Mobile body, remote automatic driving system, and method for invalidating remote control

Abstract

To provide a technology capable of invalidating a feature of remote control of a moving body, which is movable through remote control, according to proper timing using a simple method.SOLUTION: A moving body that is movable through remote control includes: a moving body communication unit that receives a request for operation control from outside the moving body; an operation control unit capable of executing operation control of the moving body in response to the request for operation control in a manufacturing process in a plant where the moving body is manufactured; a signal detection unit that detects an invalidating signal in a predetermined place along a moving route of the moving body; and an invalidation execution unit that executes invalidating processing for invalidating remote control when a first condition including that the invalidating signal is detected or that the detected invalidating signal is no longer detected, is established.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a moving body, a remote automatic driving system, and a method for disabling remote control.

Background Art

[0002] For example, Patent Document 1 discloses a vehicle traveling method in a manufacturing system for manufacturing a vehicle, in which the vehicle is caused to travel from the end of the assembly line of the manufacturing system to the parking lot of the manufacturing system by remote control.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] It has been considered that the remote control function is disabled after the moving body is used in the factory where it is manufactured and until the moving body is shipped from the factory and reaches the destination. There is a need for a technology that can disable the remote control function at an appropriate timing by a simple method.

Means for Solving the Problems

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

[0006] (1) According to one embodiment of the present disclosure, a movable body that can be remotely controlled is provided. This movable body includes a movable body communication unit for receiving a driving control request from the outside of the movable body, a driving control unit capable of executing the driving control of the movable body according to the driving control request in the manufacturing process within the factory that manufactures the movable body, and a signal detection unit for detecting a disabling signal that can be detected at a predetermined location on the movement path of the movable body, and a disabling execution unit for executing a disabling process for disabling the remote control when a first condition including that the disabling signal has been detected or the detected disabling signal has disappeared is satisfied. According to the movable body of this embodiment, the remote control function of the movable body can be disabled by a simple method of detecting a disabling signal. Further, by adjusting the detection location of the disabling signal to an appropriate position, the remote control function of the movable body can be disabled at an appropriate timing. (2) In the movable body of the above embodiment, the disabling signal may be an electromagnetic wave including laser light and radio waves. The first condition may include that the electromagnetic wave has been detected by the signal detection unit. According to the movable body of this embodiment, the disabling process can be executed by using a simple method of detecting an electromagnetic wave. (3) In the movable body of the above embodiment, the disabling signal may be a radio wave for wireless communication received by the movable body communication unit from the outside of the movable body. The first condition may include that the detected radio wave for wireless communication has disappeared. According to the movable body of this embodiment, by using the radio wave for wireless communication received by the movable body communication unit instead of a dedicated device for transmitting a disabling signal, an increase in the number of components in the factory can be suppressed or prevented. (4) In the movable body of the above embodiment, the first condition may include that a second condition is satisfied after the disabling signal has been detected, or that a second condition is satisfied after the detected disabling signal has disappeared. According to the moving body of this form, by using a plurality of conditions for executing the invalidation process, it is possible to suppress or prevent the malfunction that the remote control function is erroneously invalidated. (5) In the moving body of the above form, the second condition may be that it is detected, using the position information acquired by the positioning unit, that the moving body in the stopped state is moving at a speed equal to or higher than a predetermined speed. According to the moving body of this form, by using the positioning unit, the moving speed of the moving body in the stopped state can be detected. Therefore, the conveyance speed when the manufactured moving body is conveyed from the factory can be used as a condition for the invalidation process. (6) In the moving body of the above form, further, a positioning unit for acquiring the position information of the moving body may be provided. The second condition may be that it is detected, using the position information acquired by the positioning unit, that the moving body has moved a predetermined distance or more from the position where the invalidation signal was detected or from the position where the detected invalidation signal has disappeared. According to the moving body of this form, by using the positioning unit, the moving distance of the moving body in the stopped state can be detected. Therefore, the moving distance when the manufactured moving body is conveyed from the factory can be used as a condition for the invalidation process. (7) In the moving body of the above form, the second condition may be that it is detected that a predetermined time has elapsed from the time when the invalidation signal was detected or from the time when the detected invalidation signal has disappeared. According to the moving body of this form, the invalidation process can be executed by using a simple method using time measurement. (8) In the moving body of the above form, the second condition may be that the moving body has stopped after the invalidation signal was detected or after the detected invalidation signal has disappeared. According to the moving body of this form, by making the second condition hold while the moving body is stopped, it is possible to suppress or prevent the invalidation process from being executed while the moving body is moving. (9) In the moving body of the above-described form, the second condition may be that, after the invalidation signal is detected, or after the detected invalidation signal ceases to be detected, the invalidation signal is further detected. According to the moving body of this form, by using a plurality of conditions for executing the invalidation process, it is possible to suppress or prevent the problem that the function of remote control is erroneously invalidated. Further, by making the invalidation signals used for the first condition and the second condition common with the same configuration, it is possible to suppress or prevent an increase in the number of parts. (10) In the moving body of the above-described form, the invalidation execution unit may irreversibly invalidate the remote control as the invalidation process. According to the moving body of this form, it is possible to more surely prevent unauthorized remote control by a third party as compared with reversible invalidation. (11) According to another form of the present disclosure, a remote automatic driving system is provided. This remote automatic driving system is the moving body that can be moved by remote control in the manufacturing process in the factory that manufactures the moving body, and includes a moving body communication unit for receiving a request for driving control and a driving control unit capable of executing the driving control of the moving body according to the request for driving control. A remote control unit that moves the moving body by remote control, an invalidation signal generation unit that is disposed at a predetermined location on the moving path of the moving body and generates an invalidation signal, a signal detection unit for detecting the invalidation signal, and the invalidation signal is detected, or an invalidation execution unit that executes an invalidation process for invalidating the remote control when a first condition including that the detected invalidation signal ceases to be detected is satisfied. According to the remote automatic driving system of this form, it is possible to invalidate the function of remote control of the moving body at an appropriate timing by a simple method of detecting an invalidation signal and by adjusting the detection location of the invalidation signal to an appropriate position. The present disclosure can also be realized in various forms other than mobile bodies and remote automatic driving systems. For example, it can be realized in the form of vehicles, servers, a method for disabling remote control, a method for manufacturing a mobile body, a method for controlling a mobile body, a computer program for realizing the control method, a non-transitory recording medium on which the computer program is recorded, and the like.

Brief Description of the Drawings

[0007]

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Modes for Carrying Out the Invention

[0008] A. First Embodiment: FIG. 1 is an explanatory diagram showing the schematic configuration of a vehicle 100 and a remote automatic driving system 500 according to the first embodiment. The remote automatic driving system 500 is used in a factory FC that manufactures a moving body that can be moved by remote control. The “moving body” means an object that can move, and includes, for example, vehicles such as motorcycles, four-wheeled automobiles such as cars, and trains. In the present embodiment, the vehicle 100 is, for example, a passenger car, a truck, a bus, and a construction vehicle. The moving body is not limited to only vehicles, and may include ships, airplanes, robots, linear motor cars, and the like. In the present disclosure, the expressions “vehicle” and “car” can be appropriately replaced with “moving body”, and the expressions “travel” and “run” can be appropriately replaced with “move”. In addition, in this specification, the state of being completed as a product and the state of semi-finished products and work-in-progress during manufacturing are collectively referred to as “vehicle”.

