Communication control system, server device, mobile device, and communication control method

JP7916880B2Active Publication Date: 2026-09-08TOYOTA JIDOSHA KK
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Patent Information

Application Number
JP2023199912
Authority / Receiving Office
JP · JP
Patent Type
Patents
Current Assignee / Owner
Filing Date
2023-11-27
Publication Date
2026-09-08
Estimated Expiration
2043-11-27

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【0006】 (1)本開示の一形態によれば、移動体と、通信装置と、の間の無線通信を制御する通信制御システムが提供される。この通信制御システムは、前記移動体の状態に関する情報である移動体情報と、前記移動体の製造状況に関する情報である製造状況情報とのうち少なくとも一方を利用して、第1の周波数帯と、前記第1の周波数帯よりも高い第2の周波数帯と、を少なくとも含む周波数帯の候補のうちから、前記無線通信に利用する周波数帯である利用周波数帯を決定する周波数帯決定部と、前記利用周波数帯を利用して前記無線通信を実行するように前記通信装置を制御する通信制御部と、を備える。 この形態の通信制御システムによれば、第1の周波数帯と第2の周波数帯と、を少なくとも含む周波数帯の候補のうちから、無線通信に利用する周波数帯である利用周波数帯を決定し、利用周波数帯を利用して無線通信を実行するように通信装置を制御する。このため、利用周波数帯を切り替えることにより容易に通信方式を切り替えることができ、予め用意された複数の通信経路を切り替えることにより通信方式を切り替える形態と比較して、移動体と通信装置との無線通信のためのシステム構成が複雑になることを抑制できる。また、移動体情報と製造状況情報とのうち、少なくとも一方を利用して利用周波数帯を決定するので、移動体情報と製造状況情報との少なくとも一方に応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (2)上記実施形態において、前記移動体情報は、前記移動体の位置を示す移動体位置情報を含んでもよい。 この形態の通信制御システムによれば、移動体情報は移動体位置情報を含むので、移動体の位置に応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (3)上記実施形態において、前記周波数帯決定部は、前記移動体位置情報を利用して、前記移動体に対して予め定められた作業が実行される領域として予め定められた作業領域に前記移動体が位置している場合、前記第2の周波数帯を前記利用周波数帯として決定し、前記移動体が前記作業領域に位置していない場合、前記第1の周波数帯を前記利用周波数帯として決定してもよい。 この形態の通信制御システムによれば、移動体位置情報を利用して、作業領域に移動体が位置している場合、第2の周波数帯を利用周波数帯として決定し、移動体が作業領域に位置していない場合、第1の周波数帯を利用周波数帯として決定する。このため、移動体が作業領域に位置するか否かに応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (4)上記実施形態において、前記作業は、前記移動体に対する部品の組付け、前記移動体の塗装と、前記移動体の検査と、のうちの少なくともひとつを含んでもよい。 この形態の通信制御システムによれば、作業は、移動体に対する部品の組付け、移動体の塗装と、移動体の検査と、のうちの少なくともひとつを含むので、移動体が、移動体に対する部品の組付け、移動体の塗装と、移動体の検査と、のうちの少なくともひとつが実行される工程に位置するか否かに応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (5)上記実施形態において、前記移動体情報は、前記移動体の速度を示す速度情報を含み、前記周波数帯決定部は、前記速度情報を利用して、前記移動体の速度が予め定められた閾値未満である場合、前記第2の周波数帯を前記利用周波数帯として決定し、前記移動体の速度が前記閾値以上である場合、前記第1の周波数帯を前記利用周波数帯として決定してもよい。 この形態の通信制御システムによれば、速度情報を利用して、移動体の速度が閾値未満である場合、第2の周波数帯を利用周波数帯として決定し、移動体の速度が閾値以上である場合、第1の周波数帯を利用周波数帯として決定する。