Terminal device, remote control system, and remote control method

Abstract

To provide a technology capable of making a vehicle, which is being manufactured, travel through remote control.SOLUTION: Owing to a terminal device for use in remotely controlling a travel operation of a vehicle, the vehicle travels within a factory, where plural manufacturing processes are executed in order to manufacture a vehicle, through remote control. A feature unit that materializes plural features needed for remote control is installed in the vehicle during any of plural manufacturing processes. The terminal device includes a complementing unit that complements a complement object feature which is identified using at least one of process information representing a manufacturing process executed for the vehicle and communication enabled-or-not information signifying that communication with the feature unit is enabled or not, and which cannot be materialized by the feature unit, which is installed in the vehicle, among the plural features needed for remote control.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present disclosure relates to a terminal device, a remote control system, and a remote control method.

Background Art

[0002] Conventionally, vehicles that automatically drive by remote control are known (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] During the manufacturing process of a vehicle, functional parts such as a vehicle control device and a communication unit that realize functions necessary for remote control may not be installed. In this case, the functions necessary for remote control may not be realized.

Means for Solving the Problems

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

[0006] (1) According to a first embodiment of the present disclosure, a terminal device is provided. The terminal device is used to remotely control the driving operation of a vehicle, wherein the vehicle is driven by remote control within a factory where a plurality of manufacturing processes are performed to manufacture the vehicle, and the vehicle is equipped with a functional unit that realizes a plurality of functions necessary for the remote control at one of the plurality of manufacturing processes, and the terminal device comprises a complementary unit that complements a complementary target function, which is identified using at least one of the following pieces of information: process information indicating the manufacturing process performed on the vehicle, and communication feasibility information indicating whether or not communication with the functional unit is possible, and which is one of the plurality of functions necessary for the remote control that cannot be realized by the functional unit mounted on the vehicle. According to this embodiment, even a vehicle in the process of manufacture in which at least a portion of the plurality of functional units that realize the functions necessary for the remote control have not yet been installed can be driven by remote control by equipping it with a terminal device that complements the complementary target function. (2) The above configuration may further include a terminal acquisition unit that acquires the process information, and an identification unit that uses the acquired process information and a process database indicating the complementary target functions required for each of the plurality of manufacturing processes to identify the complementary target functions associated with manufacturing processes other than the manufacturing process identified by the acquired process information, thereby identifying the complementary target functions corresponding to the manufacturing process performed on the vehicle. In this configuration, the terminal device can identify the complementary target functions using the process information and the process database. (3) The above configuration may further include a terminal acquisition unit that acquires the communication availability information and an identification unit that identifies the complementary function using the acquired communication availability information. In this configuration, the terminal device can identify the complementary function using the communication availability information. (4) According to a second embodiment of the present disclosure, a remote control system is provided. The remote control system for remotely controlling the driving operation of a vehicle comprises the vehicle, an external device installed at a location different from the vehicle, and a terminal device as described in the above embodiment, wherein the vehicle is equipped with a functional unit that realizes a plurality of functions necessary for the remote control in one of the plurality of manufacturing processes, and the external device comprises: an acquisition unit that acquires process information indicating the manufacturing process executed on the vehicle; a generation unit that uses the acquired process information and a process database indicating the complementary target functions necessary for each of the plurality of manufacturing processes to identify the complementary target functions associated with manufacturing processes other than the manufacturing process identified by the acquired process information, thereby generating functional information indicating the complementary target functions corresponding to the manufacturing process executed on the vehicle; and a transmission unit that transmits the functional information to the vehicle. According to this embodiment, the external device can identify the complementary target functions using the process information and the process database. The external device can then generate functional information indicating the identified complementary target functions and transmit it to the terminal device. As a result, the complement unit of the terminal device can complement the complementary target functions based on the functional information. (5) A third embodiment of the present disclosure provides a remote control method. A remote control method for remotely controlling the driving operation of a vehicle, wherein the vehicle is driven by remote control within a factory where a plurality of manufacturing processes are performed to manufacture the vehicle, and a functional unit that realizes a plurality of functions necessary for the remote control is mounted in one of the plurality of manufacturing processes, and the remote control method comprises: an acquisition step of acquiring at least one of process information indicating the manufacturing process performed on the vehicle and communication feasibility information indicating whether or not communication with the functional unit is possible; an identification step of identifying a complementary target function among the plurality of functions necessary for the remote control, which is identified using the information acquired in the acquisition step, and which is a complementary target function among the plurality of functions necessary for the remote control that cannot be realized by the functional unit mounted in the vehicle; and an installation step of mounting one or more terminal devices having the complementary target function identified in the identification step to the vehicle from among a plurality of terminal devices having one or more of the complementary target functions. According to this configuration, one or more terminal devices having one or more complementary functions, selected from among multiple terminal devices having one or more complementary functions, can be mounted on the vehicle in a specific process. As a result, even a vehicle still under construction, in which at least some of the functional units necessary for remote control have not yet been installed, can be driven by remote control. (6) The above configuration may further include a step for determining whether or not the terminal device should be mounted on the vehicle. This configuration makes it possible to determine whether or not the terminal device should be mounted. (7) The above configuration may further include a step of removing the terminal device mounted on the vehicle from the vehicle. This configuration allows the terminal device that is no longer needed to be removed from the vehicle. (8) In the above configuration, the vehicle may include a first type vehicle in the form of a platform having at least wheels, a chassis, a drive unit for accelerating the vehicle, a steering unit for changing the direction of travel of the vehicle, and a braking unit for decelerating the vehicle, and a second type vehicle in which at least a vehicle body is assembled to the first type vehicle. According to this configuration, the first type vehicle 101 and the second type vehicle 102 can be driven by remote control. (9) A fourth embodiment of the present disclosure provides a remote control method. In a remote control method for remotely controlling the driving operation of a vehicle, the vehicle is driven by remote control within a factory where a plurality of manufacturing processes are performed to manufacture the vehicle, and a functional unit that realizes a plurality of functions necessary for the remote control is mounted on the vehicle in one of the plurality of manufacturing processes, and the remote control method includes a mounting step of mounting a terminal device on the vehicle having a complementary target function, which is identified using at least one of the following pieces of information: process information indicating the manufacturing process performed on the vehicle and communication feasibility information indicating whether or not communication with the functional unit is possible, and which is one of the plurality of functions necessary for the remote control that cannot be realized by the functional unit mounted on the vehicle. According to this embodiment, one or more terminal devices having one or more complementary target functions can be mounted on the vehicle from among a plurality of terminal devices having one or more complementary target functions. As a result, even a vehicle in the process of being manufactured, in which at least a portion of the plurality of functional units that realize the functions necessary for the remote control have not yet been mounted, can be driven by remote control. This disclosure can be implemented in various forms other than the terminal device, remote control system, and remote control method described above. For example, it can be implemented in the form of a method for manufacturing the terminal device and remote control system, a method for controlling the terminal device and remote control system, a computer program for implementing the control method, and a non-temporary recording medium on which the computer program is stored. [Brief explanation of the drawing]

