Control device, control system, and control method

Abstract

To provide a technology capable of controlling a movable body in an autonomous-running production.SOLUTION: A control device that controls the motion of a movable object that can move by an unmanned driving includes: an obtaining unit that obtains process information representing a manufacturing process being executed on the movable body; an identifying unit that identifies in which movement mode the movable body is caused to move between an engine movement mode to move the movable body using an engine and a motor movement mode to move the movable body using a motor with reference to the process information; and a control unit that causes the movable body to move in accordance with the identified movement mode.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] Conventionally, vehicles that travel within a manufacturing system for producing vehicles are known, which travel autonomously or under remote control (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In autonomous production of vehicles that utilizes the running of vehicles by autonomous driving, hybrid vehicles that include an engine and a motor as driving power sources may be produced. However, a control method for hybrid vehicles during autonomous production has not yet been proposed. Such problems are common not only to hybrid vehicles but also to hybrid-type moving bodies that include a motor and an engine as driving power sources.

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 control device is provided. The control device for controlling the operation of a mobile body that can be moved by unmanned operation includes: an acquisition unit that acquires process information indicating a manufacturing process being performed on the mobile body; an identification unit that uses the process information to identify which of the following movement modes—an engine movement mode using an engine and a motor movement mode using a motor—the mobile body should be moved by; and a control unit that moves the mobile body according to the identified movement mode. According to this embodiment, the control device can use the process information to identify which of the engine movement mode and motor movement mode the mobile body should be moved by. The control device can then move the mobile body according to the identified movement mode. Thus, in the process of producing a hybrid mobile body equipped with an engine and a motor by self-propelled production, the control device can control the operation of the hybrid mobile body according to the manufacturing process. (2) In the above configuration, if it is assumed that a predetermined number of people or more are present within a predetermined distance range from the mobile body in the manufacturing process specified by the process information, the specification unit may specify that the mobile body be moved by the motor movement mode. In this configuration, if it is assumed that a predetermined number of people or more are present within a predetermined distance range from the mobile body in the manufacturing process specified by the process information, the control device can move the mobile body by the motor movement mode. In this way, when workers engaged in the manufacture of the mobile body work around the mobile body, deterioration of the working environment due to exhaust gas can be suppressed. (3) In the above configuration, if it is assumed that fewer than a predetermined number of people are present within a predetermined distance range from the moving body in the manufacturing process specified by the process information, the identification unit may specify that the moving body be moved by the engine movement mode. In this configuration, if it is assumed that fewer than a predetermined number of people are present within a predetermined distance range from the moving body in the manufacturing process specified by the process information, the control device can move the moving body by the engine movement mode. In this way, the moving body can be moved without affecting the state of the battery that supplies power to the motor, while suppressing the consumption of battery power. (4) In the above configuration, if the manufacturing process specified by the process information is a manufacturing process that is performed before the manufacturing process in which the exhaust gas treatment device is mounted on the mobile body, the specification unit may specify that the mobile body be moved by the motor movement mode. In this configuration, if the manufacturing process specified by the process information is a manufacturing process that is performed before the manufacturing process in which the exhaust gas treatment device is mounted on the mobile body, the control device can move the mobile body by the motor movement mode. In this way, since the exhaust gas cannot be treated using the exhaust gas treatment device, deterioration of the working environment due to exhaust gas can be suppressed. (5) In the above configuration, if the manufacturing process specified by the process information is a manufacturing process that is performed after the manufacturing process in which the exhaust gas treatment device is mounted on the mobile body, the specification unit may specify that the mobile body be moved by the engine movement mode. In this configuration, if the manufacturing process specified by the process information is a manufacturing process that is performed after the manufacturing process in which the exhaust gas treatment device is mounted on the mobile body, the control device can move the mobile body by the engine movement mode. In this way, the mobile body can be moved without affecting the state of the battery that supplies power to the motor, while suppressing the consumption of battery power. (6) In the above configuration, if the target value of the moving speed of the moving body in the manufacturing process specified by the process information is less than a predetermined speed, the specification unit may specify that the moving body be moved by the motor movement mode. In this configuration, if the target value of the moving speed of the moving body in the manufacturing process specified by the process information is less than a predetermined speed, the control device can move the moving body by the motor movement mode. In this way, if the manufacturing process being performed on the moving body is a manufacturing process that requires more precise speed control, the control device can move the moving body by the motor movement mode. (7) In the above configuration, if the target value of the moving speed of the moving body in the manufacturing process specified by the process information is equal to or greater than a predetermined speed, the specification unit may specify that the moving body be moved by the engine movement mode. In this configuration, if the target value of the moving speed of the moving body in the manufacturing process specified by the process information is equal to or greater than a predetermined speed, the control device can move the moving body by the engine movement mode. In this way, if the manufacturing process being performed on the moving body is a manufacturing process that does not require precise speed control, the control device can move the moving body without affecting the state of the battery supplying power to the motor and while suppressing the consumption of battery power. (8) In the above configuration, if the manufacturing process specified by the process information is a manufacturing process that requires the engine to be driven, the specification unit may specify that the mobile body be moved by the engine movement mode. In this configuration, if the manufacturing process specified by the process information is a manufacturing process that requires the engine to be driven, the control device can move the mobile body by the engine movement mode. (9) In the above configuration, the manufacturing process requiring the engine to be driven may be at least one of the following: an engine inspection process for inspecting the function of the engine; a pre-treatment process for performing pre-treatment to correctly evaluate the function of the engine in the engine inspection process; an exhaust gas treatment device inspection process for inspecting the function of the exhaust gas treatment device; and a liquid leak inspection process for inspecting liquid leaks caused by the engine's operation. In this configuration, if the manufacturing process specified by the process information is at least one of the engine inspection process, the pre-treatment process, the treatment device inspection process, and the liquid leak inspection process, the control device can move the moving body by the engine movement mode. (10) A second embodiment of the present disclosure provides a control system. The control system comprises a mobile body that can be moved by unmanned operation; an acquisition unit that acquires process information indicating a manufacturing process being performed on the mobile body; an identification unit that uses the process information to identify which of the following movement modes—an engine movement mode using an engine and a motor movement mode using a motor—should move the mobile body; and a control unit that moves the mobile body according to the identified movement mode. In this embodiment, the control system can use the process information to identify which of the engine movement mode and motor movement mode should move the mobile body. The control system can then move the mobile body according to the identified movement mode. Thus, the control system can control the operation of a hybrid mobile body equipped with an engine and a motor according to the manufacturing process in the process of producing a hybrid mobile body by self-propelled production. (11) A third embodiment of the present disclosure provides a control method. The control method for controlling the operation of a mobile body that can be moved by unmanned operation comprises: an acquisition step of acquiring process information indicating a manufacturing process being performed on the mobile body; an identification step of using the process information to identify which of the following movement modes—an engine movement mode using an engine and a motor movement mode using a motor—will move the mobile body; and a control step of moving the mobile body according to the identified movement mode. According to this embodiment, it is possible to identify which of the engine movement mode and the motor movement mode will move the mobile body using the process information. The mobile body can then be moved according to the identified movement mode. Thus, in the process of producing a hybrid mobile body equipped with an engine and a motor by self-propelled production, the operation of the hybrid mobile body can be controlled according to the manufacturing process. This disclosure can be implemented in various forms other than the control device, control system, and control method described above. For example, it can be implemented in the form of a method for manufacturing the control device and control system, a method for controlling the control device and 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 conceptual diagram showing the configuration of the control system in the first embodiment. [Figure 2] A block diagram showing the configuration of the control system in the first embodiment. [Figure 3] A diagram showing the detailed configuration of the vehicle in the first embodiment. [Figure 4] A flowchart illustrating the processing procedure for vehicle driving control in the first embodiment. [Figure 5] A flowchart illustrating the control method for a vehicle during self-propelled production in the first embodiment. [Figure 6] A block diagram showing the configuration of the control system in the second embodiment. [Figure 7]A flowchart illustrating the control method for a vehicle during self-propelled production in the second embodiment. [Figure 8] A block diagram showing the configuration of the control system in the third embodiment. [Figure 9] A flowchart illustrating the control method for a vehicle during self-propelled production in the third embodiment. [Figure 10] A block diagram showing the configuration of the control system in the fourth embodiment. [Figure 11] A flowchart illustrating the control method for a vehicle during self-propelled production in the fourth embodiment. [Figure 12] An explanatory diagram showing the schematic configuration of the control system in the fifth embodiment. [Figure 13] A flowchart illustrating the processing procedure for vehicle driving control in the second embodiment. [Figure 14] A flowchart illustrating the control method for a vehicle during self-propelled production in the fifth embodiment. [Modes for carrying out the invention]

[0008] A. First Embodiment: Figure 1 is a conceptual diagram showing the configuration of the control system 50 in the first embodiment. The control system 50 is a system that controls the operation of a hybrid mobile body equipped with an engine and a motor as driving power sources during the process of producing the hybrid mobile body by self-propelled production. "Self-propelled production" is a production method that produces mobile bodies using "self-propelled transport," which transports the mobile bodies using the movement of the mobile bodies by unmanned operation. In self-propelled transport, for example, at least a part of the transport of the mobile bodies is realized by self-propelled transport in a factory fuel cell (FC) that manufactures the mobile bodies. The configuration for realizing self-propelled transport is also called a "vehicle remote control autonomous driving transport system."