[0009] The remote automatic driving system 500 can automatically drive the vehicle 100 by remote control during the manufacturing process in the factory FC that manufactures the vehicle 100. The factory FC is equipped with a manufacturing process of the vehicle 100, a road RT on which the vehicle 100 can travel, and a waiting area PA where the completed vehicle 100 waits for loading for shipment. The manufacturing process of the vehicle 100 includes an assembly process (not shown), an inspection process 60, etc. The assembly process is, for example, a process of assembling parts to the vehicle body. The road RT can include, for example, a conveyance section of the vehicle 100 during manufacturing in the factory FC that connects an assembly process (not shown) and the inspection process 60, and a conveyance section of the completed vehicle 100 from the inspection process 60 to the waiting area PA. Note that each process in the factory FC and the manufacturing process is not limited to the case where it is in one building, or exists in one site or one address. Each process in the factory FC and the manufacturing process may exist across a plurality of buildings, a plurality of sites, a plurality of addresses, etc. Also, "the vehicle 100 travels within the factory FC" includes not only the case where the vehicle 100 travels on a road within a factory existing in one place, but also the case where the vehicle 100 travels on a conveyance section between a plurality of factories and processes existing in a plurality of places. "The vehicle 100 travels within the factory FC" includes, for example, the case where the vehicle 100 travels not only on a private road but also on a public road in order to move between factories and processes existing in a plurality of places.

[0010] The vehicle 100 delivered from the assembly process becomes a work-in-progress of the inspection process 60 and travels to the inspection process 60 by remote control by the remote automatic driving system 500. When the vehicle 100 finishes the inspection process 60, it is completed as a product and travels to the waiting area PA by remote control by the remote automatic driving system 500. Thereafter, the vehicle 100 is shipped to the destination country corresponding to each vehicle 100. "Destination country" means the country where the shipping destination of the manufactured vehicle 100 is located.

[0011] Each process within the factory FC, including the assembly process and the inspection process 60, is equipped with a process management device for managing manufacturing information. "Manufacturing information" includes, for example, the progress of processing by process, the number of work-in-progress items, the number of products being processed, the manufacturing time for each process, the start time and completion time of processing for each process, the vehicle identification information of the vehicle 100 present in each process, the planned daily production quantity, the target manufacturing time for the process to manufacture one vehicle 100, etc. The target manufacturing time is sometimes referred to as the "takt time". "Vehicle identification information" means various information that can individually identify the vehicle 100. The vehicle identification information includes, for example, ID information given to each vehicle 100 such as vehicle identification information (VIN: Vehicle Identification Number), specification information of the vehicle 100 such as vehicle type, color, and shape, and production management information of the vehicle 100 such as the name of the process in progress. The vehicle identification information can be obtained, for example, via short-range wireless communication from an RF-ID (Radio Frequency-Identification) tag or the like attached to the vehicle 100. The process management device for each process acquires the manufacturing status of the vehicle 100 in each process from cameras, sensors, etc. (not shown) provided in each process, and transmits the acquired manufacturing status to the server 300. The manufacturing status of each process may also be transmitted to a production management device that comprehensively manages the manufacturing status of each process in the factory FC. In this embodiment, the assembly process and the inspection process 60 are described as an example, but instead of the assembly process and the inspection process 60, various processes can be adopted as long as the vehicle 100 can travel by remote control.

[0012] The remote automatic driving system 500 includes a vehicle detector and a server 300. The vehicle detector detects vehicle information including at least one of an image of the vehicle 100 and the position of the vehicle 100. The detected vehicle information is used for remote control by the remote automatic driving system 500. The "vehicle information" may further include the traveling direction of the vehicle 100 or the orientation of the vehicle 100. The traveling direction of the vehicle 100 or the orientation of the vehicle 100 can be obtained, for example, by detecting the shape of the vehicle 100 or components of the vehicle 100. However, only the position of the vehicle 100 may be obtained by the vehicle detector, and the traveling direction or orientation of the vehicle 100 may be estimated by using the change of the vehicle 100 over time.

[0013] In this embodiment, a camera 80 is used as the vehicle detector. The camera 80 is communicably connected to the server 300 by wireless communication or wired communication. The camera 80 has, for example, an imaging unit such as a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor and an optical system. The camera 80 is fixed at a position where it can image the runway RT and the vehicle 100 traveling on the runway RT, and acquires an image of the vehicle 100 as vehicle information. The image acquired by the camera 80 can obtain various vehicle information that can be used for remote control, such as the relative position of the vehicle 100 with respect to the runway RT and the orientation of the vehicle 100, through image analysis. By using the image of the camera 80 installed in the factory FC, the automatic driving of the vehicle 100 by remote control can be executed without using detectors mounted on the vehicle 100 such as cameras, millimeter-wave radars, and LiDAR (Light Detection And Ranging). However, for the purpose of preventing collisions during remote control, etc., the detectors mounted on the vehicle 100 may be used subsidiarily. Note that the vehicle detector does not necessarily have to acquire an image of the vehicle 100 as long as it can acquire the position of the vehicle 100. In this case, for the vehicle detector, various detectors capable of detecting the position of the vehicle 100 instead of an image of the vehicle 100, such as LiDAR, infrared sensors, laser sensors, ultrasonic sensors, and millimeter-wave radars, may be used.

[0014] The server 300 includes a CPU 310 as a central processing unit, a storage device 320, and a remote communication unit 390, which are interconnected via an internal bus, an interface circuit, or the like. The remote communication unit 390 is a circuit for communicating with the vehicle 100 and the like via the network 72.

[0015] The storage device 320 is, for example, a RAM, a ROM, a HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like. In the readable / writable area of the storage device 320, for example, manufacturing information acquired from a process management device for each process or a manufacturing management device that manages the manufacturing of the factory FC is stored. Also, various programs for realizing the functions provided in this embodiment are stored in the storage device 320. When the computer program stored in the storage device 320 is executed by the CPU 310, the CPU 310 functions as a remote control unit 312 and the like. However, some or all of these functions may be configured by a hardware circuit.

[0016] The remote control unit 312 executes the automatic driving of the vehicle 100 in the factory FC by remote control. More specifically, the remote control unit 312 transmits a control signal requesting remote control to the vehicle 100 via the remote communication unit 390. When the vehicle 100 receives the request for remote control, driving control according to the control signal is realized by the ECU 200, and as a result, the vehicle 100 automatically travels. The conveyance of the vehicle 100 using automatic driving by remote control is also referred to as "self-propelled conveyance". By the self-propelled conveyance of the vehicle 100, artificial accidents when the vehicle 100 travels can be suppressed or prevented.