[0007] [Figure 1] A diagram showing the configuration of the remote control system in the first embodiment. [Figure 2] A diagram illustrating an example of the vehicle manufacturing process. [Figure 3] A diagram showing the configuration of the imaging device in the first embodiment. [Figure 4] A diagram showing the configuration of the remote control device in the first embodiment. [Figure 5] A diagram showing the configuration of the terminal device in the first embodiment. [Figure 6] A flowchart illustrating the remote control method in the first embodiment. [Figure 7] A flowchart showing the details of the acquisition process in the first embodiment. [Figure 8] A flowchart illustrating the details of a specific process in the first embodiment. [Figure 9] A diagram showing the configuration of the imaging device in the second embodiment. [Figure 10] A diagram showing the configuration of the remote control device in the second embodiment. [Figure 11] A diagram showing the configuration of the terminal device in the second embodiment. [Figure 12] A flowchart illustrating the remote control method in the second embodiment. [Figure 13] A flowchart showing the details of the acquisition process in the second embodiment. [Figure 14] A flowchart illustrating the details of a specific process in the second embodiment. [Figure 15] A flowchart illustrating the details of the software modification process in the second embodiment. [Figure 16] A diagram showing the configuration of the remote control device in the third embodiment. [Figure 17] A diagram showing the configuration of the terminal device in the third embodiment. [Figure 18] A flowchart illustrating the remote control method in the third embodiment. [Figure 19] A flowchart showing the details of the acquisition process in the third embodiment. [Figure 20] A flowchart illustrating the details of a specific process in the third embodiment. [Figure 21]A diagram showing the configuration of the remote control system in the fourth embodiment. [Figure 22] A diagram showing the configuration of the remote control device in the fourth embodiment. [Figure 23] A diagram showing the configuration of the terminal device in the fourth embodiment. [Figure 24] A flowchart showing the remote control method in the fourth embodiment. [Figure 25] A flowchart showing the details of the acquisition process in the fourth embodiment.

Embodiments for Carrying Out the Invention

[0008] A. First Embodiment: FIG. 1 is a diagram showing the configuration of a remote control system 1 in the first embodiment. The remote control system 1 remotely controls the driving operation of a vehicle 10. The remote control system 1 includes one or more vehicles 10, a remote control device 5 as an external device installed at a location different from the vehicle 10, and a terminal device 7 used to remotely control the driving operation of the vehicle 10. In the present embodiment, the remote control system 1 further includes a plurality of imaging devices 9 as sensors for detecting the vehicle 10 from outside the vehicle 10 in order to calculate the position and orientation of the vehicle 10.

[0009] The vehicle 10 is, for example, any one of an electric vehicle, a hybrid vehicle, a fuel cell vehicle, a gasoline vehicle, and a diesel vehicle. The vehicle 10 may be a private automobile such as a passenger car, or may be a commercial automobile such as a truck, a bus, or a construction vehicle.

[0010] Vehicle 10 travels in remote automatic driving mode within a factory where multiple manufacturing processes are carried out to produce vehicle 10. In remote automatic driving mode, a remote control device 5, such as a server, creates control values ​​(hereinafter referred to as driving control values) that define the driving operation of vehicle 10 and transmits them to vehicle 10. As a result, vehicle 10 receives the driving control values ​​and performs automatic driving according to the received driving control values. The factory is not limited to being located in a single building or on a single site or address, but may be located in multiple buildings, on multiple sites, at multiple addresses, etc. In this case, vehicle 10 may travel on public roads as well as private roads. Furthermore, the factory may also include storage areas such as yards. Storage areas are places where vehicle 10, as a finished product manufactured by carrying out multiple manufacturing processes, is stored before shipment.

[0011] Figure 2 is a diagram illustrating an example of the manufacturing process of vehicle 10. Figure 2 shows a representative portion of the multiple manufacturing processes performed in the manufacturing process of vehicle 10. In the example shown in Figure 2, the finished vehicle 10 is manufactured by assembling a vehicle body 160 such as a body shell, interior parts such as seats, and exterior parts such as door panels onto a Type 1 vehicle 101 which is in the form of a platform. At this time, a functional unit 170 that realizes multiple functions necessary for remote control is installed in vehicle 10 at one of the multiple manufacturing processes. In this disclosure, "installed" refers to a state in which the functions of the device attached to vehicle 10 can be realized. That is, "installed" means a state in which the device is attached to vehicle 10 and wired. Hereinafter, vehicle 10 in the form in which at least the vehicle body 160 is assembled onto Type 1 vehicle 101 will be referred to as Type 2 vehicle 102.

[0012] The platform manufacturing process is a manufacturing process for manufacturing the Type 1 vehicle 101. The Type 1 vehicle 101 is a vehicle 10 that can perform at least three functions, "driving," "turning," and "stopping," by remote control by a remote control device 5, by mounting terminal devices 7 as needed. Specifically, the Type 1 vehicle 101 includes, for example, a drive unit 110, a steering unit 120, a braking unit 130, a chassis 140, and wheels 150. The drive unit 110 accelerates the vehicle 10. The drive unit 110 includes at least a drive source and a power supply device that supplies power to the drive source. If the vehicle 10 is an electric vehicle, the drive source is a traction motor, and the power supply device is a main battery such as a lithium-ion battery. The steering unit 120 changes the direction of travel of the vehicle 10. The braking unit 130 decelerates the vehicle 10. The chassis 140 is the chassis portion that supports various devices 110-130, 170 mounted on the vehicle 10, and the vehicle body 160, etc., which are assembled in manufacturing processes after the platform manufacturing process. Furthermore, in this embodiment, the terminal device 7 is detachably mounted on the first type vehicle 101 during the platform manufacturing process. The operation of mounting the terminal device 7 on the first type vehicle 101 may be performed by a worker or by a robot.

[0013] The body assembly process is a manufacturing process for producing a Type 2 vehicle 102, which is a vehicle 10 that includes a finished product, after the body 160 has been assembled to the Type 1 vehicle 101. The body assembly process is performed after the platform manufacturing process.