[0009] The control system 50 includes one or more hybrid vehicles 100 as hybrid-type moving bodies, a server 200, and one or more external sensors 300. The hybrid vehicle 100 is an automobile that travels by the driving force of at least one of an engine and a motor. In the present embodiment, the hybrid vehicle 100 is a plug-in hybrid electric vehicle (PHEV) that can charge a main battery that supplies power to the motor with power from an external power source. The hybrid vehicle 100 has an engine moving mode in which it moves using the engine and a motor moving mode in which it moves using the motor. The motor moving mode includes a "full motor moving mode" in which the motor is used as a driving force source with the engine stopped and a "hybrid moving mode" in which the engine and the motor are used as driving force sources. Hereinafter, the hybrid vehicle 100 will be simply referred to as the "vehicle 100".

[0010] In the present disclosure, a "moving body" means an object that can move, and for example, a vehicle or an electric vertical takeoff and landing aircraft (so-called flying car). The vehicle may be a vehicle that travels by wheels or a vehicle that travels by an endless track, and examples thereof include a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, a construction vehicle, and the like. When the moving body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "moving body", and the expression "travel" can be appropriately replaced with "move".

[0011] Vehicle 100 is configured to be capable of traveling by autonomous driving. "Autonomous driving" means driving without relying on the driving operations of passengers. Driving operations refer to operations related to at least any one of "driving", "turning", and "stopping" of vehicle 100. Autonomous driving is realized by automatic or manual remote control using a device located outside vehicle 100, or by the autonomous control of vehicle 100. A passenger who does not perform driving operations may board vehicle 100 while it is traveling by autonomous driving. Passengers who do not perform driving operations include, for example, a person simply sitting on the seat of vehicle 100, or a person performing work different from driving operations, such as assembly, inspection, and operation of switches, while boarding vehicle 100. Note that driving by the driving operations of passengers is sometimes referred to as "human driving".

[0012] In this specification, "remote control" includes "full remote control" in which all the operations of vehicle 100 are completely determined from outside vehicle 100, and "partial remote control" in which a part of the operations of vehicle 100 is determined from outside vehicle 100. Also, "autonomous control" includes "full autonomous control" in which vehicle 100 autonomously controls its own operations without receiving any information from a device outside vehicle 100, and "partial autonomous control" in which vehicle 100 autonomously controls its own operations using the information received from a device outside vehicle 100.

[0013] The control system 50 is used in the factory FC where vehicle 100 is manufactured. The reference coordinate system of factory FC is the global coordinate system GC, and any position within factory FC can be expressed by the coordinates of X, Y, and Z in the global coordinate system GC. Factory FC includes a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a runway TR on which vehicle 100 can travel. A plurality of external sensors 300 are installed along the runway TR in factory FC. The positions of each external sensor 300 in factory FC are adjusted in advance. Vehicle 100 moves from the first location PL1 to the second location PL2 through the runway TR by autonomous driving.

[0014] Figure 2 is a block diagram showing the configuration of the control system 50 in the first embodiment. The vehicle 100 includes a vehicle control device 110 for controlling various parts of the vehicle 100, an actuator group 120 including one or more actuators driven under the control of the vehicle control device 110, and a communication device 130 for communicating wirelessly with an external device such as a server 200. The actuator group 120 includes an actuator for a drive system to accelerate the vehicle 100, an actuator for a steering system to change the direction of travel of the vehicle 100, and an actuator for a braking system to decelerate the vehicle 100.

[0015] Figure 3 shows the detailed configuration of the vehicle 100 in the first embodiment. The vehicle 100 includes an engine 151, a fuel tank 152, a fuel pump 153, a fuel supply pipe 154, and an exhaust gas treatment device 155.

[0016] Engine 151 is an internal combustion engine that uses gasoline or the like as fuel. Engine 151 is the first power source of vehicle 100. The power generated by engine 151 is transmitted to the wheels 157 via a reduction gear 156. Fuel tank 152 stores fuel. Fuel pump 153 draws fuel from fuel tank 152 and supplies it to engine 151 via fuel supply pipe 154.

[0017] The exhaust gas treatment device 155 is a device that treats the exhaust gas generated by the operation of the engine 151. The exhaust gas treatment device 155 is, for example, an EGR (Exhaust Gas Recirculation) device that takes in a portion of the exhaust gas from the exhaust passage and recirculates it to the intake passage.

[0018] The vehicle 100 further includes a power split mechanism 160, a first motor 161 and a second motor 162 as an electric generator, a main battery 163, a charger 164, a vehicle-side connector 165, an inverter 166, and a first converter 167.

[0019] The power split mechanism 160 distributes the driving force generated from the engine 151 to the output shaft 168 and the first motor 161. The power split mechanism 160 is, for example, a planetary gear mechanism including a sun gear, pinion gear, carrier, and ring gear.

[0020] The first motor 161 generates driving force using at least one of the power stored in the main battery 163 and the power generated by the second motor 162. The first motor 161 is the second driving force source of the vehicle 100. The driving force generated by the first motor 161 is transmitted to the wheels 157 via the reduction gear 156. When the vehicle 100 is braked, the first motor 161 is driven by the wheels 157 via the reduction gear 156. As a result, the first motor 161 performs regenerative power generation.

[0021] The second motor 162 generates electricity using the driving force of the engine 151, which has been split by the power split mechanism 160. The electricity generated by the second motor 162 using the driving force of the engine 151 is used to charge the main battery 163 or to drive the first motor 161.

[0022] The main battery 163 powers the first motor 161. Furthermore, the main battery 163 supplies power to the auxiliary battery 171. The main battery 163 is a rechargeable battery capable of repeated charging and discharging. The main battery 163 is, for example, a lithium-ion battery.

[0023] The charger 164 converts the alternating current supplied from an external power source 900, such as a commercial power supply, into a direct current and outputs it to the main battery 163. The charger 164 controls the amount of power charged to the main battery 163 according to a control signal from the hybrid ECU 110c, which will be described later.

[0024] The vehicle-side connector 165 is a connecting member for connecting the charger 164 to an external power supply 900. The vehicle-side connector 165 is connected to the charger 164 and is configured to be connectable to a power supply-side connector 957 which is connected to the external power supply 900.

[0025] The inverter 166 controls the current by converting between the DC current of the main battery 163 and the AC current of the first motor 161 and the second motor 162.

[0026] The first converter 167 performs power conversion between the main battery 163 and the inverter 166. Specifically, the first converter 167 boosts the output voltage of the main battery 163 and supplies the boosted power to the first motor 161. Furthermore, the first converter 167 steps down the voltage of the power generated by the first motor 161 and the second motor 162 and supplies the stepped-down power to the main battery 163. The first converter 167 is connected between the main battery 163 and the inverter 166.

[0027] The vehicle 100 further includes an auxiliary battery 171, one or more auxiliary devices 172, and a second converter 173.