[0017] Vehicle 100 includes a vehicle communication unit 190, a signal detection unit 160, a power receiving device 150, a battery 120, a PCU 130, a motor 140, and an ECU (Electronic Control Unit) 200. The vehicle communication unit 190 is a wireless communication device mounted on the vehicle 100, such as a dongle. The vehicle communication unit 190 has a communication function for 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. CAN communication is a communication standard that can transmit or receive in multiple directions. Diagnosis communication is a communication standard that can associate requests and responses one-to-one. The vehicle communication unit 190 performs wireless communication with external devices of the vehicle 100, such as a server 300 connected to a network 72 via an access point 70 in a factory FC, and a production management device (not shown) that comprehensively manages the production information of the vehicle 100.

[0018] The power receiving device 150 converts AC power supplied from an external power supply device or the like into DC power by a rectifier and supplies it to the battery 120 as a load. The battery 120 is a rechargeable secondary battery such as a lithium-ion battery or a nickel-metal hydride battery, for example. The battery 120 is a high-voltage battery of several hundred V, for example, and stores the power used for the running of the vehicle 100. When the power supplied from an 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.

[0019] The motor 140 is an AC synchronous motor, for example, and functions as an electric motor and a generator. When the motor 140 functions as an electric motor, the motor 140 is driven using the power stored in the battery 120 as a power source. The output of the motor 140 is transmitted to the wheels via a speed reducer and an axle. When the vehicle 100 decelerates, the motor 140 functions as a generator that utilizes the rotation of the wheels and generates regenerative power. A PCU (Power Control Unit) 130 is electrically connected between the motor 140 and the battery 120.

[0020] The PCU 130 has an inverter, a boost converter, and a DC / DC converter. The inverter converts the DC power supplied from the battery 120 into AC power and supplies the converted AC power to the motor 140. The inverter converts the 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 steps down the voltage of the battery 120 when supplying the power stored in the battery 120 to auxiliary equipment or the like.

[0021] The signal detection unit 160 is a device for detecting an invalidation signal. The detection result of the invalidation signal by the signal detection unit 160 is output to the ECU 200. The invalidation signal is transmitted from a device other than the server 300 and can be detected at a predetermined location by the signal detection unit 160. Note that the location where the signal detection unit 160 can detect the invalidation signal is not limited to only one location, and may be a plurality of locations within a predetermined range, or may be a plurality of locations within a plurality of ranges.

[0022] The invalidation signal functions as a trigger for determining the execution of the invalidation process. For example, various electromagnetic waves can be used for the invalidation signal. In the example of FIG. 1, the invalidation signal is the laser light LZ generated from the laser oscillator 50. The member for generating the invalidation signal is also referred to as an "invalidation signal generation unit". In the present embodiment, the invalidation signal generation unit is the laser oscillator 50.

[0023] The signal detection unit 160 can use, for example, a light receiving device provided on the outer surface of the vehicle 100 and including a light receiving element capable of detecting the laser light LZ. In the example of FIG. 1, the laser oscillator 50 is installed at the entrance of the waiting area PA. When the vehicle 100 travels on the road RT and enters the waiting area PA, the signal detection unit 160 detects the laser light LZ output from the laser oscillator 50. However, the signal detection unit 160 may be provided at any position of the vehicle 100, not limited to the outside of the vehicle 100, such as inside the vehicle 100. Further, the signal detection unit 160 may be detachably provided on the vehicle 100. In this case, the signal detection unit 160 may be removed, for example, after the inactivation process is executed. Note that the arrangement position of the laser oscillator 50 does not have to be fixed and may move on the premise that the laser light LZ can irradiate the signal detection unit 160 of the vehicle 100.

[0024] Light other than the laser light LZ may be used for the inactivation signal. Further, the inactivation signal is not limited to light only, and various electromagnetic waves such as radio waves, microwaves, infrared rays, visible light, ultraviolet rays, X-rays, and gamma rays may be used. In this case, a device capable of receiving these electromagnetic waves is used for the signal detection unit 160. Further, radio waves having various frequencies can be adopted for the inactivation signal. For example, for the inactivation signal, radio waves used for various wireless communications such as short-range wireless such as RF-ID, wireless PAN (Personal Area Network) compliant with IEEE802.15, and wireless LAN compliant with IEEE802.11 can be used. In this case, the signal detection unit 160 can use a receiving device capable of receiving the radio waves of the inactivation signal.

[0025] FIG. 2 is a block diagram showing the internal functional configuration of the ECU 200. The ECU 200 is mounted on the vehicle 100 and executes various controls of the vehicle 100. The ECU 200 includes a storage device 220 such as an HDD (hard disk drive), an SSD (solid state drive), an optical recording medium, and a semiconductor memory, a CPU 210 as a central processing unit, and an interface circuit 280. The signal detection unit 160, the vehicle communication unit 190, etc. are connected to the interface circuit 280. The first condition 222 and the second condition 224 are stored in the storage device 220. The first condition 222 and the second condition 224 are conditions for the invalidation execution unit 212 to execute the invalidation process.

[0026] In the present embodiment, the first condition 222 is satisfied when a predetermined invalidation signal is detected by the signal detection unit 160. The second condition 224 is a condition included in the first condition 222 and is a condition used after the invalidation signal is detected. That is, the invalidation execution unit 212 determines that the first condition 222 is satisfied when the second condition 224 is further satisfied after the invalidation signal is detected, and executes the invalidation process. Note that the first condition 222 may be satisfied when a predetermined invalidation signal is detected without using the second condition 224. The first condition 222 may include two or more different conditions in addition to the second condition 224.

[0027] The storage device 220 stores various programs for realizing the functions provided in the present embodiment. By the CPU 210 executing the various computer programs stored in the storage device 220, various functions such as the invalidation execution unit 212 and the driving control unit 214 are realized.

[0028] The driving control unit 214 executes the driving control of the vehicle 100. "Driving control" includes, for example, the adjustment of acceleration, speed, and steering angle. In the driving control by remote control, the driving control unit 214 controls each actuator mounted on the vehicle 100 according to the remote control request received from the server 300 via the vehicle communication unit 190. Further, the ECU 200 controls the PCU 130 to control the power transfer between the battery 120 and the motor 140.

[0029] The disabling execution unit 212 performs a disabling process for disabling the driving control by remote control of the vehicle 100. "Disabling the driving control by remote control" means that the function of the driving control unit 214 to execute the driving control according to the remote control request is lost. The disabling execution unit 212 executes the disabling process when it determines that the first condition 222 is satisfied. In the present embodiment, the disabling execution unit 212 determines that the first condition 222 is satisfied and executes the disabling process when the second condition 224 is further satisfied after the disabling signal is detected. When the disabling process by the disabling execution unit 212 is executed, the driving control unit 214 transitions to a state where it invalidates the control request for remote control. By disabling the driving control by remote control, it is possible to prevent the vehicle 100 from running due to unauthorized remote control by a third party.