[0014] The functional unit installation process is the process of installing the functional unit 170 on the vehicle 10. In the example shown in Figure 2, the functional unit installation process is performed after the vehicle body assembly process. The functional unit 170 is, for example, one of the following: a vehicle control device 171, a vehicle communication unit 172, or a sub-battery 173. The vehicle control device 171 controls the operation of the vehicle 10. The vehicle control device 171 includes multiple ECUs. Specifically, the vehicle control device 171 includes an integrated ECU and multiple individual ECUs. The integrated ECU relays communication to each individual ECU. The integrated ECU is communicateable with the vehicle communication unit 172 and each individual ECU. The integrated ECU is a so-called gateway ECU. Each of the multiple individual ECUs controls the operation of various devices mounted on the vehicle 10. Individual ECUs include, for example, a DCM-ECU that controls the vehicle communication unit 172, a brake ECU that controls the brakes, an engine ECU that controls the engine, an MG-ECU that controls the drive motor, and an HV-ECU that mutually manages and controls the engine ECU and the MG-ECU. The vehicle communication unit 172 communicates with external devices using wireless communication or the like. External devices include other devices other than the vehicle 10, such as the remote control device 5, and other vehicles 10. The vehicle communication unit 172 is, for example, a wireless communication device such as a DCM (Data Communication Module). The vehicle communication unit 172 communicates with the remote control device 5 connected to the network Nt, for example, via an access point in the factory. The sub-battery 173 supplies power to the vehicle control device 171 and the vehicle communication unit 172 in order to drive the vehicle control device 171 and the vehicle communication unit 172. Note that the configuration of the functional unit 170 is not limited to the above. For example, at least some of the functions of the vehicle control device 171 may be implemented as a function of the vehicle communication unit 172.

[0015] The wiring process involves connecting multiple functional units 170 attached to the vehicle 10, thereby enabling the functional units 170 to perform their functions. The wiring process is performed after the functional unit installation process. The functional units 170 are wired after being attached to the vehicle 10, thereby enabling the functions necessary for remote control. The manufacturing method of the vehicle 10 is not limited to the above. The functional unit installation process may be performed at a different timing than shown in Figure 2 during the manufacturing process of the vehicle 10. Similarly, the wiring process only needs to be performed after the functional unit installation process and may be performed at a different timing than shown in Figure 2.

[0016] In this disclosure, vehicle 10 is at least one of the following: vehicle 10 as a finished product, and vehicle 10 as a semi-finished product and work-in-progress in each manufacturing process of producing the finished product. Hereinafter, unless it is necessary to distinguish between multiple different forms of vehicle 101, 102, they will simply be referred to as "vehicle 10".

[0017] Figure 3 shows the configuration of the imaging device 9 in the first embodiment. As shown in Figure 1, the imaging device 9 is a camera that acquires imaging data by imaging an imaging range RG including the vehicle 10 from outside the vehicle 10. The imaging data is, for example, a color image including the vehicle 10. In order to image the entire road 2 with one or more imaging devices 9, the installation position and number of imaging devices 9 are determined considering the imaging range RG (angle of view) of the imaging device 9, etc.

[0018] As shown in Figure 3, the imaging device 9 comprises an imaging unit 90, a communication unit 91, a storage unit 93, and a CPU 92. The imaging unit 90, the communication unit 91, the storage unit 93, and the CPU 92 are each connected to one another, for example, via an internal bus and an interface circuit. The imaging unit 90 images an imaging range RG, including the vehicle 10, from outside the vehicle 10. The communication unit 91 of the imaging device 9 connects the imaging device 9 to other devices other than the imaging device 9 in a communicative manner. The communication unit 91 of the imaging device 9 is, for example, a wireless communication device. The storage unit 93 of the imaging device 9 stores various information, including various programs that control the operation of the imaging device 9. The storage unit 93 of the imaging device 9 includes, for example, RAM, ROM, and a hard disk drive (HDD). The CPU 92 of the imaging device 9 functions as an imaging control unit 921, a data acquisition unit 922, and a data transmission unit 924 by deploying the various programs stored in the storage unit 93. The imaging control unit 921 controls the operation of the imaging unit 90. The data acquisition unit 922 acquires various information. In this embodiment, the data acquisition unit 922 acquires imaging data from the imaging device 9. The data transmission unit 924 transmits various data. In this embodiment, the imaging device 9 transmits imaging data to the remote control device 5. Note that the configuration of the imaging device 9 is not limited to the above. At least some of the functions of the imaging device 9 may be implemented as a function of either an external device such as the remote control device 5 or the vehicle 10.

[0019] Figure 4 shows the configuration of the remote control device 5 in the first embodiment. The remote control device 5 remotely controls the driving operation of the vehicle 10 by transmitting driving control values ​​created using driving information to the vehicle 10. Driving information is information about the driving conditions of the vehicle 10. Driving information includes, for example, imaging data including the vehicle 10, the position, orientation, driving speed, actual steering angle, and driving route information of the vehicle 10. Driving route information is information indicating the target driving route of the vehicle 10 when it is driving in remote automatic driving mode.

[0020] The remote control device 5 comprises a communication unit 51, a CPU 52, and a storage unit 53. The communication unit 51, the storage unit 53, and the CPU 52 are connected to each other, for example, via an internal bus and an interface circuit.

[0021] The communication unit 51 of the remote control device 5 connects the remote control device 5 to other devices other than the remote control device 5 in a way that enables communication between the remote control device 5 and other devices. The communication unit 51 of the remote control device 5 is, for example, a wireless communication device.

[0022] The storage unit 53 of the remote control device 5 stores various information, including various programs that control the operation of the remote control device 5 and production management information In. Production management information In is information indicating the scheduled time when the vehicle 10 will travel through the workplace where each manufacturing process is performed. Production management information In is created based, for example, on the position and orientation of the vehicle 10, the transmission history of driving control values ​​to the vehicle 10, and the installation location of the imaging device 9. The storage unit 53 of the remote control device 5 includes, for example, RAM, ROM, and a hard disk drive (HDD).

[0023] The CPU 52 of the remote control device 5 functions as a device acquisition unit 521, a calculation unit 522, a process identification unit 523, a control value creation unit 525, and a device transmission unit 526 by deploying various programs stored in the memory unit 53.

[0024] The device acquisition unit 521 acquires various types of information. In this embodiment, the device acquisition unit 521 acquires imaging data from the imaging device 9. The device acquisition unit 521 also acquires the driving speed, actual steering angle, etc., from the vehicle 10.