[0028] The auxiliary battery 171 supplies power to one or more auxiliary devices 172 installed in the vehicle 100 via the auxiliary power line 174. The auxiliary devices 172 are electrical devices that operate using the output power of the auxiliary battery 171. Examples of auxiliary devices 172 include interior lights and car navigation systems. The output voltage of the auxiliary battery 171 is lower than the output voltage of the main battery 163. The auxiliary battery 171 is charged by receiving power from the main battery 163 via the second converter 173.

[0029] The second converter 173 is a step-down DC / DC converter that steps down the voltage of the output power of the main battery 163 and supplies the stepped-down power to the auxiliary battery 171. The second converter 173 is connected between the main battery 163 and the auxiliary battery 171.

[0030] Vehicle 100 further comprises an engine ECU 110a, a motor ECU 110b, and a hybrid ECU 110c.

[0031] The engine ECU 110a controls the operation of the engine 151. The motor ECU 110b controls the operation of the first motor 161, the second motor 162, and the inverter 166, as well as the charging and discharging state of the main battery 163. The hybrid ECU 110c controls the entire vehicle 100 by mutually managing and controlling the engine ECU 110a and the motor ECU 110b, etc. Although Figure 3 shows each ECU 110a to 110c as a separate configuration, two or more ECUs 110a to 110c may be integrated into a single vehicle control device 110. In this embodiment, each ECU 110a to 110c is not distinguished, and they are described as an integrated vehicle control device 110.

[0032] As shown in Figure 2, the vehicle control device 110 is composed of a computer comprising a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected via the internal bus 114 to enable bidirectional communication. The input / output interface 113 is connected to an actuator group 120 and a communication device 130. The processor 111 implements various functions, including those of a vehicle control unit 115, by executing a program PG1 stored in the memory 112.

[0033] The vehicle control unit 115 drives the vehicle 100 by controlling the actuator group 120. The vehicle control unit 115 can drive the vehicle 100 by controlling the actuator group 120 using the driving control signal received from the server 200. The driving control signal is a control signal for driving the vehicle 100. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the driving control signal may include the speed of the vehicle 100 as a parameter instead of, or in addition to, the acceleration of the vehicle 100.

[0034] Server 200 functions as a control device 20 that controls the operation of vehicle 100 during the process of producing vehicle 100 by self-propelled production. Server 200 is composed of a computer comprising a processor 201, memory 202, input / output interface 203, and internal bus 204. The processor 201, memory 202, and input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 for communicating with various devices outside of server 200 is connected to the input / output interface 203. The communication device 205 can communicate with vehicle 100 by wireless communication and can communicate with each external sensor 300 by wired or wireless communication. By executing the program PG2 stored in memory 202, the processor 201 realizes various functions, including those of an acquisition unit 211, a identification unit 212, and a remote control unit 213.

[0035] The acquisition unit 211 acquires process information indicating the manufacturing process being executed on the vehicle 100. The process information is, for example, a process ID indicating the manufacturing process being executed on the vehicle 100. The process ID is an identifier assigned to each manufacturing process so as not to overlap among multiple manufacturing processes. The process information is generated, for example, by detecting feature points that can identify multiple manufacturing processes from an image of the vehicle 100 and identifying the manufacturing process being executed on the vehicle 100. The process information may also be generated by using manufacturing management information indicating the manufacturing status of each vehicle 100 in the factory FC to identify the manufacturing process being executed on the vehicle 100.

[0036] The identification unit 212 uses process information to determine whether the vehicle 100 will be moved by engine movement mode or motor movement mode. For example, the identification unit 212 obtains the movement mode associated with the manufacturing process identified by the process information from the mode database DB to determine whether the vehicle 100 will be moved by engine movement mode or motor movement mode. The mode database DB is a database that associates the movement mode that the vehicle 100 should take with each manufacturing process, from engine movement mode to motor movement mode.

[0037] For example, in a manufacturing process where a predetermined number of workers are located within a predetermined distance range from vehicle 100, moving vehicle 100 using engine movement mode may worsen the working environment due to exhaust fumes. Therefore, in a manufacturing process identified by process information, if it is assumed that a predetermined number of people are located within a predetermined distance range from vehicle 100, the identification unit 212 identifies that vehicle 100 should be moved using motor movement mode.

[0038] However, in motor-driven mode, the power of the main battery 163 is consumed, or the main battery 163 is depleted. In contrast, in engine-driven mode, the vehicle 100 can be moved without affecting the state of the main battery 163, and with reduced power consumption of the main battery 163, by refueling the consumed fuel. Therefore, in a manufacturing process identified by process information, if it is assumed that there are fewer than a predetermined number of people within a predetermined distance range from the vehicle 100, the identification unit 212 determines that the vehicle 100 should be moved in engine-driven mode.

[0039] In this embodiment, the memory 202 of the server 200 has a first mode database DB1 pre-stored as a mode database DB. In the first mode database DB1, a motor movement mode is associated with manufacturing processes where there are more than a predetermined number of workers within a predetermined distance range from the vehicle 100. In the first mode database DB1, an engine movement mode is associated with manufacturing processes where there are fewer than a predetermined number of workers within a predetermined distance range from the vehicle 100. The identification unit 212 obtains the movement mode associated with the manufacturing process identified by the process information in the first mode database DB1, and then determines whether to move the vehicle 100 using the engine movement mode or the motor movement mode.

[0040] The remote control unit 213 moves the vehicle 100 according to a specified movement mode. The remote control unit 213 acquires detection results from sensors, generates a driving control signal to control the actuator group 120 of the vehicle 100 using the detection results, and transmits the driving control signal to the vehicle 100, thereby driving the vehicle 100 by remote control. In addition to the driving control signal, the remote control unit 213 may also generate and output control signals to control various auxiliary equipment 172 provided on the vehicle 100, such as actuators that operate various equipment such as wipers, power windows, and lamps. In other words, the remote control unit 213 may operate these various equipment and various auxiliary equipment 172 by remote control.

[0041] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that detects the vehicle 100 from outside the vehicle 100. The external sensor 300 is equipped with a communication device (not shown) and can communicate with other devices such as the server 200 via wired or wireless communication.

[0042] Specifically, the external sensor 300 is comprised of a camera. The camera, acting as the external sensor 300, captures images of the vehicle 100 and outputs the captured images as detection results.

[0043] Figure 4 is a flowchart showing the processing procedure for vehicle 100 driving control in the first embodiment. In the processing procedure shown in Figure 4, the processor 201 of the server 200 functions as an acquisition unit 211, a identification unit 212, and a remote control unit 213 by executing the program PG2. The processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing the program PG1.

[0044] In step S1, the processor 201 of the server 200 acquires vehicle position information using the detection results output from the external sensor 300. The vehicle position information is the position information that forms the basis for generating the driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S1, the processor 201 acquires vehicle position information using the captured image acquired from the camera, which is the external sensor 300.

[0045] In detail, in step S1, the processor 201 detects the outline of the vehicle 100 from the captured image, calculates the coordinates of the vehicle 100's positioning point in the coordinate system of the captured image, i.e., the local coordinate system, and obtains the position of the vehicle 100 by converting the calculated coordinates to coordinates in the global coordinate system GC. The outline of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, within or outside the control system 50 and pre-stored in the memory 202 of the server 200. Examples of the detection model DM include a pre-trained machine learning model that has been trained to implement either semantic segmentation or instance segmentation. As this machine learning model, for example, a convolutional neural network (CNN) trained by supervised learning using a training dataset can be used. The training dataset includes, for example, multiple training images containing vehicle 100, and labels indicating whether each region in the training images represents vehicle 100 or something other than vehicle 100. During CNN training, it is preferable to update the CNN parameters using backpropagation to reduce the error between the output result of the detection model DM and the labels. Furthermore, the processor 201 can obtain the orientation of vehicle 100 by, for example, using the optical flow method, estimating it based on the direction of the vehicle 100's movement vector calculated from the positional changes of the vehicle 100's feature points between frames of the captured images.

[0046] In step S2, the processor 201 of the server 200 determines the next target location that the vehicle 100 should head to. In this embodiment, the target location is represented by X, Y, Z coordinates in the global coordinate system GC. The memory 202 of the server 200 pre-stores a reference route RR, which is the path that the vehicle 100 should travel. The route is represented by a node indicating the starting point, nodes indicating waypoints, a node indicating the destination, and links connecting each node. The processor 201 uses the vehicle position information and the reference route RR to determine the next target location that the vehicle 100 should head to. The processor 201 determines the target location on the reference route RR beyond the vehicle 100's current location.