[0030] The deactivation of remote control includes reversible deactivation that can restore the deactivated remote control to an active state when certain conditions are met, and irreversible deactivation that cannot be restored. Reversible deactivation can be achieved, for example, by encrypting the program responsible for the function of executing driving control according to remote control among the functions of the driving control unit 214 so that it can be decrypted only by a person with a predetermined authority. Irreversible deactivation can be achieved, for example, by deleting the program responsible for the function of executing driving control according to remote control, or physically disconnecting the connection between the program or the hardware having the function. From the perspective of enhancing security, it is preferable to be irreversibly deactivated when remote control will not be executed in the future. Also, even when remote control will be executed in the future, it is preferable to be reversibly deactivated during the period until remote control is executed. In the present embodiment, the deactivation execution unit 212 executes irreversible deactivation as the deactivation process. However, the deactivation execution unit 212 may execute reversible deactivation. Note that from the perspective of enhancing security, the ECU 200 preferably further includes a secure microcomputer equipped with an FPGA (Field Programable Gate Array) and a flash memory, an HSM (Hardware Security Module), and the like.

[0031] FIG. 3 is an explanatory diagram showing the automatic driving control of the vehicle 100 by the remote control of the remote control unit 312. In the example of FIG. 3, the road RT includes a first road RT1, a second road RT2, a third road RT3, and a fourth road RT4 that are continuous with each other. The first road RT1 and the second road RT2 are connected to each other via a right-angle curve. A waiting area PA is provided on the fourth road RT4.

[0032] As shown in FIG. 3, the camera 80 as a vehicle detector acquires an image looking down on the vehicle 100 on the runway RT and the waiting area PA from above. The number of cameras 80 is set to a number that can image the entire runway RT and the waiting area PA in consideration of the viewing angle of the camera 80 and the like. In the example of FIG. 3, the camera 80 includes a camera 801 capable of imaging a range RG1 including the entire first runway RT1, a camera 802 capable of imaging a range RG2 including the entire second runway RT2, a camera 803 capable of imaging a range RG3 including the entire third runway RT3, and a camera 804 capable of imaging a range RG4 including the entire fourth runway RT4 and the waiting area PA. Note that the camera 80 is not limited to an image from above the vehicle 100, and may acquire an image from the front, rear, side, etc. of the vehicle 100. Also, the cameras for acquiring these images may be arbitrarily combined.

[0033] A reference driving route along which the vehicle 100 should travel in remote control is preset on the runway RT. The remote control unit 312 acquires an image of the runway RT and the vehicle 100 acquired by the camera 80 through wireless communication with the vehicle 100 via the access point 70. The remote control unit 312 causes the ECU 200 to execute the driving control of the vehicle 100 while analyzing the acquired image at predetermined time intervals. When the remote control unit 312 requests remote control of the vehicle 100, the vehicle 100 can travel along the reference route by sequentially adjusting the relative position of the vehicle 100 with respect to the reference route. Note that for remote control, an image of the entire vehicle 100 may be used, or an image of a part of the vehicle 100, such as an alignment mark provided on the vehicle 100, may be used.

[0034] As shown in the position P1 in FIG. 3, at the connection position of each runway, the viewing angles of the cameras 80 corresponding to the connected runways are configured to overlap each other. For example, at the position P1, the viewing angle of the camera 801 corresponding to the first runway RT1 and the viewing angle of the camera 802 corresponding to the second runway RT2 overlap each other. The vehicle 100 dispensed from the inspection process 60 travels to the position P1 by remote control using the captured image of the camera 801. When reaching the 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 runway RT2. Similarly, the captured image by the camera 803 is used for traveling on the third runway RT3, and the captured image by the camera 804 is used for traveling on the fourth runway RT4 and the waiting area PA. In this way, the remote control unit 312 performs remote control of the vehicle 100 while appropriately switching the captured image to be analyzed for each range of the runway RT. The remote control unit 312 can stop the vehicle 100 at the parking position P2 of the waiting area PA by remote control.

[0035] FIG. 4 is a flowchart showing a processing routine of a method for invalidating remote control according to the first embodiment. This flow is started, for example, when the power of the vehicle 100 is turned on. This flow may also be started by detecting that the processing in the steps before the timing when the invalidation process is executed is completed, or that the vehicle 100 has started traveling after the completion of the processing in the previous steps.

[0036] In step S10, the invalidation execution unit 212 waits for the detection of an invalidation signal by the signal detection unit 160. When the invalidation signal is detected by the signal detection unit 160 (S10: YES), the invalidation execution unit 212 moves the process to step S20 and checks the second condition 224. In the example of FIG. 1, when the vehicle 100 travels on the runway RT and enters the waiting area PA, the signal detection unit 160 detects the laser beam LZ output from the laser oscillator 50 as the invalidation signal.

[0037] In step S30, the invalidation execution unit 212 waits for the vehicle 100 to stop. That is, the invalidation execution unit 212 waits for the second condition 224 to be satisfied. The stop of the vehicle 100 can be detected by detecting the power-off of the vehicle 100, the turning-off of the prime mover provided in the vehicle 100 (also referred to as "ignition off"), or the execution of driving control for stopping the vehicle 100 by the remote control unit 312. When the invalidation execution unit 212 detects the stop of the vehicle 100 (S30: YES), the process proceeds to step S40, and it is determined that the first condition 222 including the second condition 224 is satisfied. In the example of FIG. 1, the vehicle 100s arrives at the parking position P2 of the waiting area PA and the power is turned off. As a result, the invalidation execution unit 212 determines that the second condition 224 is satisfied.

[0038] In step S50, the invalidation execution unit 212 executes an invalidation process to invalidate the driving control by remote control of the vehicle 100. As a result, the driving control unit 214 transitions to a state where it invalidates the control request for remote control. In the present embodiment, the invalidation execution unit 212 executes an irreversible invalidation that deletes the program related to remote control stored in the storage device 220.

[0039] As described above, the vehicle 100 according to the present embodiment includes a vehicle communication unit 190 for receiving a driving control request from the remote control unit 312 of the server 300, a driving control unit 214 capable of executing driving control of the vehicle 100 according to the driving control request, a signal detection unit 160 for detecting an invalidation signal transmitted from a laser oscillator 50 installed at a predetermined location, and an invalidation execution unit 212 that determines that the first condition 222 is satisfied when the invalidation signal is detected and executes an invalidation process for invalidating remote control. According to the vehicle 100 of the present embodiment, remote control can be invalidated by detecting an invalidation signal transmitted at a predetermined location. Therefore, the remote control function of the vehicle 100 can be invalidated at an appropriate timing by a simple method of detecting an invalidation signal. In addition, by adjusting the detection location of the invalidation signal, the remote control function of the vehicle 100 can be invalidated at an appropriate timing. Further, the vehicle 100 can execute an invalidation process in a so-called stand-alone state without communicating with an external device such as the server 300.