[0025] The calculation unit 522 calculates the position and orientation of the vehicle 10. In this embodiment, the calculation unit 522 calculates the position and orientation of the vehicle 10 by analyzing the image data.

[0026] The process identification unit 523 identifies the manufacturing process that has already been performed on the vehicle 10 from among a plurality of manufacturing processes performed in the manufacturing process of the vehicle 10. The process identification unit 523 then generates process information indicating the manufacturing process that has been performed on the vehicle 10. In this embodiment, the process identification unit 523 uses the production management information In to identify the manufacturing process that has already been performed on the vehicle 10 and generates process information indicating the identified manufacturing process.

[0027] The control value creation unit 525 creates driving control values ​​using driving information. The driving control values ​​include, for example, an acceleration control value that defines the acceleration of the vehicle 10 in the forward direction, and a steering angle control value that defines the steering angle of the vehicle 10. The driving control values ​​may also include either a trajectory control value or a destination control value instead of the acceleration control value and the steering angle control value. The trajectory control value is a control value that defines the driving trajectory of the vehicle 10 by arranging the predetermined target driving positions of the vehicle 10 at each time interval in chronological order. The destination control value is a control value that indicates the target arrival time of the vehicle 10 at the target destination.

[0028] The device transmission unit 526 transmits various information to devices other than the remote control device 5. In this embodiment, the device transmission unit 526 transmits operation control values ​​and process information. Note that the configuration of the remote control device 5 is not limited to the above. At least some of the functions of the remote control device 5 may be implemented as a function of another device other than the remote control device 5.

[0029] Figure 5 shows the configuration of the terminal device 7 in the first embodiment. The terminal device 7 is used to drive the vehicle 10 in the process of being manufactured in remote automatic driving mode. The terminal device 7 complements the complementary functions. The complementary functions are functions among several functions necessary for remote control that cannot be realized by the functional unit 170 already installed in the vehicle 10 through the manufacturing process. In this embodiment, the terminal device 7 is configured to realize all functions that can be complementary functions in the manufacturing process of the vehicle 10. Here, the functional unit 170 is installed in the vehicle 10 in one of several manufacturing processes. Therefore, there is a correlation between the manufacturing process performed on the vehicle 10 and the complementary functions. Thus, in this embodiment, the complementary functions are identified using process information.

[0030] The terminal device 7 comprises a communication unit 71, a storage unit 73, an auxiliary battery 75, and a CPU 72. The communication unit 71, storage unit 73, auxiliary battery 75, and CPU 72 are each connected to one another, for example, via an internal bus and an interface circuit.

[0031] When the terminal device 7 is mounted on the vehicle 10, the communication unit 71 of the terminal device 7 connects the device mounted on the vehicle 10 to an external device such as the remote control device 5 in a communicative manner. In other words, when the vehicle communication unit 172 (Figure 2), which is one of the functional units 170, is not yet mounted on the vehicle 10, the communication unit 71 of the terminal device 7 performs the same function as the vehicle communication unit 172. The communication unit 71 of the terminal device 7 is, for example, a wireless communication device.

[0032] The storage unit 73 of the terminal device 7 shown in Figure 5 stores various information, including various programs that control the operation of the terminal device 7 and a process database Db. The process database Db is a database that indicates the complementary functions required for each of the multiple manufacturing processes. The storage unit 73 of the terminal device 7 includes, for example, RAM, ROM, and a hard disk drive (HDD).

[0033] The auxiliary battery 75 supplies power to drive the terminal device 7. Furthermore, if the vehicle 10 is not equipped with a sub-battery 173 (Figure 2), the auxiliary battery 75 supplies power to the vehicle control device 171 and vehicle communication unit 172, etc., which are already installed in the vehicle 10, in place of the sub-battery 173.

[0034] The CPU 92 of the terminal device 7 shown in Figure 5 functions as a terminal acquisition unit 721, a function identification unit 722, and a supplementation unit 723 by deploying various programs stored in the memory unit 73.

[0035] The terminal acquisition unit 721 acquires various types of information. In this embodiment, the terminal acquisition unit 721 acquires process information from the remote control device 5. Furthermore, if at least one of the vehicle control device 171 and the vehicle communication unit 172 has not yet been installed in the vehicle 10, the terminal acquisition unit 721 acquires driving control values.

[0036] The function identification unit 722 identifies the function to be complemented. That is, the function identification unit 722 identifies a function that has not yet been installed in the vehicle 10. In this embodiment, the function identification unit 722 uses the acquired process information and the process database Db stored in the storage unit 93 of the terminal device 7 to identify the function to be complemented that is associated with a manufacturing process other than the manufacturing process identified by the acquired process information. In other words, the function identification unit 722 extracts the function to be complemented that is associated with a manufacturing process that has not yet been executed and a manufacturing process that is currently being executed, from the process database Db, among the multiple manufacturing processes executed in the manufacturing process of the vehicle 10. As a result, the function identification unit 722 identifies the function to be complemented that corresponds to the manufacturing process executed on the vehicle 10.

[0037] The complementation unit 723 complements the functions to be complemented. In this embodiment, the complementation unit 723 modifies the software to execute only the specified functions to be complemented from among the multiple functions necessary for remote control. This allows the complementation unit 723 to enable the terminal device 7 to complement the functions to be complemented when the terminal device 7 is mounted on the vehicle 10. Specifically, if the vehicle control device 171 is not yet mounted on the vehicle 10, the complementation unit 723 modifies the software to implement functions equivalent to those of the vehicle control device 171. For example, if some of the multiple ECUs that make up the vehicle control device 171 are not yet wired and therefore cannot implement their functions, the complementation unit 723 performs the following process. In other words, the complementation unit 723 modifies the software to implement functions equivalent to those of the ECUs that have not yet implemented their functions (hereinafter referred to as unwired ECUs). Furthermore, if the vehicle communication unit 172 is not yet installed in the vehicle 10, the supplementary unit 723 modifies the software so that the vehicle 10 can communicate with external devices such as the remote control device 5 using the communication unit 91 of the terminal device 7. In addition, if the sub-battery 173 is not yet installed in the vehicle 10, the supplementary unit 723 modifies the software so that the vehicle control device 171 and vehicle communication unit 172 already installed in the vehicle 10 can be driven using the auxiliary battery 75 instead of the sub-battery 173. Note that the configuration of the terminal device 7 is not limited to the above. At least some of the functions of the terminal device 7 may be implemented as a function of another device other than the terminal device 7.