[0047] In step S3, the processor 201 of the server 200 generates a driving control signal to drive the vehicle 100 toward the determined target position. The processor 201 calculates the vehicle's speed from the change in the vehicle's position and compares the calculated speed with the target speed. Overall, the processor 201 determines the acceleration so that the vehicle 100 accelerates if the speed is lower than the target speed, and determines the acceleration so that the vehicle 100 decelerates if the speed is higher than the target speed. Furthermore, if the vehicle 100 is located on the reference path RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the reference path RR, and if the vehicle 100 is not located on the reference path RR, in other words, if the vehicle 100 has deviated from the reference path RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 returns to the reference path RR.

[0048] In step S4, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats the acquisition of vehicle position information, determination of target position, generation of driving control signal, and transmission of driving control signal at predetermined intervals.

[0049] In step S5, the processor 111 of the vehicle 100 receives a driving control signal transmitted from the server 200. In step S6, the processor 111 of the vehicle 100 controls the actuator group 120 using the received driving control signal, thereby driving the vehicle 100 at the acceleration and steering angle indicated in the driving control signal. The processor 111 repeats the reception of the driving control signal and the control of the actuator group 120 at predetermined intervals. According to the control system 50 in this embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using transport equipment such as cranes or conveyors.

[0050] Figure 5 is a flowchart showing the control method for the vehicle 100 during self-propelled production in the first embodiment. The flow shown in Figure 5 is executed repeatedly at predetermined intervals, for example, during the period in which control by unmanned operation is being performed.

[0051] In step S101, the remote control unit 213 of the server 200 transmits an image request signal to the external sensor 300, which is scheduled to include the vehicle 100 in its detection range, to acquire an image. Upon receiving the image request signal, the external sensor 300 transmits the image to the server 200 in step S102.

[0052] If the server 200 acquires an image (step S103: Yes), in step S104, the remote control unit 213 of the server 200 acquires vehicle position information using the detection result output from the external sensor 300. In step S105, the acquisition unit 211 acquires process information. In step S106, the identification unit 212 uses the process information to determine whether to move the vehicle 100 using the engine movement mode or the motor movement mode. If, in the manufacturing process identified by the process information, it is assumed that there are more than a predetermined number of people within a predetermined distance range from the vehicle 100 (step S106: Yes), the identification unit 212 executes step S107. In step S107, the identification unit 212 determines that the vehicle 100 will be moved using the motor movement mode. In the manufacturing process identified by the process information, if it is assumed that there are fewer than a predetermined number of people within a predetermined distance range from the vehicle 100 (step S106: No), the identification unit 212 executes step S108. In step S108, the identification unit 212 determines that the vehicle 100 should be moved by the engine movement mode. In step S109, the remote control unit 213 uses the vehicle position information and the reference path RR to determine the next target location to which the vehicle 100 should go. In step S110, the remote control unit 213 generates a driving control signal to drive the vehicle 100 toward the determined target location by the identified movement mode. In step S111, the remote control unit 213 transmits the generated driving control signal to the vehicle 100.

[0053] In step S112, the vehicle control unit 115 of the vehicle control device 110 controls the actuator group 120 using the received driving control signal, thereby causing the vehicle 100 to travel at the acceleration and steering angle indicated in the driving control signal.

[0054] According to the first embodiment described above, the server 200 can use process information to determine whether to move the vehicle 100 using the engine movement mode or the motor movement mode. The server 200 can then move the vehicle 100 using the determined movement mode. In this way, the server 200 can control the operation of the hybrid vehicle 100 according to the manufacturing process during the process of producing the hybrid vehicle 100 by self-propelled production.

[0055] Furthermore, according to the first embodiment described above, if it is assumed that there are fewer than a predetermined number of people within a predetermined distance range from the vehicle 100 in a manufacturing process identified by process information, the server 200 can perform the following processing. In this case, the server 200 can determine that the vehicle 100 should be moved by engine movement mode. In this way, the vehicle 100 can be moved without affecting the state of the main battery 163 and while suppressing the power consumption of the main battery 163.

[0056] Furthermore, according to the first embodiment described above, if it is assumed that a predetermined number of people or more are present within a predetermined distance range from the vehicle 100 in a manufacturing process identified by process information, the server 200 can perform the following processing. In this case, the server 200 can determine that the vehicle 100 should be moved by motor movement mode. This makes it possible to suppress deterioration of the working environment due to exhaust gas when workers engaged in the manufacture of the vehicle 100 are working around the vehicle 100.

[0057] Furthermore, if the manufacturing process identified by the process information is a manufacturing process performed indoors, the identification unit 212 may specify that the vehicle 100 be moved by motor movement mode. In this case, the deterioration of the working environment due to exhaust gases when workers are working around the vehicle 100 can be further suppressed.

[0058] B. Second Embodiment: Figure 6 is a block diagram showing the configuration of the control system 50a in the second embodiment. The control system 50a comprises one or more vehicles 100, one or more external sensors 300, and a server 200a that functions as a control device 20a. In this embodiment, a part of the control method for the vehicles 100 during self-propelled production differs from that of the first embodiment. The other configurations of the control system 50a are the same as in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0059] Server 200a is composed of a computer comprising a processor 201a, memory 202a, input / output interface 203, and internal bus 204. By executing program PG2a stored in memory 202a, processor 201a realizes various functions, including those of an acquisition unit 211, a identification unit 212a, and a remote control unit 213.

[0060] If the manufacturing process being performed on vehicle 100 is a manufacturing process prior to the manufacturing process in which the exhaust gas treatment device 155 is installed on vehicle 100, moving vehicle 100 by engine movement mode may worsen the working environment due to exhaust gas. Therefore, if the manufacturing process identified by the process information is a manufacturing process performed before the manufacturing process in which the exhaust gas treatment device 155 is installed on vehicle 100, the identification unit 212a identifies that vehicle 100 should be moved by motor movement mode. If the manufacturing process identified by the process information is a manufacturing process in which the exhaust gas treatment device 155 is installed on vehicle 100, the identification unit 212a identifies that vehicle 100 should be moved by motor movement mode. If the manufacturing process identified by the process information is a manufacturing process performed after the manufacturing process in which the exhaust gas treatment device 155 is installed on vehicle 100, the identification unit 212a identifies that vehicle 100 should be moved by engine movement mode.

[0061] In this embodiment, the memory 202a of the server 200a has a second mode database DB2 pre-stored as a mode database DB. In the second mode database DB2, the motor movement mode is associated with manufacturing processes that are executed before the manufacturing process in which the exhaust gas treatment device 155 is installed on the vehicle 100. In the second mode database DB2, the motor movement mode is associated with the manufacturing process in which the exhaust gas treatment device 155 is installed on the vehicle 100. In the second mode database DB2, the engine movement mode is associated with manufacturing processes that are executed after the manufacturing process in which the exhaust gas treatment device 155 is installed on the vehicle 100. The identification unit 212a obtains the movement mode associated with the manufacturing process identified by the process information in the second mode database DB2, and then determines whether to move the vehicle 100 using the engine movement mode or the motor movement mode.

[0062] Figure 7 is a flowchart showing the control method for the vehicle 100 during self-propelled production in the second embodiment. The flow shown in Figure 7 is executed repeatedly at predetermined intervals, for example, during the period in which control by unmanned operation is being performed.

[0063] In step S201, the remote control unit 213 of the server 200a sends an image request signal to the external sensor 300, which is scheduled to include the vehicle 100 in its detection range, to acquire an image. Upon receiving the image request signal, the external sensor 300 sends the image to the server 200a in step S202.

