote automated driving system 500 of this embodiment. This flow is started by the invalidation instruction unit 316 that has received the completion of the process by the post-process 60 as an inspection process. This flow may also be started when the invalidation instruction unit 316 receives the arrival of the vehicle 100 at the waiting place FG in the factory FC.

[0044] In step S10, the vehicle 100 starts traveling from the downstream process 60 by remote control and arrives at a waiting place FG for shipment in the factory FC. If the vehicle 100 is not transported by itself from the downstream process 60 to the waiting place FG, this flow may be started at the timing when all automatic transport by remote control in the factory FC is completed.

[0045] In step S20, the invalidation instruction unit 316 refers to the product information 322 and the waypoint information 324 to determine the invalidation timing for invalidating the remote control of the vehicle 100. The invalidation instruction unit 316 generates a control signal for instructing the execution of the invalidation process at the determined invalidation timing. In this embodiment, the invalidation timing is the timing when all remote control in the manufacturing process and the transportation process is completed. The invalidation timing can also be said to be the timing when remote control of the vehicle 100 is no longer performed at all remaining waypoints in the manufacturing process and the transportation process. The invalidation instruction unit 316 refers to the product information 322 to acquire the waypoints corresponding to the vehicle identification information of the vehicle 100. The invalidation instruction unit 316 refers to the possibility of remote control corresponding to the acquired waypoints, the implementation of remote control, and the presence or absence of the waypoint invalidation instruction unit 416, and determines the timing when the remote control is completed as the invalidation timing.

[0046] When remote control of the vehicle 100 is executed at least at one of the waypoints after shipment, the invalidation instruction unit 316 determines the invalidation timing to be the timing at which remote control at the waypoint where the last remote control is executed is completed. Note that the invalidation timing may be a predetermined timing later than the timing. In addition, the waypoint control device 400 may acquire the invalidation timing or the waypoint control device 400 may determine the invalidation timing by referring to the product information 422, and the waypoint invalidation instruction unit 416 may execute the invalidation process at the invalidation timing.

[0047] 3 and 4, in an example in which the vehicle 100 with the vehicle identification information ID1 is shipped to the United States, the final remote control is executed at the second port PT2, which is the second stopover point. Therefore, the invalidation instruction unit 316 determines the invalidation timing to be the completion point of the remote control at the second port PT2, which is the timing at which the remote control is completed at all stopover points where remote control can be executed.

[0048] In an example where the vehicle 100 with the vehicle identification information ID2 is shipped within Japan, remote control is not performed at the third port PT3, which is the first stopover. In other words, since remote control of the vehicle 100 is not performed at any stopovers after shipment, the invalidation instruction unit 316 determines the invalidation timing to be the time when the vehicle arrives at the waiting place FG in the factory FC. In this case, the invalidation instruction unit 316 generates a control signal for executing the invalidation process and transmits it to the invalidation execution unit 182 of the vehicle 100.

[0049] In an example where vehicle 100 with vehicle identification information ID3 is shipped to Europe, remote control is not possible at the fourth port PT4, but remote control is performed at the fifth port PT5. Therefore, the invalidation instruction unit 316 determines the invalidation timing to be the time when remote control at the fifth port PT5 is completed. In the case where vehicle 100 with vehicle identification information ID4 is shipped to China, the waypoint invalidation instruction unit 416 is not provided at the sixth port PT6. Therefore, the invalidation instruction unit 316 determines the invalidation timing to be the time when the vehicle arrives at the waiting location FG in the factory FC.

[0050] In step S30, in the vehicle 100 at the waiting location FG, the invalidation execution unit 182 waits to receive a control signal for executing the invalidation process from the invalidation instruction unit 316. If an invalidation instruction is received (S30: YES), the process proceeds to step S50. In step S50, the driving control unit 184 invalidates the driving control by remote control. Furthermore, the execution result of the invalidation process may be output to the server 300 or the route control device 400.

[0051] If the invalidation instruction has not been acquired (S30: NO), the invalidation execution unit 182 transitions the process to step S40 and waits for receipt of a command signal for an invalidation instruction until a predetermined time has elapsed. If the invalidation instruction cannot be received within the predetermined time (S40: YES), the invalidation execution unit 182 ends the process without executing the invalidation process.

[0052] 10 is a flowchart showing a processing routine of the invalidation process at the route point executed by the remote automated driving system 500 of this embodiment. This flow is started by the invalidation instruction unit 316 or the route point invalidation instruction unit 416 that detects that the vehicle 100 has arrived at the route point. The invalidation instruction unit 316 or the route point invalidation instruction unit 416 detects the arrival of the vehicle 100 at the route point by acquiring vehicle identification information from, for example, an RF-ID tag, and identifying the vehicle 100 to be processed.