[0038] Figure 6 is a flowchart showing the remote control method in the first embodiment. In this embodiment, the acquisition step (step S11), the identification step (step S21), and the software modification step (step S31) are executed in this order. As a result, the vehicle 10 in the process of being manufactured is driven in remote automatic driving mode by supplementing the complementary target functions using a terminal device 7 whose software has been modified to complement the complementary target functions identified according to the manufacturing process already performed on the vehicle 10. The remote control method is executed repeatedly at predetermined intervals, for example, after the target vehicle 10 has completed the platform manufacturing process shown in Figure 2. The same applies to the remote control method in the embodiments described thereafter.

[0039] Figure 7 is a flowchart detailing the acquisition process (step S11) in the first embodiment. In step S111, the device acquisition unit 521 of the remote control device 5 acquires production management information In. In this embodiment, the device acquisition unit 521 acquires production management information In that has been pre-stored in the storage unit 53 of the remote control device 5, but in other embodiments, production management information In may be acquired from a device other than the remote control device 5. In step S112, the process identification unit 523 uses the production management information In to identify the manufacturing process that has already been performed on the vehicle 10. In step S113, the process identification unit 523 generates process information indicating the manufacturing process that has already been performed on the vehicle 10. In step S114, the device transmission unit 526 transmits the process information to the terminal device 7. In step S115, the terminal acquisition unit 721 of the terminal device 7 acquires the process information.

[0040] As shown in Figure 6, the identification step of step S21 is performed after the acquisition step of step S11. Figure 8 is a flowchart detailing the identification step (step S21) in the first embodiment. In step S221, the terminal acquisition unit 721 of the terminal device 7 acquires the process database Db. In this embodiment, the terminal acquisition unit 721 acquires the process database Db which is pre-stored in the storage unit 73 of the terminal device 7, but in other embodiments, the process database Db may be acquired from a device other than the terminal device 7. In step S212, the function identification unit 722 identifies the function to be complemented using the process information and the process database Db.

[0041] As shown in Figure 6, the software modification step S31 is executed after the identification step S21. In the software modification step, the complementation unit 723 modifies the software to complement the complementation target function identified by the function identification unit 722. If the vehicle communication unit 172 is already installed in the vehicle 10, after the software modification step is completed, the remote control device 5 starts communication with the vehicle communication unit 172 and drives the vehicle 10 in remote automatic driving mode. If the vehicle communication unit 172 is not yet installed in the vehicle 10, after the software modification step is completed, the remote control device 5 starts communication with the communication unit 71 of the terminal device 7 and drives the vehicle 10 in remote automatic driving mode.

[0042] Furthermore, in the case of a finished vehicle 10, where there are no complementary functions identified in a specific process, the remote control device 5 will operate the vehicle 10 in remote automatic driving mode using the functions of the functional unit 170 mounted on the vehicle 10, without using the terminal device 7. In other words, in this case, the software modification process is omitted in the remote control method shown in Figure 6.

[0043] According to the first embodiment described above, even a vehicle 10 in the process of being manufactured, in which at least a portion of the functional unit 170 that realizes the functions necessary for remote control has not yet been installed, can be driven by remote control by installing a terminal device 7 that complements the functions to be complemented. As a result, even a vehicle 10 in the process of being manufactured, such as the first vehicle 101, in which at least a portion of the functional unit 170, including the vehicle control device 171, vehicle communication unit 172, and sub-battery 173 that realize the functions necessary for remote control, has not yet been installed, can be driven by remote control.

[0044] Furthermore, according to the first embodiment described above, the manufacturing process performed on the vehicle 10 can be identified using the production management information In. Then, process information indicating the manufacturing process performed on the vehicle 10 can be generated.

[0045] Furthermore, according to the first embodiment described above, the functional unit 170 is installed in the vehicle 10 at one of the multiple manufacturing processes. Therefore, based on the correlation between each manufacturing process performed in the manufacturing process of the vehicle 10 and the complementary function, the complementary function can be identified using process information indicating the manufacturing process performed on the vehicle 10.

[0046] Furthermore, according to the first embodiment described above, process information can be acquired. Then, using the process information and the process database Db, complementary functions associated with manufacturing processes other than the manufacturing process identified by the acquired process information can be identified. This makes it possible to identify complementary functions corresponding to the manufacturing process performed on the vehicle 10.

[0047] Furthermore, according to the first embodiment described above, by acquiring process information from the remote control device 5, which is an external device, the terminal device 7 can identify the function to be complemented.

[0048] Furthermore, according to the first embodiment described above, the functions complemented by the terminal device 7 can be changed by modifying the software. In this way, by mounting one terminal device 7 on the vehicle 10, the functions to be complemented can be complemented without requiring the attachment and detachment of the terminal device 7 in multiple manufacturing processes.

[0049] B. Second Embodiment: Figure 9 shows the configuration of the imaging device 9a in the second embodiment. Figure 10 shows the configuration of the remote control device 5a in the second embodiment. Figure 11 shows the configuration of the terminal device 7a in the second embodiment. In this embodiment, a part of the remote control method differs from that of the first embodiment. As a result, a part of the configuration of the imaging device 9a, the remote control device 5a, and the terminal device 7a differs from that of the first embodiment. Steps that are the same as those in the first embodiment, and components that are the same as those in the first embodiment, are denoted by the same reference numerals and their descriptions are omitted.

[0050] As shown in Figure 9, the storage unit 93a of the imaging device 9a stores various information, including various programs that control the operation of the imaging device 9a. The CPU 92a of the imaging device 9a further includes a process identification unit 923. The process identification unit 923 identifies manufacturing processes that have already been performed on the vehicle 10 by analyzing the imaging data. For example, the process identification unit 923 identifies one manufacturing process being performed on the vehicle 10 by detecting feature points included in the imaging data that can distinguish between multiple manufacturing processes. The process identification unit 923 then determines that any manufacturing process prior to the one manufacturing process identified as being performed on the vehicle 10 is a manufacturing process that has already been performed on the vehicle 10. The process identification unit 923 then generates process information indicating the manufacturing processes that have already been performed on the vehicle 10.

[0051] As shown in Figure 10, the storage unit 53a of the remote control device 5a stores the process database Db instead of the production management information In. The CPU 52a of the remote control device 5a includes an equipment acquisition unit 521a instead of the equipment acquisition unit 521 in the first embodiment. The equipment acquisition unit 521a acquires process information. Furthermore, the CPU 52a of the remote control device 5a includes a generation unit 524 instead of the process identification unit 523 in the first embodiment. The generation unit 524 generates functional information using the process information and the process database Db. The functional information is information indicating complementary functions corresponding to the manufacturing processes already executed on the vehicle 10.