[0064] If the server 200a acquires an image (step S203: Yes), in step S204, the remote control unit 213 of the server 200a acquires vehicle position information using the detection result output from the external sensor 300. In step S205, the acquisition unit 211 acquires process information. In step S206, the identification unit 212a uses the process information to determine whether to move the vehicle 100 using the engine movement mode or the motor movement mode. If the manufacturing process identified by the process information is a manufacturing process that is performed before the manufacturing process in which the exhaust gas treatment device 155 is installed on the vehicle 100 (step S206: Yes), the identification unit 212a executes step S207. In step S207, the identification unit 212a determines that the vehicle 100 will be moved using the motor movement mode. If the manufacturing process identified by the process information is a manufacturing process that is executed after the manufacturing process in which the exhaust gas treatment device 155 is installed on the vehicle 100 (step S206: No), the identification unit 212a executes step S208. In step S208, the identification unit 212a identifies that the vehicle 100 should be moved by the engine movement mode. In step S209, the remote control unit 213 uses the vehicle position information and the reference path RR to determine the next target location to which the vehicle 100 should go. In step S210, the remote control unit 213 generates a driving control signal to drive the vehicle 100 toward the determined target location by the identified movement mode. In step S211, the remote control unit 213 transmits the generated driving control signal to the vehicle 100.

[0065] In step S212, the vehicle control unit 115 of the vehicle control device 110 controls the actuator group 120 using the received driving control signal, thereby causing the vehicle 100 to travel at the acceleration and steering angle indicated in the driving control signal.

[0066] According to the second embodiment described above, if the manufacturing process identified by the process information is a manufacturing process that is executed after the manufacturing process in which the exhaust gas treatment device 155 is installed on the vehicle 100, the server 200a can perform the following processing. In this case, the server 200a can identify that the vehicle 100 is to be moved by the engine movement mode. In this way, the vehicle 100 can be moved without affecting the state of the main battery 163 and while reducing the power consumption of the main battery 163.

[0067] Furthermore, according to the second embodiment described above, if the manufacturing process identified by the process information is a manufacturing process that is performed before the manufacturing process in which the exhaust gas treatment device 155 is installed on the vehicle 100, the server 200a can perform the following processing. In this case, the server 200a can identify that the vehicle 100 is moved by the motor movement mode. In this way, since the exhaust gas cannot be treated using the exhaust gas treatment device 155, deterioration of the working environment due to exhaust gas can be suppressed.

[0068] Furthermore, according to the second embodiment described above, if the manufacturing process identified by the process information is a manufacturing process in which the exhaust gas treatment device 155 is mounted on the vehicle 100, the server 200a can identify that the vehicle 100 should be moved by motor movement mode. In this way, if exhaust gas cannot be treated because the exhaust gas treatment device 155 is being mounted on the vehicle 100, deterioration of the working environment due to exhaust gas can be suppressed.

[0069] In other embodiments, if the manufacturing process identified by the process information is a manufacturing process in which the exhaust gas treatment device 155 is installed on the vehicle 100, the identification unit 212a may identify that the vehicle 100 is moved by the engine movement mode. Alternatively, if the manufacturing process identified by the process information is a manufacturing process in which the exhaust gas treatment device 155 is installed on the vehicle 100, the remote control unit 213 may stop the vehicle 100 without moving it.

[0070] C. Third Embodiment: Figure 8 is a block diagram showing the configuration of the control system 50b in the third embodiment. The control system 50b comprises one or more vehicles 100, one or more external sensors 300, and a server 200b that functions as a control device 20b. In this embodiment, a part of the control method for the vehicles 100 during self-propelled production differs from that of the first embodiment. The other configurations of the control system 50b are the same as in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0071] Server 200b is composed of a computer comprising a processor 201b, memory 202b, input / output interface 203, and internal bus 204. By executing the program PG2b stored in memory 202b, the processor 201b realizes various functions, including those of an acquisition unit 211, a identification unit 212b, and a remote control unit 213.

[0072] Generally, the torque response of motors 161 and 162 is faster than that of engine 151. Also, generally, motors 161 and 162 can obtain generated torque more accurately than engine 151. Therefore, by moving the vehicle 100 using the motor movement mode, the travel speed of the vehicle 100 can be controlled more precisely than when the vehicle 100 is moved using the engine movement mode. For example, in a manufacturing process that requires precise speed control when moving the vehicle 100, the target value of the travel speed of the vehicle 100 is set to a value less than a predetermined speed. Therefore, when the target value of the travel speed of the vehicle 100 in the manufacturing process identified by the process information is less than a predetermined speed, the identification unit 212b identifies that the vehicle 100 should be moved using the motor movement mode. A manufacturing process that requires precise speed control when moving the vehicle 100 is, for example, an assembly process in which at least one of the work objects, such as a worker or a robot, moves the vehicle 100 at an extremely low speed in order to assemble parts onto the vehicle 100. A manufacturing process that requires precise speed control when moving vehicle 100 may be a slope transport process within the transport process, in which vehicle 100 is driven on a slope from the first location PL1 to the second location PL2 while maintaining low speed. The transport process is a manufacturing process in which vehicle 100 is transported without the work object performing any work on vehicle 100.

[0073] On the other hand, in manufacturing processes where precise speed control is not required when moving the vehicle 100, the target value of the vehicle 100's travel speed is set to a value equal to or greater than a predetermined speed. Therefore, when the target value of the vehicle 100's travel speed in a manufacturing process identified by the process information is equal to or greater than a predetermined speed, the identification unit 212b identifies that the vehicle 100 should be moved using the engine movement mode. A manufacturing process where precise speed control is not required when moving the vehicle 100 is, for example, a manufacturing process where precise speed control is not required when moving the vehicle 100. A manufacturing process where precise speed control is not required when moving the vehicle 100 is, for example, a flat road transport process in which the vehicle 100 travels on a flat road from the first location PL1 to the second location PL2. A manufacturing process where precise speed control is not required when moving the vehicle 100 may also be a yard transport process in which the vehicle 100 is moved to a storage location such as a yard after the inspection process has been completed.

[0074] In this embodiment, the memory 202b of the server 200b has a third mode database DB3 pre-stored as a mode database DB. In the third mode database DB3, a motor movement mode is associated with manufacturing processes where a value less than a predetermined speed is set as the target value for the vehicle 100's travel speed. In the third mode database DB3, an engine movement mode is associated with manufacturing processes where a value greater than or equal to a predetermined speed is set as the target value for the vehicle 100's travel speed. The identification unit 212b obtains the movement mode associated with the manufacturing process identified by the process information in the third mode database DB3, and then determines whether to move the vehicle 100 using the engine movement mode or the motor movement mode.

[0075] Figure 9 is a flowchart showing the control method for the vehicle 100 during self-propelled production in the third embodiment. The flow shown in Figure 9 is executed repeatedly at predetermined intervals, for example, during the period in which control is performed by unmanned operation.

[0076] In step S301, the remote control unit 213 of the server 200b transmits an image request signal to the external sensor 300, which is scheduled to include the vehicle 100 in its detection range, to acquire an image. Upon receiving the image request signal, the external sensor 300 transmits the image to the server 200b in step S302.

[0077] If the server 200b acquires an image (step S303: Yes), in step S304, the remote control unit 213 of the server 200b acquires vehicle position information using the detection result output from the external sensor 300. In step S305, the acquisition unit 211 acquires process information. In step S306, the identification unit 212b uses the process information to determine whether to move the vehicle 100 using the engine movement mode or the motor movement mode. If the target value of the vehicle 100's travel speed in the manufacturing process, as determined by the process information, is less than a predetermined speed (step S306: Yes), the identification unit 212b executes step S307. In step S307, the identification unit 212b determines that the vehicle 100 will be moved using the motor movement mode. If the target value of the vehicle 100's travel speed in the manufacturing process, as identified by the process information, is equal to or greater than a predetermined speed (step S306: No), the identification unit 212b executes step S308. In step S308, the identification unit 212b determines that the vehicle 100 should be moved by the engine movement mode. In step S309, the remote control unit 213 uses the vehicle position information and the reference path RR to determine the next target location for the vehicle 100. In step S310, the remote control unit 213 generates a travel control signal to drive the vehicle 100 toward the determined target location using the identified travel mode. In step S311, the remote control unit 213 transmits the generated travel control signal to the vehicle 100.

[0078] In step S312, the vehicle control unit 115 of the vehicle control device 110 controls the actuator group 120 using the received driving control signal, thereby driving the vehicle 100 at the acceleration and steering angle indicated in the driving control signal.