このため、移動体の速度に応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (6)上記実施形態において、前記周波数帯決定部は、前記移動体の移動制御に関する制御情報を利用して特定された前記移動体の速度を、前記速度情報として利用してもよい。 この形態の通信制御システムによれば、制御情報を利用して特定された移動体の速度を速度情報として利用するので、移動体の速度を容易に特定でき、移動体の速度に応じて適切な周波数帯を決定することを容易に実現できる。 (7)上記実施形態において、前記製造状況情報は、前記移動体に取り付けられた部品に関する部品情報を含んでもよい。 この形態の通信制御システムによれば、製造状況情報は部品情報を含むので、移動体に対する部品の取付状態に応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (8)上記実施形態において、前記周波数帯決定部は、前記部品情報を利用して、予め指定された工程である指定工程以前の工程に前記移動体が位置しているか否かを特定し、前記指定工程以前の工程に前記移動体が位置している場合、前記第2の周波数帯を前記利用周波数帯として決定し、前記指定工程よりも後の工程に前記移動体が位置している場合、前記第1の周波数帯を前記利用周波数帯として決定してもよい。 この形態の通信制御システムによれば、部品情報として、指定工程以前の工程に移動体が位置しているか否かを特定し、指定工程以前の工程に移動体が位置している場合、第2の周波数帯を利用周波数帯として決定し、指定工程よりも後の工程に移動体が位置している場合、第1の周波数帯を利用周波数帯として決定する。このため、指定工程以前の工程に移動体が位置しているか否かに応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (9)上記実施形態において、前記周波数帯決定部は、前記部品情報を利用して、前記移動体に取り付けられた部品の数である取付済部品数を特定し、前記取付済部品数が予め定められた閾値未満である場合、前記第2の周波数帯を前記利用周波数帯として決定し、前記取付済部品数が前記閾値以上である場合、前記第1の周波数帯を前記利用周波数帯として決定してもよい。 この形態の通信制御システムによれば、部品情報として、取付済部品数を特定し、取付済部品数が予め定められた閾値未満である場合、第2の周波数帯を利用周波数帯として決定し、取付済部品数が閾値以上である場合、第1の周波数帯を利用周波数帯として決定する。このため、取付済部品数に応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (10)上記実施形態において、前記周波数帯決定部は、前記部品情報を利用して、予め指定された部品である指定部品が前記移動体に対して既に取り付けられているか否かを特定し、前記指定部品が前記移動体に対して未だ取り付けられていない場合、前記第2の周波数帯を前記利用周波数帯として決定し、前記指定部品が前記移動体に対して既に取り付けられている場合、前記第1の周波数帯を前記利用周波数帯として決定してもよい。 この形態の通信制御システムによれば、部品情報として、指定部品が移動体に対して既に取り付けられているか否かを特定し、指定部品が移動体に対して未だ取り付けられていない場合、第2の周波数帯を利用周波数帯として決定し、指定部品が移動体に対して既に取り付けられている場合、第1の周波数帯を利用周波数帯として決定する。このため、指定部品が移動体に対して既に取り付けられているか否かに応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (11)上記実施形態において、前記製造状況情報は、前記移動体が製造される工場のタクトタイムに関する情報を含み、前記周波数帯決定部は、前記タクトタイムが予め定められた閾値よりも長い場合、前記第2の周波数帯を前記利用周波数帯として決定し、前記タクトタイムが前記閾値以下である場合、前記第1の周波数帯を前記利用周波数帯として決定してもよい。 この形態の通信制御システムによれば、製造状況情報は、移動体が製造される工場のタクトタイムに関する情報を含み、タクトタイムが予め定められた閾値よりも長い場合、第2の周波数帯を利用周波数帯として決定し、タクトタイムが閾値以下である場合、第1の周波数帯を利用周波数帯として決定する。このため、タクトタイムに応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (12)上記実施形態において、前記通信制御部は、前記第2の周波数帯が前記利用周波数帯として決定された場合に、前記第1の周波数帯を利用する場合と比較して情報量の大きい情報を対象とする前記無線通信を実行してもよい。 この形態の通信制御システムによれば、第2の周波数帯が利用周波数帯として決定された場合に、第1の周波数帯を利用する場合と比較して情報量の大きい情報を対象とする通信を実行するので、情報量の大きい情報を対象とする通信が必要な場合にのみ第2の周波数帯を利用する形態と比較して、情報量の大きい情報を対象とする通信の実行タイミングの自由度の低下を抑制できる。 (13)上記実施形態において、前記通信装置は、前記移動体と、前記移動体の外部に位置する外部装置との前記無線通信を中継する通信中継装置であってもよい。 この形態の通信制御システムによれば、移動体と通信中継装置との間の無線通信を、適切な周波数帯を利用して実現できる。 (14)上記実施形態において、前記外部装置は、前記移動体の無人運転を制御するサーバ装置であってもよい。 この形態の通信制御システムによれば、移動体とサーバ装置との間の通信中継装置を介した無線通信を、適切な周波数帯を利用して実現できる。 (15)本開示の他の形態によれば、通信中継装置を介して移動体との間で無線通信を実行するサーバ装置が提供される。このサーバ装置は、前記移動体の状態に関する情報である移動体情報と、前記移動体の製造状況に関する情報である製造状況情報とのうち、少なくとも一方を利用して、第1の周波数帯と、前記第1の周波数帯よりも高い第2の周波数帯と、を少なくとも含む周波数帯の候補のうちから、前記無線通信に利用する周波数帯である利用周波数帯を決定する周波数帯決定部と、前記利用周波数帯を利用して前記無線通信を実行するように前記通信中継装置を制御する通信制御部と、を備える。 この形態のサーバ装置によれば、第1の周波数帯と第2の周波数帯と、を少なくとも含む周波数帯の候補のうちから、前記無線通信に利用する周波数帯である利用周波数帯を決定し、利用周波数帯を利用して無線通信を実行するように通信中継装置を制御する。このため、利用周波数帯を切り替えることにより容易に通信方式を切り替えることができ、予め用意された複数の通信経路を切り替えることにより通信方式を切り替える形態と比較して、移動体と通信中継装置との無線通信のためのシステム構成が複雑になることを抑制できる。また、移動体情報と製造状況情報とのうち、少なくとも一方を利用して利用周波数帯を決定するので、移動体情報と製造状況情報との少なくとも一方に応じて適切な周波数帯を利用して、移動体と通信中継装置との無線通信を実現できる。 (16)本開示の他の形態によれば、通信装置との間で無線通信を実行する移動体が提供される。この移動体は、前記移動体の状態に関する情報である移動体情報と、前記移動体の製造状況に関する情報である製造状況情報とのうち、少なくとも一方を利用して、第1の周波数帯と、前記第1の周波数帯よりも高い第2の周波数帯と、を少なくとも含む周波数帯の候補のうちから、前記無線通信に利用する周波数帯である利用周波数帯を決定する周波数帯決定部と、前記利用周波数帯を利用して前記無線通信を実行するように前記通信装置を制御する通信制御部と、を備える。 この形態の移動体によれば、第1の周波数帯と第2の周波数帯と、を少なくとも含む周波数帯の候補のうちから、前記無線通信に利用する周波数帯である利用周波数帯を決定し、利用周波数帯を利用して無線通信を実行するように通信装置を制御する。このため、利用周波数帯を切り替えることにより容易に通信方式を切り替えることができ、予め用意された複数の通信経路を切り替えることにより通信方式を切り替える形態と比較して、移動体と通信装置との無線通信のためのシステム構成が複雑になることを抑制できる。また、移動体情報と製造状況情報とのうち、少なくとも一方を利用して利用周波数帯を決定するので、移動体情報と製造状況情報との少なくとも一方に応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。 (17)本開示の他の形態によれば、移動体と、通信装置と、の間の無線通信を制御する通信制御方法が提供される。この通信制御方法は、前記移動体の状態に関する情報である移動体情報と、前記移動体の製造状況に関する情報である製造状況情報とのうち、少なくとも一方を利用して、第1の周波数帯と、前記第1の周波数帯よりも高い第2の周波数帯と、を少なくとも含む周波数帯の候補のうちから、前記無線通信に利用する周波数帯である利用周波数帯を決定するステップと、前記利用周波数帯を利用して前記無線通信を実行するように前記通信装置を制御するステップと、を備える。 この形態の制御方法によれば、第1の周波数帯と第2の周波数帯と、を少なくとも含む周波数帯の候補のうちから、前記無線通信に利用する周波数帯である利用周波数帯を決定し、利用周波数帯を利用して無線通信を実行するように通信装置を制御する。このため、利用周波数帯を切り替えることにより容易に通信方式を切り替えることができ、予め用意された複数の通信経路を切り替えることにより通信方式を切り替える形態と比較して、移動体と通信装置との無線通信のためのシステム構成が複雑になることを抑制できる。また、移動体情報と製造状況情報とのうち、少なくとも一方を利用して利用周波数帯を決定するので、移動体情報と製造状況情報との少なくとも一方に応じて適切な周波数帯を利用して、移動体と通信装置との無線通信を実現できる。