[0052] As shown in Figure 11, the storage unit 73a of the terminal device 7a stores various information, including various programs that control the operation of the terminal device 7a. The CPU 72a of the terminal device 7a includes a terminal acquisition unit 721a and a supplementary unit 723, without a function identification unit 722. The terminal acquisition unit 721a acquires function information from an external device. In this embodiment, the terminal acquisition unit 721 acquires function information from a remote control device 5a, which is an external device.

[0053] Figure 12 is a flowchart of the remote control method in the second embodiment. Figure 13 is a flowchart detailing the acquisition process (step S12) in the second embodiment. In step S121, the data acquisition unit 922 of the imaging device 9a acquires imaging data. In step S122, the process identification unit 923 uses the imaging data to identify the manufacturing process already performed on the vehicle 10. In step S123, the process identification unit 923 generates process information. In step S124, the data transmission unit 924 transmits the process information to the remote control device 5a. In step S125, the device acquisition unit 521 of the remote control device 5a acquires the process information.

[0054] As shown in Figure 12, the identification step in step S22 is performed after the acquisition step in step S12. Figure 14 is a flowchart detailing the identification step (step S22) in the second embodiment. In step S221, the device acquisition unit 521 of the remote control device 5a acquires the process database Db. In step S222, the generation unit 524 uses the process information and the process database Db to identify the function to be complemented.

[0055] As shown in Figure 12, the software modification step in step S32 is performed after the identification step in step S22. Figure 15 is a flowchart detailing the software modification step (step S32) in the second embodiment. In step S321, the generation unit 524 of the remote control device 5a generates function information. In step S322, the device transmission unit 526 transmits the function information to the terminal device 7a. In step S323, the terminal acquisition unit 721 of the terminal device 7a acquires the function information from the remote control device 5a. In step S324, the complementation unit 723 modifies the software according to the complementation target function identified by the function information.

[0056] According to the second embodiment described above, by analyzing the imaging data, it is possible to identify the manufacturing process that has already been performed on the vehicle 10 and generate process information.

[0057] Furthermore, according to the second embodiment described above, by acquiring process information from the imaging device 9a, the remote control device 5a, which acts as an external device, can identify the function to be complemented.

[0058] Furthermore, according to the second embodiment described above, the complementation unit 723 of the terminal device 7a can recognize the function to be complemented by acquiring function information from the remote control device 5. As a result, the complementation unit 723 can complement the function to be complemented identified by the function information.

[0059] C. Third Embodiment: Figure 16 shows the configuration of the remote control device 5b in the third embodiment. Figure 17 shows the configuration of the terminal device 7b in the third embodiment. In this embodiment, a part of the remote control method differs from that of the first embodiment. As a result, a part of the configuration of the remote control device 5b and the terminal device 7b differs from that of the first embodiment. The configuration of the imaging device 9 is the same as that of the first embodiment. Steps that are the same as those in the first embodiment, and components that are the same as those in the first embodiment, are denoted by the same reference numerals and their descriptions are omitted.

[0060] The storage unit 53b of the remote control device 5b shown in Figure 16 stores various information, including various programs that control the operation of the remote control device 5b. The CPU 52b of the remote control device 5b does not include a process identification unit 523 and a generation unit 524, but includes a device acquisition unit 521, a calculation unit 522, a control value creation unit 525, and a device transmission unit 526.

[0061] The memory unit 73b of the terminal device 7b shown in Figure 17 stores various information, including various programs that control the operation of the terminal device 7b. The CPU 72b of the terminal device 7b is equipped with a terminal acquisition unit 721b instead of the terminal acquisition unit 721 in the first embodiment. The terminal acquisition unit 721b acquires communication feasibility information. The communication feasibility information is information indicating whether or not communication with the functional unit 170 is possible. The communication feasibility information includes, for example, CAN data indicating whether or not signals could be sent and received between each of the ECUs included in the vehicle control device 171 and the terminal device 7b via CAN (Controller Area Network) communication. In addition, the CPU 72b of the terminal device 7b is equipped with a function identification unit 722b instead of the function identification unit 722 in the first embodiment. The function identification unit 722b identifies the function to be complemented using the acquired communication feasibility information. For example, the function identification unit 722b identifies the function of the functional unit 170 that was not able to communicate in the communication feasibility information as the function to be complemented.

[0062] Figure 18 is a flowchart of the remote control method in the third embodiment. Figure 19 is a flowchart detailing the acquisition process (step S13) in the third embodiment. In step S131, the terminal acquisition unit 721b of the terminal device 7b acquires communication availability information.

[0063] As shown in Figure 18, the identification step in step S23 is performed after the acquisition step in step S13. Figure 20 is a flowchart detailing the identification step (step S23) in the third embodiment. In step S231, the function identification unit 722b of the terminal device 7b identifies the function to be complemented using the acquired communication feasibility information.

[0064] According to the third embodiment described above, communication availability information can be obtained. Then, the function to be complemented can be identified using the communication availability information. In other words, the function to be complemented can be identified by using communication with the function unit 170.

[0065] Furthermore, according to the third embodiment described above, the terminal device 7b can acquire information for identifying the function to be complemented and identify the function to be complemented without using an external device.

[0066] D. Fourth Embodiment: Figure 21 shows the configuration of the remote control system 1c in the fourth embodiment. In the first to third embodiments, the manufacturing process already performed on the vehicle 10 was identified mechanically using either production management information In or imaging data. In contrast, in this embodiment, the manufacturing process already performed on the vehicle 10 is identified by the workers engaged in the work at each manufacturing process. Accordingly, the remote control system 1c of this embodiment further includes an input device 8. The input device 8 is a device for workers to input process information. In addition, in the first to third embodiments, the terminal devices 7, 7a, and 7b complemented the complementary function by changing the software according to the complementary function. In contrast, in this embodiment, the remote control system 1c includes a plurality of terminal devices 7c to 7e having predetermined functions, instead of the terminal devices 7, 7a, and 7b in the first to third embodiments. This allows the system to select a terminal device 7c to 7e having a complementary function corresponding to a manufacturing process already performed on the vehicle 10 from among a plurality of terminal devices 7c to 7e having one or more predetermined functions, and install it on the vehicle 10. In other words, without changing the software according to the complementary function, the system selects a terminal device 7c to 7e corresponding to the process information from among a plurality of pre-prepared terminal devices 7c to 7e and installs it on the vehicle 10. Steps identical to those in each embodiment from the first to the third embodiment, and configurations identical to those in each embodiment from the first to the third embodiment, are denoted by the same reference numerals and their descriptions are omitted.