[0079] According to the third embodiment described above, if the target value of the vehicle 100's travel speed in the manufacturing process, as identified by the process information, is equal to or greater than a predetermined speed, the server 200b can move the vehicle 100 using the engine movement mode. In this way, if the manufacturing process being performed on the vehicle 100 does not require precise speed control, the server 200b can move the vehicle 100 using the engine movement mode. This allows the vehicle 100 to be moved without affecting the state of the main battery 163 and while reducing the power consumption of the main battery 163.

[0080] Furthermore, according to the third embodiment described above, if the target value of the vehicle 100's travel speed in the manufacturing process, as identified by the process information, is less than a predetermined speed, the server 200b can determine to move the vehicle 100 using the motor movement mode. In this way, if the manufacturing process being performed on the vehicle 100 requires more precise speed control, the server 200b can move the vehicle 100 using the motor movement mode.

[0081] In other embodiments, if the manufacturing process identified by the process information is one that requires precise control of the vehicle 100's travel position, the identification unit 212b may specify that the vehicle 100 is moved by a motor movement mode.

[0082] D. Fourth Embodiment: Figure 10 is a block diagram showing the configuration of the control system 50c in the fourth embodiment. The control system 50c comprises one or more vehicles 100, one or more external sensors 300, and a server 200c that functions as a control device 20c. In this embodiment, a part of the control method for the vehicles 100 during self-propelled production differs from that of the first embodiment. The other configurations of the control system 50c are the same as in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0083] Server 200c is a computer comprising a processor 201c, memory 202c, input / output interface 203, and internal bus 204. By executing the program PG2c stored in memory 202c, the processor 201c realizes various functions, including those of an acquisition unit 211, a identification unit 212c, and a remote control unit 213.

[0084] In the process of producing vehicle 100, depending on the work content of the manufacturing process, it may be necessary to drive the engine 151. Therefore, if the manufacturing process identified by the process information is one that requires the engine 151 to be driven, the identification unit 212c identifies that the vehicle 100 should be moved by the engine movement mode. A manufacturing process that requires the engine 151 to be driven is, for example, at least one of the following: an engine inspection process, a pre-treatment process, an equipment inspection process, and a fluid leak inspection process.

[0085] The engine inspection process is a manufacturing process that inspects the function of the engine 151. The engine inspection process is performed, for example, in the drum test process, which is one of the inspection processes that inspect the vehicle 100. The drum test process is a manufacturing process that inspects the engine 151, meters, brakes, etc., by running the vehicle 100 on a rotatable roller. The engine inspection process requires the engine 151 to be driven in order to inspect the function of the engine 151.

[0086] The pre-treatment process is a manufacturing process that performs pre-treatment in the engine inspection process to correctly evaluate the function of the engine 151. The pre-treatment process includes, for example, a warm-up process and an air bleeding process.

[0087] In the engine inspection process, in order to correctly evaluate the function of engine 151, it is necessary to adjust the state of engine 151 to a predetermined warm-up state before starting the engine inspection process. The warm-up process is a manufacturing process that adjusts the state of engine 151 to a predetermined warm-up state. In the warm-up process, it is necessary to drive engine 151 in order to adjust the state of engine 151 to a predetermined warm-up state.

[0088] Furthermore, in order to correctly evaluate the function of the engine 151 during the engine inspection process, it is necessary to remove the air generated in the fuel supply pipe 154 from the fuel tank 152 to the engine 151, as shown in Figure 3, before starting the engine inspection process. The air bleeding process is a manufacturing process that removes the air generated in the fuel supply pipe 154 from the fuel tank 152 to the engine 151. In the case of a vehicle 100 having a gasoline engine, for example, air is bled from the fuel pump 153 during the air bleeding process. In the case of a vehicle 100 having a common rail diesel engine, for example, air is bled from the common rail system during the air bleeding process. The air bleeding process requires the operation of the fuel pump 153. The operation of the fuel pump 153 requires the operation of the engine 151.

[0089] The treatment device inspection process is a manufacturing process that inspects the function of the exhaust gas treatment device 155. In order to inspect the function of the exhaust gas treatment device 155, the exhaust gas to be treated must be present. Therefore, the treatment device inspection process requires the engine 151 to be driven.

[0090] The fluid leak inspection process is a manufacturing process that inspects for fluid leaks caused by the operation of the engine 151. The fluid leak inspection process checks whether fluids such as fuel, engine oil, and refrigerant are leaking from pumps mounted on the vehicle 100, such as the fuel pump 153 and the water pump. Therefore, the fluid leak inspection process requires the engine 151 to be driven.

[0091] In this embodiment, the memory 202c of the server 200c has a fourth mode database DB4 pre-stored as a mode database DB. In the fourth mode database DB4, a motor movement mode is associated with the engine inspection process, pre-processing process, processing unit inspection process, and liquid leak inspection process, respectively. In the fourth mode database DB4, an engine movement mode is associated with manufacturing processes other than the engine inspection process, pre-processing process, processing unit inspection process, and liquid leak inspection process. The identification unit 212c determines whether to move the vehicle 100 by engine movement mode or motor movement mode by obtaining the movement mode associated with the manufacturing process identified by the process information in the fourth mode database DB4.

[0092] Figure 11 is a flowchart showing the control method for the vehicle 100 during self-propelled production in the fourth embodiment. The flow shown in Figure 11 is executed repeatedly at predetermined intervals, for example, during the period in which control by unmanned operation is being performed.

[0093] In step S401, the remote control unit 213 of the server 200c transmits an image request signal to the external sensor 300, which is scheduled to include the vehicle 100 in its detection range, to acquire an image. Upon receiving the image request signal, the external sensor 300 transmits the image to the server 200c in step S402.

[0094] If the server 200c acquires an image (step S403: Yes), in step S404, the remote control unit 213 of the server 200c acquires vehicle position information using the detection result output from the external sensor 300. In step S405, the acquisition unit 211 acquires process information. In step S406, the identification unit 212c uses the process information to determine whether to move the vehicle 100 using the engine movement mode or the motor movement mode. If the manufacturing process identified by the process information is a manufacturing process that requires the engine 151 to be driven (step S406: Yes), the identification unit 212c executes step S407. In step S407, the identification unit 212c determines that the vehicle 100 will be moved using the engine movement mode. If the manufacturing process identified by the process information is not a manufacturing process that requires the engine 151 to be driven (step S406: No), the identification unit 212c executes step S408. In step S408, the identification unit 212c determines that the vehicle 100 should be moved by the motor movement mode. In step S409, the remote control unit 213 uses the vehicle position information and the reference path RR to determine the next target position to which the vehicle 100 should go. In step S410, the remote control unit 213 generates a driving control signal to drive the vehicle 100 toward the determined target position according to the identified movement mode. In step S411, the remote control unit 213 transmits the generated driving control signal to the vehicle 100.

[0095] In step S412, the vehicle control unit 115 of the vehicle control device 110 controls the actuator group 120 using the received driving control signal, thereby causing the vehicle 100 to travel at the acceleration and steering angle indicated in the driving control signal.

[0096] According to the fourth embodiment described above, if the manufacturing process identified by the process information is a manufacturing process that requires the engine 151 to be driven, the server 200c can move the vehicle 100 in engine movement mode.

[0097] Furthermore, according to the fourth embodiment described above, if the manufacturing process identified by the process information is at least one of the following: an engine inspection process, a pre-treatment process, an equipment inspection process, and a liquid leak inspection process, the server 200c can move the vehicle 100 by engine movement mode.

[0098] E. Fifth Embodiment: Figure 12 is an explanatory diagram showing the schematic configuration of the control system 50v in the fifth embodiment. The control system 50v comprises one or more vehicles 100v equipped with a vehicle control device 110v that functions as a control device 20v, and one or more external sensors 300. In this embodiment, the control system 50v differs from the first embodiment in that it does not include a server 200. In addition, the vehicle 100v in this embodiment can be driven by autonomous control of the vehicle 100v. The other configurations are the same as in the first embodiment unless otherwise specified.

[0099] In this embodiment, the processor 111v of the vehicle control device 110v functions as an acquisition unit 116, a specification unit 117, and a vehicle control unit 115v by executing the program PG1v stored in the memory 112v. The acquisition unit 116 acquires process information. The specification unit 117 uses the process information to determine whether to move the vehicle 100 using the engine movement mode or the motor movement mode. The vehicle control unit 115v moves the vehicle 100 according to the specified movement mode. The vehicle control unit 115v acquires the output results from the sensors, generates a driving control signal using the output results, and outputs the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100v to be driven autonomously. In this embodiment, in addition to the program PG1v, the memory 112v has the detection model DM, reference path RR, and mode database DB pre-stored in it.