[0053] In step S100, the vehicle 100 to be invalidated arrives at the start position PS2 of the waypoint. In step S110, it is confirmed whether the arriving vehicle 100 is the vehicle 100 to be transported autonomously by remote control. Whether the vehicle 100 is the remote control target can be determined, for example, by checking the vehicle identification information acquired from the vehicle 100 against the product information 422. If the vehicle 100 is the remote control target (S110: YES), the vehicle 100 automatically travels to the waiting position PG2, which is the target value, by driving control according to the remote control of the waypoint remote control unit 412. If the vehicle 100 is not the remote control target (S110: NO), the vehicle 100 travels to the waiting position PG2, which is the target value, by driving control according to the manual driving of a worker at the waypoint, for example.

[0054] In step S120, vehicle 100 arrives at waiting position PG2. In step S140, invalidation instruction unit 316 checks whether arrival of vehicle 100 at waiting position PG2 coincides with the determined invalidation timing. If it is not the invalidation timing for vehicle 100 (S140: NO), the process ends without invalidation. If it is the invalidation timing for vehicle 100 (S140: YES), route point invalidation instruction unit 416 waits for reception of a command signal for invalidating remote control from invalidation instruction unit 316. When route point invalidation instruction unit 416 receives a command signal for executing invalidation, it causes invalidation execution unit 182 of vehicle 100 to execute invalidation processing, and ends the process.

[0055] As described above, the remote automatic driving system 500 of this embodiment includes the remote control unit 312 that drives the vehicle 100 by remote control, the invalidation execution unit 182 that executes the invalidation process to irreversibly invalidate the remote control of the vehicle 100, and the invalidation instruction unit 316 that determines whether or not to execute the invalidation process using the route information 324 and instructs the invalidation execution unit 182 or the route invalidation instruction unit 416 to execute the invalidation process when it is determined to execute the invalidation process. The remote control can be invalidated in response to a request for remote control during the transportation process after shipment. Therefore, the remote control can be executed after shipment, and invalidation can be executed appropriately.

[0056] According to the remote automated driving system 500 of this embodiment, the route information includes information on whether remote control is executable at the route, and the invalidation instruction unit 316 instructs the invalidation execution unit 182 or the route invalidation instruction unit 416 to execute invalidation processing when remote control is not executable at the route in the transportation process. Therefore, the timing of invalidation can be determined to match the feasibility of remote control at the route after shipment.

[0057] According to the remote automated driving system 500 of this embodiment, the route information includes information on whether or not remote control is executed at the route, and the invalidation instruction unit 316 instructs the invalidation execution unit 182 or the route invalidation instruction unit 416 to execute invalidation processing when remote control is not executed at the route in the transportation process. Therefore, the timing of invalidation can be determined according to whether or not the route after shipment executes remote control.

[0058] According to the remote automated driving system 500 of this embodiment, the route information 324 includes information on whether or not the route has a route invalidation instruction unit 416, and the invalidation instruction unit 316 instructs the invalidation execution unit 182 or the route invalidation instruction unit 416 of another route to execute invalidation processing when a route in the transportation process does not have the route invalidation instruction unit 416. Therefore, the timing of invalidation can be determined to match the presence or absence of the route invalidation instruction unit 416 at the route after shipment.

[0059] According to the remote automated driving system 500 of this embodiment, the invalidation instruction unit 316 instructs the invalidation execution unit 182 or the waypoint invalidation instruction unit 416 to execute invalidation processing at the timing when remote control is completed at all waypoints where remote control can be executed. Therefore, invalidation can be performed at the earliest timing when all remote control in the transportation process is completed, and the safety of remote control can be ensured at an early stage.

[0060] According to the remote automated driving system 500 of this embodiment, the invalidation instruction unit 316 determines the invalidation timing for invalidating the remote control using the route information 324, and instructs the route invalidation instruction unit 416 or the invalidation execution unit 182 to execute the invalidation process at the determined invalidation timing. Therefore, the invalidation process can be executed at an appropriate timing according to the request for remote control during the transportation process after shipment. Therefore, the safety of the remote control by invalidation can be ensured early while executing the remote control after shipment.

[0061] The remote automated driving system 500 of this embodiment further includes a route information management unit 418 that updates the route information 424. By updating information related to the remote control of route points, it is possible to determine the timing of invalidation based on the latest situation of the route point.