[0040] According to the vehicle 100 of the present embodiment, when the laser light LZ is detected by the signal detection unit 160, the invalidation execution unit 212 executes an invalidation process. The invalidation process can be executed using a simple method of detecting the laser light LZ.

[0041] According to the vehicle 100 of the present embodiment, after the invalidation signal is detected, the invalidation execution unit 212 executes an invalidation process when the second condition 224 is further satisfied. Therefore, by using a plurality of conditions, it is possible to suppress or prevent a problem that remote control is erroneously invalidated.

[0042] According to the vehicle 100 of the present embodiment, after the invalidation signal is detected, when the invalidation execution unit 212 further detects that the vehicle 100 has stopped, it determines that the second condition 224 is satisfied and executes an invalidation process. By causing the second condition 224 to be satisfied while the vehicle 100 is stopped, it is possible to suppress or prevent the invalidation process from being executed while the vehicle 100 is running.

[0043] According to the vehicle 100 of the present embodiment, the invalidation execution unit 212 irreversibly invalidates remote control as an invalidation process. Therefore, compared with reversible invalidation, unauthorized remote control by a third party can be more reliably prevented.

[0044] B. Second Embodiment: FIG. 5 is a flowchart showing a processing routine of a method for invalidating remote control according to the second embodiment. FIG. 6 is an explanatory diagram showing a method for detecting an invalidation signal in the second embodiment. As shown in FIG. 5, the invalidation method according to the second embodiment is different from the invalidation method according to the first embodiment shown in FIG. 4 in that steps S30 and S40 are not provided. That is, in the present embodiment, the second condition 224 is not included, and the invalidation process is executed when an invalidation signal is detected. The configuration of the remote automatic driving system 500 is the same as that of the first embodiment.

[0045] As shown in FIG. 6, the installation position of the laser oscillator 50b as the invalidation signal generation unit is different from the installation position of the laser oscillator 50 shown in the first embodiment. More specifically, the laser oscillator 50b is provided at each of a plurality of parking positions P2 of the waiting area PA instead of the entrance of the waiting area PA shown in FIG. 1. In the example of FIG. 6, the laser oscillator 50b is embedded in the parking position P2 and is configured to irradiate the vehicle 100 parked at the parking position P2 with the laser light LZ. The signal detection unit 160 is provided at the bottom of the vehicle 100 and detects the laser light LZ from the laser oscillator 50b. Note that the laser oscillator 50b does not have to be embedded, and for example, it may be arranged around the parking position P2. In this case, the signal detection unit 160 is provided at a position of the vehicle 100 where the laser light LZ from the laser oscillator 50b can be detected.

[0046] As shown in FIG. 6, when the vehicle 100 stops at the parking position P2 in the waiting area PA for loading and waiting, etc., the signal detection unit 160 detects the laser beam LZ as an invalidation signal. The invalidation execution unit 212 determines that the first condition 222 is satisfied by the detection of the laser beam LZ, and executes the invalidation process. According to the remote automatic driving system 500 configured in this way, similar to the first embodiment, remote control can be invalidated by detecting an invalidation signal transmitted at a predetermined location. In addition, the second condition 224 can be omitted to reduce the processing load on the invalidation execution unit 212.

[0047] C. Third Embodiment: FIG. 7 is a block diagram showing the functional configuration of the ECU 200c provided in the vehicle 100 according to the third embodiment. As shown in FIG. 7, the vehicle communication unit 190 also functions as a signal detection unit 160c. That is, in this embodiment, the vehicle communication unit 190 uses the radio wave for wireless communication received from the access point 70 outside the vehicle 100 as an invalidation signal.

[0048] FIG. 8 is a flowchart showing the processing routine of the remote control invalidation method according to the third embodiment. The invalidation method according to the third embodiment is different from the invalidation method according to the first embodiment in that it includes step S130 instead of step S10. In this embodiment, the invalidation execution unit 212 confirms the establishment of the second condition 224 after the detected invalidation signal, that is, the radio wave for wireless communication is no longer detected.

[0049] As shown in FIG. 8, in step S130, the invalidation execution unit 212 confirms that the vehicle communication unit 190 has stopped receiving radio waves for wireless communication from the access point 70 outside the vehicle 100. "When the radio waves for wireless communication are no longer received" includes not only the case where the radio waves for wireless communication are no longer received at all, but also the case where the communication state between the vehicle communication unit 190 and the access point 70 becomes so weak that the wireless communication function cannot be performed. "When the communication state between the vehicle communication unit 190 and the access point 70 becomes weak" means, for example, when the radio wave intensity of the access point 70 becomes equal to or lower than a predetermined threshold value, or when the channel utilization rate of the access point 70 becomes equal to or higher than a predetermined threshold value. When the received radio waves for wireless communication are no longer received (S130: YES), the process proceeds to step S20.

[0050] FIG. 9 is an explanatory diagram showing a method for detecting an invalidation signal in the third embodiment. As shown in FIG. 9, each of the plurality of access points 70 has a communication area WA in which wireless communication is possible. The communication area WA is configured to include a travel route RT along which the vehicle 100 travels by self-propelled conveyance within the factory FC. In contrast, the communication area WA is not provided in the area OA outside the factory FC.

[0051] In the example of FIG. 9, when the vehicle 100 travels along the travel route RT within the factory FC by self-propelled conveyance, since the vehicle communication unit 190 is receiving radio waves for wireless communication from the access point 70, the confirmation of the second condition 224 is not executed. In contrast, as shown by the vehicle 101 in FIG. 9, when moving from within the factory FC to the area OA, by leaving the communication area WA, the detected radio waves for wireless communication are no longer received by the vehicle communication unit 190, and the confirmation of the second condition 224 is executed.

[0052] As described above, according to the vehicle 100 of the present embodiment, the invalidation signal is a radio wave for wireless communication that the vehicle communication unit 190 as the signal detection unit 160 receives from the access point 70. The invalidation execution unit 212 executes an invalidation process when the vehicle communication unit 190 detects that the detected radio wave for wireless communication has stopped being received. Therefore, instead of a dedicated device for transmitting the invalidation signal, by using the radio wave for wireless communication used for remote control of the vehicle 100 as so-called Geofencing, an increase in the number of components in the factory FC can be suppressed or prevented.

[0053] D. Fourth Embodiment: FIG. 10 is a block diagram showing the functional configuration of the ECU 200d provided in the vehicle 100 according to the fourth embodiment. As shown in FIG. 10, the ECU 200d differs from the ECU 200 shown in the first embodiment in that the CPU 210 further functions as a speed calculation unit 218 and the positioning unit 170 is further connected to the interface circuit 280.