[0100] Figure 13 is a flowchart showing the processing procedure for vehicle 100V's driving control in the second embodiment. In the processing procedure shown in Figure 13, the vehicle 100V's processor 111V functions as an acquisition unit 116, a identification unit 117, and a vehicle control unit 115V by executing the program PG1.

[0101] In step S901, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection result output from the camera, which is an external sensor 300. In step S902, the processor 111v determines the target position to which the vehicle 100v should next go. In step S903, the processor 111v generates a driving control signal to drive the vehicle 100v toward the determined target position. In step S904, the processor 111v controls the actuator group 120 using the generated driving control signal to drive the vehicle 100v according to the parameters expressed in the driving control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target position, generation of the driving control signal, and control of the actuators at a predetermined cycle. According to the control system 50v in this embodiment, the vehicle 100v can be driven by autonomous control of the vehicle 100v without remote control of the vehicle 100v by the server 200.

[0102] Figure 14 is a flowchart showing the control method for the 100V vehicle during self-propelled production in the fifth embodiment. The flow shown in Figure 14 is executed repeatedly at predetermined intervals, for example, during the period in which control is performed by unmanned operation.

[0103] In step S501, the vehicle control unit 115v of the vehicle control device 110v transmits an image request signal to the external sensor 300, which is scheduled to include the vehicle 100v in its detection range, to acquire an image. Upon receiving the image request signal, the external sensor 300 transmits the image to the vehicle 100v in step S502.

[0104] If vehicle 100v acquires an image (step S503: Yes), in step S504, the vehicle control unit 115v of the vehicle control device 110v acquires vehicle position information using the detection result output from the external sensor 300. In step S505, the acquisition unit 116 acquires process information. In step S506, the identification unit 117 uses the process information to determine whether to move vehicle 100v using engine movement mode or motor movement mode. If it is assumed that there are more than a predetermined number of people within a predetermined distance range from vehicle 100v in the manufacturing process identified by the process information (step S506: Yes), the identification unit 117 executes step S507. In step S507, the identification unit 117 determines that vehicle 100v will be moved using motor movement mode. In the manufacturing process identified by the process information, if it is assumed that there are fewer than a predetermined number of people within a predetermined distance range from the vehicle 100v (step S506: No), the identification unit 117 executes step S508. In step S508, the identification unit 117 determines that the vehicle 100v should be moved by the engine movement mode. In step S509, the vehicle control unit 115v uses the vehicle position information and the reference path RR to determine the next target location to which the vehicle 100v should go. In step S510, the vehicle control unit 115v generates a driving control signal to drive the vehicle 100v toward the determined target location by the identified movement mode. In step S511, the vehicle control unit 115v controls the actuator group 120 using the generated driving control signal to drive the vehicle 100v according to the parameters expressed in the driving control signal.

[0105] According to the fifth embodiment described above, the vehicle control device 110v can use process information to determine whether to move the vehicle 100v using the engine movement mode or the motor movement mode. The vehicle control device 110v can then move the vehicle 100v according to the determined movement mode. In this way, the vehicle control device 110v can control the operation of the hybrid vehicle 100v according to the manufacturing process during the process of producing the hybrid vehicle 100v by self-propelled production.

[0106] F. Other embodiments: F-1. Other Embodiments 1: In the above embodiment, the vehicle 100,100v was a plug-in hybrid vehicle. However, the disclosure is not limited thereto. The vehicle 100,100v may be, for example, a hybrid vehicle 100,100v that does not have mechanisms 164,165 for charging the main battery 163 with power from an external power source 900, or it may be a fuel cell vehicle equipped with a fuel cell as the main battery 163.

[0107] F-2. Other Embodiments 2: In each of the above embodiments, the external sensor 300 is not limited to a camera, but may be, for example, a distance measuring device. The distance measuring device may be, for example, LiDAR (Light Detection And Ranging). In this case, the detection result output by the external sensor 300 may be 3D point cloud data representing the vehicle 100. In this case, the servers 200, 200a to 200c and the vehicles 100 and 100v may acquire vehicle position information by template matching using the 3D point cloud data as a detection result and pre-prepared reference point cloud data.

[0108] F-3. Other Embodiments 3: In each of the embodiments from the first to the fourth embodiment described above, the servers 200, 200a to 200c perform the processing from acquiring vehicle position information to generating driving control signals. In contrast, the vehicle 100 may perform at least a part of the processing from acquiring vehicle position information to generating driving control signals. For example, the following forms (1) to (3) may also be used.

[0109] (1) Servers 200, 200a to 200c may acquire vehicle location information, determine the next target location that vehicle 100 should head to, and generate a route from the vehicle 100's current location to the target location as shown in the acquired vehicle location information. Servers 200, 200a to 200c may generate a route to the target location between the current location and the destination, or they may generate a route to the destination. Servers 200, 200a to 200c may transmit the generated route to vehicle 100. Vehicle 100 may generate a driving control signal so that vehicle 100 travels along the route received from servers 200, 200a to 200c, and may use the generated driving control signal to control the actuator group 120.

[0110] (2) Servers 200, 200a to 200c may acquire vehicle location information and transmit the acquired vehicle location information to vehicle 100. Vehicle 100 may determine the next target location to which vehicle 100 should go, generate a route from vehicle 100's current location to the target location as shown in the received vehicle location information, generate a driving control signal so that vehicle 100 travels along the generated route, and control the actuator group 120 using the generated driving control signal.

[0111] (3) In the embodiments of (1) and (2) above, the vehicle 100 is equipped with internal sensors, and the detection results output from the internal sensors may be used in at least one of the generation of a route and the generation of a driving control signal. The internal sensors are sensors mounted on the vehicle 100. The internal sensors may include, for example, sensors that detect the motion state of the vehicle 100, sensors that detect the operating state of each part of the vehicle 100, and sensors that detect the environment around the vehicle 100. Specifically, the internal sensors may include, for example, cameras, LiDAR, millimeter-wave radar, ultrasonic sensors, GPS sensors, acceleration sensors, gyro sensors, etc. For example, in the embodiment of (1) above, servers 200, 200a to 200c may acquire the detection results of the internal sensors and reflect the detection results of the internal sensors in the route when generating a route. In the embodiment of (1) above, the vehicle 100 may acquire the detection results of the internal sensors and reflect the detection results of the internal sensors in the driving control signal when generating a driving control signal. In the embodiment of (2) above, the vehicle 100 may acquire the detection results of the internal sensors and reflect the detection results of the internal sensors in the route when generating a route. In the embodiment described in (2) above, the vehicle 100 may acquire the detection results of the internal sensors and reflect the detection results of the internal sensors in the driving control signal when generating the driving control signal.

[0112] F-4. Other Embodiments 4: In the fifth embodiment described above, the vehicle 100v is equipped with an internal sensor, and the detection result output from the internal sensor may be used in at least one of the generation of the route and the generation of the driving control signal. For example, the vehicle 100v may acquire the detection result from the internal sensor and reflect the detection result from the internal sensor in the route when generating the route. The vehicle 100v may acquire the detection result from the internal sensor and reflect the detection result from the internal sensor in the driving control signal when generating the driving control signal.

[0113] F-5. Other Embodiments 5: In the fifth embodiment described above, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. Alternatively, the vehicle 100v may be equipped with an internal sensor, which may acquire vehicle position information using the detection results of the internal sensor, determine the next target location to which the vehicle 100v should go, generate a route from the vehicle 100v's current location to the target location as shown in the acquired vehicle position information, generate a driving control signal for traveling along the generated route, and control the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can travel without using the detection results of the external sensor 300 at all. The vehicle 100v may also acquire target arrival time and congestion information from outside the vehicle 100v and reflect the target arrival time and congestion information in at least one of the route and the driving control signal. Furthermore, all the functional configurations of the control system 50v may be provided in the vehicle 100v. In other words, the processing realized by the control system 50v in this disclosure may be realized by the vehicle 100v alone.