[0062] B. Second embodiment: FIG. 11 is an explanatory diagram showing a schematic configuration of a remote automatic driving system 500 according to the second embodiment. The configuration of the remote automatic driving system 500 of this embodiment is the same as that of the first embodiment. In the above-mentioned first embodiment, when the invalidation process of the vehicle 100 is executed at a route point, an example was shown in which the invalidation instruction unit 316 of the server 300 transmits an instruction to the route point invalidation instruction unit 416 of the route point control device 400 to instruct the vehicle 100 to execute the invalidation process. In contrast, in this embodiment, as shown in FIG. 11, when the invalidation instruction unit 316 determines the invalidation timing using the route point information 324, it instructs the invalidation execution unit 182 of the vehicle 100 to execute the invalidation process at the invalidation timing. If the invalidation timing is determined to be the timing at which the remote control at the route point is completed, the vehicle 100 executes the invalidation process at the time when the timing is reached.

[0063] According to the remote automated driving system 500 of this embodiment, the invalidation instruction unit 316 instructs the invalidation execution unit 182 of the vehicle 100 to execute the invalidation process at the determined invalidation timing. The invalidation process when the invalidation timing is reached can be completed by the vehicle 100 without the intervention of the server 300 or the waypoint control device 400. Therefore, the invalidation process can be executed without communicating with an external device such as the waypoint control device 400 at the invalidation timing.

[0064] C. Third embodiment: FIG. 12 is a flowchart showing a processing routine of the invalidation process in the factory FC executed by the remote automatic driving system 500 according to the third embodiment. This flow differs from the flow in the first embodiment shown in FIG. 9 in that steps S32, S42, and S52 are provided instead of steps S30, S40, and S50. In the first embodiment, an example was shown in which the invalidation instruction unit 316 generates a control signal instructing execution of the invalidation process when the invalidation timing determined by the invalidation instruction unit 316 arrives. In contrast, in this embodiment, the invalidation execution unit 182 executes the invalidation process when the invalidation timing arrives. In addition, the invalidation instruction unit 316 generates a control signal indicating an invalidation stop instruction to stop execution of the invalidation process by the invalidation execution unit 182.

[0065] The invalidation timing determined in step S20 is transmitted to the invalidation execution unit 182 of the vehicle 100. In step S32, the invalidation execution unit 182 waits to receive an invalidation cancellation instruction from the invalidation instruction unit 316. If an invalidation cancellation instruction is received (S32: YES), the processing ends without executing the invalidation process. If a control signal is not received (S32: NO), the processing proceeds to step S42, where it is confirmed whether or not the invalidation timing has been reached. If the invalidation timing has not been reached (S42: NO), the processing returns to step S32. If the invalidation timing is reached (S42: YES), the invalidation execution unit 182 executes the invalidation process, and the ECU 180 invalidates the driving control by remote control. Even in this configuration, the same effects as those of the first embodiment can be obtained.

[0066] D. Fourth embodiment: FIG. 13 is a flowchart showing a processing routine of the invalidation process in the factory FC executed by the remote automatic driving system 500 according to the fourth embodiment. This flow differs from the flow in the first embodiment shown in FIG. 9 in that steps S33, S35, S43, and S53 are provided instead of steps S30, S40, and S50. In the first embodiment, an example was shown in which, when the invalidation timing determined by the invalidation instruction unit 316 arrives, the invalidation instruction unit 316 generates a control signal instructing execution of the invalidation process. In contrast, in this embodiment, when the invalidation timing arrives, the invalidation instruction unit 316 generates a control signal instructing either execution of the invalidation process or non-execution of the invalidation process.

[0067] In step S33, the invalidation execution unit 182 waits to receive a control signal from the invalidation instruction unit 316. If a control signal is received (S33: YES), the invalidation execution unit 182 shifts the process to step S35. In step S35, the invalidation execution unit 182 checks whether the received control signal instructs execution of invalidation processing or instructs not to execute invalidation processing. If the control signal instructs execution of invalidation processing (S35: YES), the invalidation execution unit 182 shifts the process to step S53 and invalidates the remote control. If the control signal instructs not to execute invalidation processing (S35: NO), the invalidation execution unit 182 ends the process without invalidating the remote control.