[0067] Figure 22 shows the configuration of the remote control device 5c in the fourth embodiment. The storage unit 53c of the remote control device 5c stores various information, including various programs that control the operation of the remote control device 5c and a process database Db. The remote control device 5c further includes a notification unit 55. The notification unit 55 notifies the person performing the installation process of selection information indicating which terminal devices 7c to 7e should be installed on the vehicle 10 from among a plurality of pre-prepared terminal devices 7c to 7e. The installation process is a process of installing one or more terminal devices 7c to 7e having complementary target functions identified in a specific process, from among a plurality of terminal devices 7c to 7e having one or more predetermined functions, onto the vehicle 10. The installation process may be performed manually by a worker or automatically by a robot. When the person performing the installation process is a worker, the notification unit 55 is, for example, a display device such as a display that shows the selection information, or a speaker that plays audio indicating the selection information. If the operator performing the installation process is a robot, the notification unit 55 is, for example, a transmitting device that transmits selection information to the robot. Furthermore, the CPU 52c of the remote control device 5c includes a notification control unit 527 that controls the operation of the notification unit 55. Note that either the terminal devices 7c to 7e or the vehicle 10 may be equipped with the notification unit 55 and the notification control unit 527. If the vehicle 10 is equipped with the notification unit 55, existing equipment mounted on the vehicle 10, such as hazard lights and a horn, may be used as the notification unit 55.

[0068] Figure 23 shows the configuration of terminal devices 7c to 7e in the fourth embodiment. The storage units 73c to 73e of terminal devices 7c to 7e store various information, including various programs that control the operation of terminal devices 7c to 7e. The CPUs 72c to 72e of terminal devices 7c to 7e include terminal acquisition units 721c to 721e without a complementation unit 723. The terminal acquisition units 721c to 721e acquire various information. Each terminal device 7c to 7e may have one function or multiple functions. For example, terminal devices 7c to 7e, each having a complementary function corresponding to one of the multiple manufacturing processes executed in the manufacturing process of the vehicle 10, may be prepared for each manufacturing process.

[0069] Figure 24 is a flowchart illustrating the remote control method in the fourth embodiment. Figure 25 is a flowchart detailing the acquisition process (step S14) in the fourth embodiment. Figure 25 illustrates a case where the function to be complemented is identified by the remote control device 5c. In step S141, the input device 8 receives process information input from the worker. In step S142, the input device 8 transmits the input process information to the remote control device 5c. In step S143, the device acquisition unit 521a of the remote control device 5c acquires the process information from the input device 8.

[0070] As shown in Figure 24, following the acquisition step in step S14, the identification step in step S22 is executed. When the function to be complemented is identified by the remote control device 5c, the same process as the identification step (step S22) shown in Figure 14 is executed. As shown in Figure 24, following the identification step in step S22, the selection step in step S34 is executed. In the selection step, the notification control unit 527 notifies the person executing the installation step of the selection information via the notification unit 55. As a result, in the installation step in step S44, the person executing the installation step selects a terminal device 7c to 7e corresponding to the function to be complemented from among a plurality of pre-prepared terminal devices 7c to 7e and installs it on the vehicle 10.

[0071] The functions to be complemented may be identified by terminal devices 7c to 7e. In this case, the CPU 72c of terminal devices 7c to 7e further includes function identification units 722 and 722b. Then, in step S142 shown in Figure 25, the input device 8 transmits process information to terminal devices 7c to 7e. The device acquisition unit 521c of terminal device 7c acquires process information from the input device 8.

[0072] According to the fourth embodiment described above, one or more terminal devices 7c to 7e having one or more complementary target functions can be mounted on the vehicle 10 from among a plurality of terminal devices 7c to 7e having one or more complementary target functions, with the complementary target function identified in a specific process. In this way, the complementary target function can be complemented and the vehicle 10 can be driven in remote automatic driving mode without making any software changes to modify the functions of the terminal devices 7c to 7e. This reduces the processing load on the terminal devices 7c to 7e.

[0073] E. Other embodiments: E-1. Other Embodiments 1: The remote control method may further include the following step when, in the mounting process, terminal devices 7, 7a to 7e are mounted on the vehicle 10, and other terminal devices 7, 7a to 7e are already mounted on the vehicle 10. In this case, the remote control method may include an exclusion step of removing the terminal devices 7, 7a to 7e that have been mounted on the vehicle 10. In this configuration, the terminal devices 7, 7a to 7e that are no longer needed can be removed from the vehicle 10.

[0074] E-2. Other Embodiments 2: The remote control method may further include a determination step for determining whether or not terminal devices 7,7a to 7e should be mounted on the vehicle 10. For example, either an external device such as a remote control device 5,5a to 5c or one of the terminal devices 7,7a to 7e may be equipped with a determination unit for determining whether or not terminal devices 7,7a to 7e should be mounted on the vehicle 10. The determination unit determines whether or not terminal devices 7,7a to 7e should be mounted on the vehicle 10, for example, using the results of a specific process. Specifically, the determination unit determines that terminal devices 7,7a to 7e should not be mounted on the vehicle 10 if there are no complementary target functions identified in the specific process. On the other hand, if one or more complementary target functions are identified in the specific process, the determination unit determines that terminal devices 7,7a to 7e should be mounted on the vehicle 10. In this configuration, it is possible to determine whether or not terminal devices 7,7a to 7e should be mounted on the vehicle 10. Alternatively, the determination unit may determine whether or not terminal devices 7,7a to 7e should be mounted on the vehicle 10, for example, using process information and a process database Db. In this configuration, the remote control method can determine whether or not terminal devices 7, 7a to 7e should be mounted on the vehicle 10 without performing any specific steps.

[0075] E-3. Other Embodiments 3: The remote control method may further include both a determination step and an exclusion step. In this configuration, if other terminal devices 7c to 7e are already installed on the vehicle 10, and it is determined that terminal devices 7c to 7e should be installed, the unnecessary terminal devices 7c to 7e can be exchanged with the terminal devices 7c to 7e that should be installed.