[0114] F-6. Other Embodiments 6: In each of the embodiments from the first to the fourth described above, servers 200, 200a to 200c automatically generate driving control signals to be transmitted to the vehicle 100. Alternatively, servers 200, 200a to 200c may generate driving control signals to be transmitted to the vehicle 100 in accordance with the operations of an external operator located outside the vehicle 100. For example, an external operator may operate a control device that includes a display for displaying captured images output from an external sensor 300, a steering wheel for remotely controlling the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with servers 200, 200a to 200c via wired or wireless communication, and servers 200, 200a to 200c may generate driving control signals in accordance with the operations applied to the control device.

[0115] F-7. Other Embodiments 7: In each of the above embodiments, the vehicles 100 and 100v only need to be configured to be able to move by unmanned operation, and may take the form of a platform having the configuration described below. Specifically, in order for the vehicles 100 and 100v to perform the three functions of "driving," "turning," and "stopping" by unmanned operation, they only need to be equipped with at least a vehicle control device 110 and 110v and an actuator group 120. When the vehicles 100 and 100v acquire information from the outside for unmanned operation, they may further be equipped with a communication device 130. That is, the vehicles 100 and 100v that can move by unmanned operation do not need to have at least some of the interior parts such as the driver's seat and dashboard installed, at least some of the exterior parts such as the bumper and fender installed, and do not need to have a body shell installed. In this case, the remaining parts such as the body shell may be attached to the vehicle 100, 100v before it is shipped from the factory FC, or the remaining parts such as the body shell may be attached to the vehicle 100, 100v after it has been shipped from the factory FC, while the remaining parts such as the body shell are not attached to the vehicle 100, 100v. Each part may be attached to the vehicle 100, 100v from any direction, such as the top, bottom, front, rear, right, or left, and each part may be attached from the same direction or from different directions. The positioning of the platform can also be determined in the same way as the vehicle 100, 100v in the first embodiment.

[0116] F-8. Other Embodiments 8: Vehicles 100, 100v may be manufactured by combining multiple modules. A module means a unit composed of one or more parts grouped together according to the configuration and function of vehicle 100, 100v. For example, the platform of vehicle 100, 100v may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the middle part of the platform, and a rear module that constitutes the rear part of the platform. The number of modules that make up the platform is not limited to three, and may be two or fewer, or four or more. In addition to the platform, or in place of the platform, parts of vehicle 100, 100v that are different from the platform may be modularized. Furthermore, various modules may include any exterior parts such as bumpers and grilles, or any interior parts such as seats and consoles. Moreover, not limited to vehicles 100, 100v, any type of mobile body may be manufactured by combining multiple modules. Such modules may be manufactured, for example, by joining multiple parts by welding or fasteners, or by integrally molding at least a part of the module as a single part by casting. A molding technique that integrally molds at least a portion of a module as a single component is also called Gigacast or Megacast. By using Gigacast, parts of a mobile body that were conventionally formed by joining multiple components can be formed as single components. For example, the forward module, central module, and rear module mentioned above may be manufactured using Gigacast.

[0117] F-9. Other Embodiments 9: In each of the above embodiments, some or all of the functions and processes implemented in software may be implemented in hardware. Conversely, some or all of the functions and processes implemented in hardware may be implemented in software. As hardware for implementing the various functions in each of the above embodiments, various circuits such as integrated circuits and discrete circuits may be used.

[0118] 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]

[0119] 20, 20a~20c, 20v... Control device, 50, 50a~50c, 50v... Control system, 100, 100v... Vehicle, 110, 110v... Vehicle control device, 110a... Engine ECU, 110b... Motor ECU, 110c... Hybrid ECU, 111, 111v... Processor of vehicle control device, 112, 112v... Memory of vehicle control device, 113... Input / output interface of vehicle control device, 114... Internal bus of vehicle control device, 115, 115V...Vehicle control unit, 116, 211...Acquisition unit, 117, 212, 212a~212c...Specification unit, 120...Actuator group, 130...Vehicle communication device, 151...Engine, 152...Fuel tank, 153...Fuel pump, 154...Fuel supply pipe, 155...Exhaust gas treatment device, 156...Reduction gear, 157...Wheels, 160...Power split mechanism, 161...First motor, 162...Second motor, 163...Main battery, 164...Charger, 165...Vehicle side Connector, 166…Inverter, 167…First converter, 168…Output shaft, 171…Auxiliary battery, 172…Auxiliary equipment, 173…Second converter, 174…Auxiliary power lines, 200, 200a~200c…Server, 201, 201a~201c…Server processor, 202, 202a~202c…Server memory, 203…Server input / output interface, 204…Server internal bus, 205…Server communication device, 213…Remote control unit, 300…External sensor, 900…External power supply, 957…Power supply connector, DB…Mode database, DB1…First mode database, DB2…Second mode database, DB3…Third mode database, DB4…Fourth mode database, DM…Detection model, FC…Factory, GC…Global coordinate system, PG1,PG1v,PG2,PG2a~PG2c…Program, PL1…First location, PL2…Second location, RR…Reference path, TR…Track

Claims

1. A control device for controlling the movement of a mobile body that can be moved by unmanned operation, An acquisition unit that acquires process information indicating the manufacturing process being performed on the aforementioned mobile body, A specification unit that uses the process information to determine whether the moving body is moved by an engine-driven movement mode or a motor-driven movement mode, A control device comprising: a control unit that moves the moving body according to the specified mode of movement;

2. A control device according to claim 1, A control device in which, in the manufacturing process identified by the process information, if it is assumed that there are more than a predetermined number of people within a predetermined distance range from the moving body, the identification unit determines that the moving body should be moved by the motor movement mode.

3. A control device according to claim 1 or claim 2, A control device in which, in the manufacturing process identified by the process information, if it is assumed that there are fewer than a predetermined number of people within a predetermined distance range from the moving body, the identification unit determines that the moving body should be moved by the engine movement mode.

4. A control device according to claim 1, A control device in which, when the manufacturing process identified by the process information is a manufacturing process performed before the manufacturing process in which the exhaust gas treatment device is mounted on the mobile body, the identification unit identifies that the mobile body is moved by the motor movement mode.

5. A control device according to claim 1 or claim 4, A control device in which, when the manufacturing process identified by the process information is performed after the manufacturing process in which the exhaust gas treatment device is mounted on the mobile body, the identification unit identifies that the mobile body is moved by the engine movement mode.

6. A control device according to claim 1, A control device in which, when the target value of the moving speed of the moving body in the manufacturing process, as identified by the process information, is less than a predetermined speed, the identification unit identifies that the moving body should be moved by the motor movement mode.

7. A control device according to claim 1 or claim 6, A control device in which, when the target value of the moving speed of the moving body in the manufacturing process, as identified by the process information, is equal to or greater than a predetermined speed, the identification unit identifies that the moving body should be moved by the engine movement mode.

8. A control device according to claim 1, A control device in which, when the manufacturing process identified by the process information is a manufacturing process that requires the engine to be driven, the identification unit identifies that the moving body is moved by the engine movement mode.

9. A control device according to claim 1, The manufacturing process requiring the operation of the engine is, An engine inspection process for inspecting the function of the aforementioned engine, The engine inspection process includes a pre-processing step in which pre-processing is performed to correctly evaluate the function of the engine, The treatment device inspection process involves testing the function of the exhaust gas treatment device, A control device comprising at least one of the following: a liquid leak inspection step for inspecting liquid leaks caused by the operation of the engine; and

10. A control system, A mobile vehicle that can be moved by unmanned operation, An acquisition unit that acquires process information indicating the manufacturing process being performed on the aforementioned mobile body, A specification unit that uses the process information to determine whether the moving body is moved by an engine-driven movement mode or a motor-driven movement mode, A control system comprising: a control unit that moves the moving body according to the specified mode of movement.

11. A control method for controlling the movement of a mobile body that can be moved by unmanned operation, An acquisition step to acquire process information indicating the manufacturing process being performed on the aforementioned mobile body, A selection step that uses the process information to determine whether the moving body will be moved by an engine-driven movement mode or a motor-driven movement mode, A control method comprising: a control step of moving the moving body according to the specified mode of movement.

Images