[0068] In step S33, if a control signal is not received (S33: NO), the invalidation execution unit 182 shifts the process to step S43. In step S43, the invalidation execution unit 182 checks whether the invalidation timing has been reached. If the invalidation timing has not been reached (S43: NO), the invalidation execution unit 182 returns the process to step S33. If the invalidation timing has been reached (S43: YES), the invalidation execution unit 182 shifts the process to step S53 and invalidates the remote control. Even in this configuration, the same effects as in the first embodiment can be obtained.

[0069] E. Other embodiments: (E1) In the above embodiments, examples have been shown in which the remote control is irreversibly disabled, but the remote control may be reversibly disabled. If the remote control is reversibly disabled, security can be enhanced by executing the reversible disable every time the self-propelled transport is performed. In this case, from the viewpoint of enhancing security, it is preferable that the irreversible disable be executed at the timing when the last remote control is executed.

[0070] (E2) In the above first embodiment, an example was shown in which the route point information 324 includes whether remote control is possible, the execution of remote control, and the presence or absence of a route point invalidation instruction unit. In contrast, the route point information 324 is not limited to only these pieces of information, and may include various pieces of information related to remote control, such as "the state of the route point" (e.g., whether the route point is undergoing maintenance) and "the operating hours of the invalidation execution unit" as shown in Fig. 4.

[0071] (E3) In each of the above embodiments, the invalidation instruction unit 316 determines the invalidation timing by using the route information 324. In contrast, the invalidation timing does not have to be determined. For example, the route information 324, 424 may be checked every time the vehicle 100 moves to a route, and the invalidation process may be executed according to the check result.

[0072] (E4) In the above first embodiment, an example was shown in which the route point control device 400 includes the route point information management unit 418. On the other hand, in cases where the route point information 324, 424 is not updated, the route point information management unit 418 may not be included.

[0073] (E5) In each of the above embodiments, an example has been described in which the invalidation instruction unit 316 and the route location information acquisition unit 318 are provided in the server 300. In contrast, all or part of the functions of the invalidation instruction unit 316, the route location information acquisition unit 318, etc. may be provided in a device other than the server 300, such as the vehicle 100 or the route location control device 400. In addition, the invalidation execution unit 182 may be provided in the server 300 or the route location control device 400, not limited to the vehicle 100.

[0074] (E6) In each of the above embodiments, an example was shown in which the route control device 400 was provided with the route invalidation instruction unit 416. In contrast, the route control device 400 does not need to be provided with the route invalidation instruction unit 416. In this case, the invalidation instruction unit 316 may directly issue an instruction for invalidation processing to the invalidation execution unit 182 of the vehicle 100 located at the route.

[0075] The control and the method described in the present disclosure may be realized by a special-purpose computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit and the method described in the present disclosure may be realized by a special-purpose computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may be realized by one or more special-purpose computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. In addition, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer.

[0076] The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention column can be appropriately replaced or combined to solve some or all of the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0077] 50...pre-process, 60...post-process, 70...access point, 72...network, 80...camera, 100...vehicle, 120...battery, 140...motor, 150...power receiving device, 180...ECU, 182...disabling execution unit, 184...driving control unit, 190...communication unit, 300...server, 310...CPU, 312...remote control unit, 316...disabling instruction unit, 318...route information acquisition unit, 320...storage device, 322...product information, 324...route information, 390...communication unit, 400...route control device, 410...CPU, 412...route remote control unit, 416...route disable instruction unit, 418...route information Management unit, 420...storage device, 422...product information, 424...route information, 490...communication unit, 500...remote automatic driving system, 801, 802, 803, 804...camera, CC1, CC2...vehicle carrier, DL...dealer, FC...factory, FG...waiting location, P2...parking position, PA...parking lot, PG...putting position, PG1, PG2...waiting position, PS1, PS2...starting position, PT1...first port, PT2...second port, PT3...third port, PT4...fourth port, PT5...fifth port, PT6...sixth port, RT...runway, RT1...first runway, RT2...second runway, RT3...third runway, RT4...fourth runway, SH...transport ship

Claims

1. A remote automated driving system, a remote control unit that drives the vehicle by remote control during a manufacturing process in a factory where the vehicle is manufactured and during a transportation process outside the factory where the manufactured vehicle is shipped from the factory and transported to a destination, the vehicle including a communication unit having a communication function and a driving control unit that executes driving control of the vehicle; a revocation execution unit that executes a revocation process for revoking the remote control; an invalidation instruction unit that determines whether or not to execute the invalidation process by using route information related to the remote control for at least one route through which the vehicle passes during the transport process, and instructs the invalidation execution unit to execute the invalidation process when it is determined that the invalidation process is to be executed; the route point information includes information regarding whether the route point is capable of executing the remote control, the invalidation instruction unit instructs the invalidation execution unit to execute the invalidation process when the remote control cannot be executed at the waypoint. Remote automated driving system.