[0076] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features of the embodiments corresponding to the technical features in each form described in the summary of the invention can be replaced or combined as appropriate in order to solve some or all of the above-described problems, or to achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate. [Explanation of symbols]

[0077] 1,1c...Remote control system, 2...Track, 5,5a~5c...Remote control device, 7,7a~7e...Terminal device, 8...Input device, 9,9a...Imaging device, 10...Vehicle, 51...Communication unit of remote control device, 52,52a~52c...CPU of remote control device, 53,53a~53c...Storage unit of remote control device, 55...Notification unit, 71...Communication unit of terminal device, 72,72a~72e...CPU of terminal device, 73,73a~73e...Storage unit of terminal device, 75...Auxiliary battery, 90...Imaging unit, 91...Communication unit of imaging device, 92,92a...CPU of imaging device, 93,93a...Storage unit of imaging device, 101...Type 1 vehicle, 102...Type 2 vehicle, 110...Drive unit 120...Steering system, 130...Brake system, 140...Chassis, 150...Wheels, 160...Vehicle body, 170...Functional unit, 171...Vehicle control device, 172...Vehicle communication unit, 173...Sub-battery, 521, 521a, 521c...Device acquisition unit, 522...Calculation unit, 523, 923...Process identification unit, 524...Generation unit, 525...Control value creation unit, 526...Device transmission unit, 527...Notification control unit, 721, 721a~721e...Terminal acquisition unit, 722, 722b...Function identification unit, 723...Complementary unit, 921...Imaging control unit, 922...Data acquisition unit, 924...Data transmission unit, Db...Process database, In...Production management information, Nt...Network, RG...Imaging range

Claims

1. A terminal device used for remotely controlling the driving operation of a vehicle, The vehicle travels remotely within a factory where multiple manufacturing processes are carried out to produce the vehicle. The vehicle is equipped with a functional unit that realizes the multiple functions necessary for the remote control, in one of the multiple manufacturing processes. The aforementioned terminal device is A complementary function identified using at least one of the following pieces of information: process information indicating the manufacturing process performed on the vehicle, and communication feasibility information indicating whether or not communication with the functional unit is possible, wherein the complementary function is one of the plurality of functions necessary for remote control that cannot be realized by the functional unit mounted on the vehicle, and the complementary unit complements this complementary function. A terminal acquisition unit that acquires the aforementioned process information, A terminal device comprising: an identification unit that identifies the complementary target function corresponding to the manufacturing process performed on the vehicle by using the acquired process information and a process database indicating the complementary target function required for each of the plurality of manufacturing processes to identify the complementary target function associated with the manufacturing process other than the manufacturing process identified by the acquired process information.

2. A terminal device used for remotely controlling the driving operation of a vehicle, The vehicle travels remotely within a factory where multiple manufacturing processes are carried out to produce the vehicle. The vehicle is equipped with a functional unit that realizes the multiple functions necessary for the remote control, in one of the multiple manufacturing processes. The aforementioned terminal device is A complementary function identified using at least one of the following pieces of information: process information indicating the manufacturing process performed on the vehicle, and communication feasibility information indicating whether or not communication with the functional unit is possible, wherein the complementary function is one of the plurality of functions necessary for remote control that cannot be realized by the functional unit mounted on the vehicle, and the complementary unit complements this complementary function. A terminal acquisition unit that acquires the aforementioned communication feasibility information, A terminal device comprising: an identification unit that identifies the complementary function using the acquired communication feasibility information.

3. A remote control system for remotely controlling the driving motion of a vehicle, The aforementioned vehicle and, An external device installed in a location different from the aforementioned vehicle, The terminal device is as described in claim 1, The vehicle is equipped with a functional unit that realizes the multiple functions necessary for the remote control, in one of the multiple manufacturing processes. The external device is, A device acquisition unit that acquires process information indicating the manufacturing process performed on the vehicle, A generation unit generates function information indicating the complementary function corresponding to the manufacturing process performed on the vehicle, by using the acquired process information and a process database indicating the complementary function required for each of the multiple manufacturing processes, and by identifying the complementary function associated with the manufacturing process other than the manufacturing process identified by the acquired process information. A remote control system comprising a transmitting unit that transmits the aforementioned functional information to the vehicle.

4. A remote control method for remotely controlling the driving operation of a vehicle, The vehicle travels remotely within a factory where multiple manufacturing processes are carried out to produce the vehicle. The vehicle is equipped with a functional unit that realizes the multiple functions necessary for the remote control, in one of the multiple manufacturing processes. The remote control method is, An acquisition step that acquires at least one of the following: process information indicating the manufacturing process performed on the vehicle, and communication feasibility information indicating whether or not communication with the functional unit is possible. A selection step to identify a complementary function, which is one of the multiple functions necessary for the remote control, that is identified using the information acquired in the acquisition step, and which is one of the multiple functions necessary for the remote control that cannot be realized by the functional unit mounted on the vehicle; A remote control method comprising: a mounting step of mounting one or more terminal devices having the complementary target function, selected from among a plurality of terminal devices having one or more of the complementary target function, onto the vehicle, as specified in the specific step.

5. The remote control method according to claim 4, further, A remote control method comprising a determination step of determining whether or not the terminal device should be mounted on the vehicle.

6. The remote control method according to claim 4, further, A remote control method comprising an exclusion step of removing the terminal device mounted on the vehicle from the vehicle.

7. A remote control method according to claim 4, A remote control method comprising: a first type of vehicle in the form of a platform having at least wheels, a chassis, a drive unit for accelerating the vehicle, a steering unit for changing the direction of travel of the vehicle, and a braking unit for decelerating the vehicle; and a second type of vehicle in which at least a vehicle body is attached to the first type of vehicle.

8. A remote control method for remotely controlling the driving operation of a vehicle, The vehicle travels remotely within a factory where multiple manufacturing processes are carried out to produce the vehicle. The vehicle is equipped with a functional unit that realizes the multiple functions necessary for the remote control, in one of the multiple manufacturing processes. The remote control method is, A mounting step of mounting a terminal device on the vehicle having a complementary function identified using at least one of the following pieces of information: process information indicating the manufacturing process performed on the vehicle and communication feasibility information indicating whether or not communication with the functional unit is possible, wherein the complementary function is one of the plurality of functions necessary for remote control that cannot be realized by the functional unit mounted on the vehicle; A terminal acquisition step for acquiring the aforementioned process information, A process for identifying the complementary function corresponding to the manufacturing process performed on the vehicle, by using the acquired process information and a process database indicating the complementary function required for each of the multiple manufacturing processes, to identify the complementary function associated with the manufacturing process other than the manufacturing process identified by the acquired process information, A remote control method comprising:

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