[0054] The positioning unit 170 includes a Global Navigation Satellite System (GNSS) receiver. The positioning unit 170 measures the latitude and longitude of the current position of the vehicle 100 based on the radio waves received from the artificial satellites constituting the GNSS. The speed calculation unit 218 calculates the moving speed of the vehicle 100 using the position information acquired by the positioning unit 170. By using the position information by the positioning unit 170, for example, the moving speed of the vehicle 100 in a stopped state, such as the conveyance speed of the vehicle 100, can be acquired. Note that the positioning unit 170 may output the moving speed of the vehicle 100.

[0055] FIG. 11 is a flowchart showing a processing routine of a method for invalidating remote control according to the fourth embodiment. FIG. 12 is an explanatory diagram showing a method for determining the second condition 224 in the fourth embodiment. The invalidation method according to the fourth embodiment is different from the invalidation method according to the first embodiment in that it includes steps S340 to S346 instead of step S30. Specifically, in the first embodiment described above, an example where the second condition 224 is satisfied when the stop of the vehicle 100 is detected after the invalidation signal is detected is used for explanation. On the other hand, in the present embodiment, the second condition 224 is satisfied when it is detected that the moving speed of the stopped vehicle 100 is equal to or higher than a predetermined speed using the position information acquired by the positioning unit 170 after the invalidation signal is detected. In the present embodiment, the confirmation of the second condition 224 is executed after the invalidation signal is detected, but it may also be executed after the invalidation signal is no longer detected.

[0056] In step S340, after the invalidation signal is detected, the vehicle 100 stops at a predetermined standby position by self-propelled conveyance by the remote control unit 312. In the example of FIG. 12, it is determined that the invalidation signal is detected when the signal detection unit 160 detects the laser beam LZ of the laser oscillator 50 during the self-propelled conveyance of the vehicle 100. Thereafter, the vehicle 100 stops at the parking position P2 for waiting for, for example, loading for shipment by self-propelled conveyance.

[0057] In step S342, the positioning unit 170 executes positioning of the vehicle 100 to acquire the current position of the vehicle 100. The acquisition of the current position by the positioning unit 170 is performed at predetermined time intervals. In step S344, the speed calculation unit 218 acquires the moving speed of the vehicle 100 at predetermined time intervals. Note that step S340 may be omitted, and the positioning unit 170 may acquire the current position of the vehicle 100 from the time when the invalidation signal is detected.

[0058] In step S346, the inactivation execution unit 212 monitors the moving speed acquired by the speed calculation unit 218, and checks whether the moving speed is equal to or higher than a predetermined threshold value. This threshold value is used, for example, to identify that the vehicle 100 is in transit. As a result, when the vehicle 100 is taken out of the factory FC, the function of remotely controlling the vehicle 100 can be inactivated. The threshold value is, for example, a speed higher than the traveling speed of the vehicle 100 in the factory FC by remote control, and can be set using the moving speed of the transport vehicle that can occur when the vehicle 100 is transported.

[0059] If the moving speed of the vehicle 100 is less than the threshold value (S346: NO), the inactivation execution unit 212 returns the process to step S342. If the moving speed of the vehicle 100 is equal to or higher than the threshold value (S346: YES), the inactivation execution unit 212 shifts the process to step S40 and determines that the first condition 222 including the second condition 224 is satisfied. In the example of FIG. 12, the second condition 224 is not satisfied while the vehicle 100 waits for loading on the vehicle transporter CC at the parking position P2. When the vehicle 100 is transported by the vehicle transporter CC and the traveling speed VC of the vehicle transporter CC becomes equal to or higher than the threshold value, the inactivation execution unit 212 determines that the second condition 224 is satisfied.

[0060] As described above, the vehicle 100 of the present embodiment further includes a positioning unit 170 that acquires the position information of the vehicle 100. The inactivation execution unit 212 determines that the second condition 224 is satisfied when it detects that the stopped vehicle 100 is moving at a speed equal to or higher than a predetermined speed using the position information acquired by the positioning unit 170. By using the positioning unit 170, it is possible to detect the moving speed of the vehicle 100 other than self-propelled transportation. By using the moving speed of the stopped vehicle 100, the transportation speed of the vehicle 100 when the vehicle 100 manufactured in the factory FC is shipped can be utilized. Therefore, the vehicle 100 can execute the inactivation process in a stand-alone state without communicating with an external device such as the server 300 at the time of shipment.

[0061] E. Fifth Embodiment: FIG. 13 is a block diagram showing the functional configuration of the ECU 200e included in the vehicle 100 according to the fifth embodiment. As shown in FIG. 13, the ECU 200e is different from the ECU 200 shown in the first embodiment in that the CPU 210 further functions as a distance calculation unit 217 and the positioning unit 170 is further connected to the interface circuit 280. The function of the positioning unit 170 is the same as that of the positioning unit 170 shown in the fourth embodiment.

[0062] The distance calculation unit 217 calculates the moving distance of the vehicle 100 using the position information acquired by the positioning unit 170. By using the position information from the positioning unit 170, the moving distance of the vehicle 100 in a stopped state can be obtained. Note that the moving distance may be the moving distance along the path that the vehicle 100 has moved from the measurement start position to the current position, or may be the straight-line distance from the measurement start position to the current position. The positioning unit 170 may output the moving distance of the vehicle 100.

[0063] FIG. 14 is a flowchart showing the processing routine of the remote control disabling method according to the fifth embodiment. FIG. 15 is an explanatory diagram showing the determination method of the second condition 224 in the fifth embodiment. The disabling method according to the fifth embodiment is different from the disabling method according to the first embodiment in that it includes steps S350 to S356 instead of step S30. In this embodiment, the second condition 224 is satisfied when it is detected that the vehicle 100 has moved a predetermined distance or more from the position where the disabling signal was detected. In this embodiment, the confirmation of the second condition 224 is executed after the disabling signal is detected, but may also be executed after the disabling signal is no longer detected.

[0064] In step S350, after the disabling signal is detected, the vehicle 100 stops at a predetermined standby position by self-propelled conveyance by the remote control unit 312. In the example of FIG. 15, the vehicle 100 stops at the parking position P2 for waiting for loading for shipment after the laser beam LZ is detected.

[0065] In step S352, the positioning unit 170 performs positioning of the vehicle 100 to obtain the current position of the vehicle 100. The acquisition of the current position by the positioning unit 170 is performed at predetermined time intervals. In step S354, the distance calculation unit 217 acquires the moving distance of the vehicle 100 at predetermined times. In the example of FIG. 15, the moving distance of the vehicle 100 is the moving distance D1 from the position where the invalidation signal is detected. Note that the positioning unit 170 may acquire the moving distance from the parking position P2.

[0066] In step S356, the invalidation execution unit 212 monitors the moving distance acquired by the distance calculation unit 217 and checks whether the moving distance has reached a predetermined threshold or more. This threshold is used, for example, to identify that the vehicle 100 has been transported. Thereby, when the vehicle 100 is taken out of the factory FC, the function of remotely controlling the vehicle 100 can be invalidated. The threshold can be set using, for example, the distance from the parking position P2 to the exit of the factory FC, the distance to a position sufficiently far from the factory FC, or any distance equal to or greater than these distances.