2. The remote automated driving system according to claim 1, A remote automated driving system, wherein when the invalidation instruction unit determines not to execute the invalidation processing, the invalidation instruction unit does not instruct the invalidation execution unit to execute the invalidation processing at the time of shipment of the vehicle.

3. The remote automated driving system according to claim 1, The route information includes information about the places the vehicle passes through after it is manufactured and before it reaches the destination.

4. The remote automated driving system according to claim 1, A remote automated driving system, wherein during the transportation process, the vehicle is transported to the intermediate destination by a device other than the vehicle.

5. The remote automated driving system according to claim 3, The invalidation instruction unit instructs the invalidation execution unit to execute the invalidation process at a timing when the remote control is completed at all the waypoints where the remote control can be executed. Remote automated driving system.

6. A remote automated driving system, a remote control unit that drives the vehicle by remote control during a manufacturing process in a factory where the vehicle is manufactured and during a transportation process outside the factory where the manufactured vehicle is shipped from the factory and transported to a destination, the vehicle including a communication unit having a communication function and a driving control unit that executes driving control of the vehicle; a revocation execution unit that executes a revocation process for revoking the remote control; an invalidation instruction unit that determines whether or not to execute the invalidation process by using route information related to the remote control for at least one route through which the vehicle passes during the transport process, and instructs the invalidation execution unit to execute the invalidation process when it is determined that the invalidation process is to be executed; the route point information includes information regarding whether the remote control is to be executed at the route point, The invalidation instruction unit instructs the invalidation execution unit to execute the invalidation process when the remote control is not executed at the waypoint. Remote automated driving system.

7. The remote automated driving system according to claim 6, The invalidation instruction unit instructs the invalidation execution unit to execute the invalidation process at a timing when the remote control is completed at all the waypoints where the remote control is executed. Remote automated driving system.

8. A remote automated driving system, a remote control unit that drives the vehicle by remote control during a manufacturing process in a factory where the vehicle is manufactured and during a transportation process outside the factory where the manufactured vehicle is shipped from the factory and transported to a destination, the vehicle including a communication unit having a communication function and a driving control unit that executes driving control of the vehicle; a revocation execution unit that executes a revocation process for revoking the remote control; an invalidation instruction unit that determines whether or not to execute the invalidation process by using route information related to the remote control for at least one route through which the vehicle passes during the transport process, and instructs the invalidation execution unit to execute the invalidation process when it is determined that the invalidation process is to be executed; the route information includes information regarding whether the route includes a route invalidation instruction unit that instructs the invalidation execution unit to execute the invalidation process at the route; The invalidation instruction unit instructs the invalidation execution unit to execute the invalidation process when the route point does not include the route point invalidation instruction unit. Remote automated driving system.

9. The remote automated driving system according to claim 1, the invalidation instruction unit determines an invalidation timing for invalidating the remote control by using the route point information, and instructs the invalidation execution unit to execute the invalidation process at the determined invalidation timing. Remote automated driving system.

10. The remote automated driving system according to claim 1, The invalidation execution unit is provided in the vehicle, The invalidation instruction unit determines a timing for invalidating the remote control by using the route information, and instructs an invalidation execution unit provided in the vehicle to execute the invalidation process at the determined timing. Remote automated driving system.

11. The remote automated driving system according to claim 9 or 10, A remote automated driving system, wherein the timing of disabling is the timing when the remote control at the at least one intermediate location is completed.

12. The remote automated driving system according to claim 1 , further comprising a route information management unit that updates the route information.

13. A server, a remote control unit that drives the vehicle by remote control during a manufacturing process in a factory where the vehicle is manufactured and during a transportation process outside the factory where the manufactured vehicle is shipped from the factory and transported to a destination, the remote control unit having a communication unit with a communication function, a driving control unit that executes driving control of the vehicle, and a disable execution unit that executes a disable process to disable the remote control; an invalidation instruction unit that determines whether or not to execute the invalidation process by using route information related to the remote control for at least one route through which the vehicle passes during the transport process, and instructs the invalidation execution unit to execute the invalidation process when it is determined that the invalidation process is to be executed; the route point information includes information regarding whether the route point is capable of executing the remote control, the invalidation instruction unit instructs the invalidation execution unit to execute the invalidation process when the remote control cannot be executed at the waypoint. server.

Images