[0067] If the moving distance of the vehicle 100 is less than the threshold (S356: NO), the invalidation execution unit 212 returns the process to step S352. If the moving distance of the vehicle 100 is equal to or greater than the threshold (S356: YES), the invalidation execution unit 212 shifts the process to step S40 and determines that the first condition 222 including the second condition 224 is satisfied. In the example of FIG. 15, when the vehicle 100 is transported by the vehicle transporter CC and the moving distance of the vehicle 100 becomes equal to or greater than the threshold, the invalidation execution unit 212 determines that the second condition 224 is satisfied.

[0068] As described above, the vehicle 100 of the present embodiment further includes a positioning unit 170 that acquires the position information of the vehicle 100. When the invalidation execution unit 212 detects that the vehicle 100 has moved a distance equal to or greater than a predetermined distance from the position where the invalidation signal was detected using the position information acquired by the positioning unit 170, it determines that the second condition 224 is satisfied and executes the invalidation process. By using the positioning unit 170, it is possible to detect the moving distance of the vehicle 100 other than during self-propelled transportation. By using the moving distance of the vehicle 100 in a stopped state, it is possible to utilize the moving distance due to transportation when the vehicle 100 manufactured in the factory FC is shipped. Therefore, the vehicle 100 can execute the invalidation process in a stand-alone state without communicating with an external device such as the server 300 at the time of shipment.

[0069] F. Sixth Embodiment: FIG. 16 is a flowchart showing a processing routine of a remote control invalidation method according to the sixth embodiment. The invalidation method according to the sixth embodiment is different from the invalidation method according to the first embodiment in that it includes steps S360 and S362 instead of step S30. In the present embodiment, when the invalidation execution unit 212 detects that a predetermined time has elapsed since the invalidation signal was detected, it determines that the second condition 224 is satisfied and executes the invalidation process.

[0070] In step S360, the invalidation execution unit 212 starts timing from the time when the invalidation signal was detected using a timer (not shown). Note that the start timing of the timing is not limited to the time when the invalidation signal was detected, and may be arbitrarily set, such as the time when the vehicle 100 stops. In step S362, the invalidation execution unit 212 monitors the elapsed time and checks whether the elapsed time has reached a predetermined time. If the elapsed time has not reached the predetermined time (S362: NO), the invalidation execution unit 212 returns the process to step S360. When the elapsed time reaches the predetermined time (S362: YES), the invalidation execution unit 212 shifts the process to step S40 and determines that the first condition 222 including the second condition 224 is satisfied.

[0071] As described above, according to the vehicle 100 of the present embodiment, when the invalidation execution unit 212 detects that a predetermined time has elapsed since the invalidation signal was detected, it determines that the second condition 224 is satisfied and executes the invalidation process. Therefore, the vehicle 100 can execute the invalidation process in a stand-alone state without communicating with an external device such as the server 300 by a simple method such as timekeeping.

[0072] G. Seventh Embodiment: FIG. 17 is a block diagram showing the functional configuration of the ECU 200g provided in the vehicle 100 according to the seventh embodiment. As shown in FIG. 17, the ECU 200g is different from the ECU 200 shown in the first embodiment in that an execution signal detection unit 180 is further connected to the interface circuit 280.

[0073] The execution signal detection unit 180 is a device for detecting a second invalidation signal for determining the satisfaction of the second condition 224. In the present embodiment, as will be described later, two types of invalidation signals are used. The signal detection unit 160 and the execution signal detection unit 180 are configured separately from each other, and the signal detection unit 160 is used to detect the first invalidation signal. However, for example, when the first invalidation signal and the second invalidation signal for determining the satisfaction of the second condition 224 are the same as each other, the signal detection unit 160 may also function as the execution signal detection unit 180, and the signal detection unit 160 and the execution signal detection unit 180 may be integrally configured. In the following description, the second invalidation signal for determining the satisfaction of the second condition 224 may also be referred to as an "execution signal" for discrimination.

[0074] FIG. 18 is a flowchart showing the processing routine of the remote control invalidation method according to the seventh embodiment. The invalidation method according to the seventh embodiment is different from the invalidation method according to the first embodiment in that it includes step S370 instead of step S30. In the present embodiment, the second condition 224 is satisfied when an execution signal is further detected after the invalidation signal is detected.

[0075] In step S370, after the invalidation signal is detected, the vehicle 100 waits for the detection of the execution signal by the execution signal detection unit 180. When the execution signal is detected (S370: YES), the invalidation execution unit 212 shifts the process to step S40 and determines that the first condition 222 including the second condition 224 is satisfied.

[0076] FIG. 19 is an explanatory diagram showing a method for determining the second condition 224 in the seventh embodiment. In this embodiment, the laser scanning device 52 is provided at the waiting area PA. The laser scanning device 52 functions as an invalidation signal generation unit and transmits a laser beam LS that functions as an execution signal. As shown in FIG. 19, the laser scanning device 52 can scan all the vehicles 100 parked at a plurality of parking positions P2 provided in the waiting area PA. The execution signal detection unit 180 is provided, for example, on the outer surface of the vehicle 100 and can detect the laser beam LZ transmitted from the laser scanning device 52.

[0077] As shown in FIG. 19, when the vehicle 100 is self-driven and transported toward the waiting area PA by the remote control of the remote control unit 312, at the entrance of the waiting area PA, the laser beam LZ as the first invalidation signal is detected by the signal detection unit 160. After the first invalidation signal is detected, the vehicle 100 stops at the parking position P2 by self-driven transportation. For example, when a plurality of vehicles 100 are parked at each of the parking positions P2, the laser scanning device 52 is activated.

[0078] The laser scanning device 52 scans the laser light LS for all the vehicles 100 parked at the parking position P2, and the execution signal detection unit 180 of each vehicle 100 detects the laser light LS as an execution signal. By configuring in this way, the second condition 224 can be satisfied for a plurality of vehicles 100 at once. In the example of FIG. 19, the laser oscillator 50 at the entrance of the waiting area PA is omitted, and it is also possible to detect the first disabling signal for a plurality of vehicles 100 at once using only the laser scanning device 52. Further, instead of the laser scanning device 52, a device capable of transmitting a predetermined radio wave to a plurality of vehicles 100 at the parking position P2 may be provided. Even in such a configuration, the same effect can be obtained.

[0079] According to the vehicle 100 of the present embodiment, after the disabling signal is detected, when the execution signal is further detected, the disabling execution unit 212 determines that the second condition 224 is satisfied and executes the disabling process. Therefore, by using a plurality of conditions of a simple method of detecting the laser lights LZ and LS, it is possible to suppress or prevent the problem that the remote control is erroneously disabled. Further, by making the disabling signal and the execution signal share the same signal with each other, it is possible to suppress or prevent an increase in the number of parts, such as the signal detection unit 160 also serving as the function of the execution signal detection unit 180.

[0080] H. Other Embodiments: (H1) In each of the above embodiments, an example in which the invalidation signal is an electromagnetic wave such as laser light LZ, LS, or radio waves for wireless communication was shown. In contrast, the invalidation signal (including the execution signal) may be a signal using something other than electromagnetic waves, and may be at least one signal selected from the group consisting of sound, heat, current, distance, image, atmospheric pressure, acceleration, rotational speed, humidity, and pressure. In this case, the signal detection unit 160 and the execution signal detection unit 180 can use general-purpose sensors. Further, the invalidation signal may be composed of, for example, an image, a figure, or a predetermined target that can be detected by the vehicle 100. In this case, the invalidation signal generation unit can adopt, for example, a one-dimensional code, a two-dimensional code, a label showing a predetermined figure, or a target having a predetermined external shape. In this case, the signal detection unit 160 and the execution signal detection unit 180 can use a camera, a reader, or the like that can detect the image or figure shown on the label or the external shape of the target. The invalidation execution unit 212 generates an invalidation signal, for example, when a figure or the like as an invalidation signal is detected by the signal detection unit 160 and the execution signal detection unit 180.

[0081] (H2) In the first embodiment above, an example was shown in which the remote control unit 312 acquires the captured image by the camera 80 and acquires vehicle information including the position and orientation of the vehicle 100 by analyzing the acquired captured image. In contrast, when the vehicle detector is other than the camera 80, such as LiDAR, an infrared sensor, a laser sensor, an ultrasonic sensor, or a millimeter-wave radar, the driving control of the vehicle 100 by remote control may be executed by analyzing the detection result acquired by the vehicle detector other than the camera 80. Further, the camera 80 and a vehicle detector other than the camera 80 may be used in combination.

[0082] The control and its method described in the present disclosure may be realized by a dedicated computer configured by a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the control unit and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Or, the control unit and its method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured by one or more hardware logic circuits. Also, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions to be executed by a computer.

[0083] The present disclosure is not limited to the above-described embodiments, and can be realized in various configurations without departing from the gist thereof. For example, the technical features in the embodiments corresponding to the technical features in each of the forms described in the summary of the invention can be appropriately replaced or combined in order to solve some or all of the above-described problems or to achieve some or all of the above-described effects. Also, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

Description of Reference Numerals

[0084] 50, 50b... laser oscillator, 52... laser scanning device, 60... inspection process, 70... access point, 72... network, 80, 801, 802, 803, 804... camera, 100, 100s, 101... vehicle, 120... battery, 130... PCU, 140... motor, 150... power receiving device, 160, 160c... signal detection unit, 170... positioning unit, 180... execution signal detection unit, 190... vehicle communication unit, 200, 200c, 200d, 200e, 200g... ECU, 210... CPU, 212... invalidation execution unit, 214... driving control unit, 217... distance calculation unit, 218... speed calculation unit, 220... storage device, 222... first condition, 224... second condition, 280... interface circuit, 300... server, 310... CPU, 312... remote control unit, 320... storage device, 390... remote communication unit, 500... remote automatic driving system, CC... vehicle transporter, FC... factory, LS, LZ... laser light, PA... waiting area, RT... runway, RT1... first runway, RT2... second runway, RT3... third runway, RT4... fourth runway, WA... communication area

Claims

1. A mobile body that can be moved by remote control, a mobile body communication unit for receiving a request for operation control from outside the mobile body, an operation control unit capable of executing operation control of the mobile body according to the request for operation control in a manufacturing process within a factory that manufactures the mobile body, a signal detection unit for detecting an invalidation signal that can be detected at a predetermined location on the movement path of the mobile body, an invalidation execution unit that executes an invalidation process for invalidating the remote control when a first condition including that the invalidation signal has been detected or that the detected invalidation signal has disappeared is satisfied, Mobile body.

2. The mobile body according to Claim 1, wherein the invalidation signal is an electromagnetic wave including laser light and radio waves, and the first condition includes that the electromagnetic wave has been detected by the signal detection unit. Mobile body.

3. The mobile body according to Claim 1, wherein the invalidation signal is a radio wave for wireless communication received by the mobile body communication unit from outside the mobile body, and the first condition includes that the detected radio wave for wireless communication has disappeared. Mobile body.

4. The mobile body according to Claim 1, wherein the first condition includes that a second condition is satisfied after the invalidation signal has been detected or that a second condition is satisfied after the detected invalidation signal has disappeared.

5. The mobile body according to Claim 4, further comprising a positioning unit that acquires position information of the mobile body, wherein the second condition is that it is detected, using the position information acquired by the positioning unit, that the mobile body in a stopped state is moving at a speed equal to or higher than a predetermined speed. Mobile body.

6. The mobile body according to Claim 4, further comprising a positioning unit that acquires position information of the mobile body, wherein the second condition is that it is detected, using the position information acquired by the positioning unit, that the mobile body has moved a distance equal to or greater than a predetermined distance from the position where the invalidation signal was detected or from the position where the detected invalidation signal has disappeared. Mobile body.

7. The mobile body according to Claim 4, wherein the second condition is that it is detected that a predetermined time has elapsed from the time when the invalidation signal was detected or from the time when the detected invalidation signal has disappeared. Mobile body.

8. The mobile body according to claim 4, wherein the second condition is that the mobile body has stopped after the invalidation signal has been detected or after the detected invalidation signal has ceased to be detected. Mobile body.

9. The mobile body according to claim 4, wherein the second condition is that, after the invalidation signal has been detected or after the detected invalidation signal has ceased to be detected, the invalidation signal has been detected again. Mobile body.

10. The invalidation execution unit irreversibly invalidates the remote control as the invalidation process, for the mobile body according to claim 1.

11. A remote automatic driving system, comprising the mobile body movable by remote control in a manufacturing process in a factory that manufactures the mobile body, the mobile body including a mobile body communication unit for receiving a driving control request and a driving control unit capable of executing driving control of the mobile body according to the driving control request, and a remote control unit for moving the mobile body by the remote control, an invalidation signal generation unit disposed at a predetermined location in the movement path of the mobile body and generating an invalidation signal, a signal detection unit for detecting the invalidation signal, and an invalidation execution unit that executes an invalidation process for invalidating the remote control when a first condition including that the invalidation signal has been detected or that the detected invalidation signal has ceased to be detected is satisfied. Remote automatic driving system.

12. A method for invalidating remote control of a mobile body movable by remote control, comprising a step of executing driving control of the mobile body according to a driving control request from the outside of the mobile body in a manufacturing process in a factory that manufactures the mobile body, and executing an invalidation process for invalidating the remote control when a first condition including that an invalidation signal has been detected at a predetermined location in the movement path of the mobile body or that the detected invalidation signal has ceased to be detected at the location is satisfied. Method for invalidating remote control.

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