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Abstract

To enable appropriate communication between mobile devices with a simple configuration.SOLUTION: A communication control system that controls wireless communication between a mobile body and a communication device, includes a frequency band determination unit that uses at least one of mobile body information, which is information regarding the state of the mobile body, and manufacturing status information, which is information regarding the manufacturing status of the mobile body, to determine a utilization frequency band, which is a frequency band to be used for wireless communication, from among frequency band candidates that include at least a first frequency band and a second frequency band higher than the first frequency band, and a communication control unit that controls the communication device to perform wireless communication using the determined frequency band.SELECTED DRAWING: Figure 1
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Description

[Technical Field]

[0001] The present disclosure relates to a communication control system, a server device, a mobile body, and a communication control method. [Background Art]

[0002] Conventionally, there has been known a wireless communication device that switches a communication method according to the traveling speed of a vehicle serving as a communication target (Patent Document 1). The wireless communication device described in Patent Document 1 includes a wireless LAN communication unit and a TCP / IP communication unit, and switches a communication path used for wireless communication with the vehicle according to the traveling speed of the vehicle. [Prior Art Literature] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2012-175686 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, in Patent Document 1, it is necessary to prepare a plurality of communication paths with different communication schemes in advance, which poses a problem that the system configuration becomes complicated. This problem is common not only to vehicles but also to any type of mobile body. [Means for Solving the Problem]

[0005] The present disclosure can be implemented as the following aspects. [Embodiment 1] A communication control system for controlling wireless communication between a mobile body and a communication device, comprising: a frequency band determination unit that determines a frequency band to be used for wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the wireless communication by the communication device to perform the wireless communication using the frequency band, wherein the mobile body information includes mobile body position information indicating the position of the mobile body, and the frequency band determination unit determines the second frequency band as the frequency band to be used if the mobile body is located in a work area predetermined as an area where predetermined work is performed on the mobile body, and determines the first frequency band as the frequency band to be used if the mobile body is not located in the work area. [Form 2] A communication control system for controlling wireless communication between a mobile body and a communication device, comprising: a frequency band determination unit that determines a frequency band to be used for wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the wireless communication by the communication device to perform the wireless communication using the frequency band, wherein the manufacturing status information includes component information relating to components attached to the mobile body, and the frequency band determination unit uses the component information to determine whether the mobile body is located in a process prior to a designated process which is a predetermined process, and if the mobile body is located in a process prior to the designated process which is a predetermined process, it determines the second frequency band as the frequency band to be used, and if the mobile body is located in a process later than the designated process which is a predetermined process, it determines the first frequency band as the frequency band to be used. [Mode 3] A communication control system for controlling wireless communication between a mobile body and a communication device, comprising: a frequency band determination unit that determines a frequency band to be used for wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the wireless communication by the communication device to perform the wireless communication using the utilization frequency band, wherein the manufacturing status information includes component information relating to components attached to the mobile body, and the frequency band determination unit uses the component information to identify the number of attached components which is the number of components attached to the mobile body, and if the number of attached components is less than a predetermined threshold, it determines the second frequency band as the utilization frequency band, and if the number of attached components is equal to or greater than the threshold, it determines the first frequency band as the utilization frequency band. [Form 4] A communication control system for controlling wireless communication between a mobile body and a communication device, comprising: a frequency band determination unit that determines a frequency band to be used for wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the wireless communication by the communication device to perform the wireless communication using the utilization frequency band, wherein the manufacturing status information includes component information relating to a component attached to the mobile body, and the frequency band determination unit uses the component information to determine whether a designated component which is a pre-specified component has already been attached to the mobile body, and if the designated component has not yet been attached to the mobile body, it determines the second frequency band as the utilization frequency band, and if the designated component has already been attached to the mobile body, it determines the first frequency band as the utilization frequency band. [Form 5] A communication control system for controlling wireless communication between a mobile body and a communication device, comprising: a frequency band determination unit that determines a frequency band to be used for wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the wireless communication by the communication device to perform the wireless communication using the utilization frequency band, wherein the manufacturing status information includes information relating to the cycle time of the factory where the mobile body is manufactured, and the frequency band determination unit determines the second frequency band as the utilization frequency band if the cycle time is longer than a predetermined threshold, and determines the first frequency band as the utilization frequency band if the cycle time is less than or equal to the threshold. [Model 6] A server device that performs wireless communication with a mobile body via a communication relay device, comprising: a frequency band determination unit that determines a frequency band to be used for the wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the communication relay device to perform the wireless communication using the frequency band, wherein the mobile body information includes mobile body position information indicating the position of the mobile body, and the frequency band determination unit determines the second frequency band as the frequency band to be used if the mobile body is located in a work area predetermined as an area in which predetermined work is performed on the mobile body, and determines the first frequency band as the frequency band to be used if the mobile body is not located in the work area. [Model 7] A server device that performs wireless communication with a mobile body via a communication relay device, comprising: a frequency band determination unit that determines a frequency band to be used for the wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the communication relay device to perform the wireless communication using the frequency band, wherein the manufacturing status information includes component information relating to components attached to the mobile body, and the frequency band determination unit uses the component information to determine whether the mobile body is located in a process prior to a designated process which is a predetermined process, and if the mobile body is located in a process prior to the designated process which is a predetermined process, it determines the second frequency band as the frequency band to be used, and if the mobile body is located in a process later than the designated process which is a predetermined process, it determines the first frequency band as the frequency band to be used. [Embodiment 8] A server device that performs wireless communication with a mobile body via a communication relay device, comprising: a frequency band determination unit that determines a frequency band to be used for the wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the communication relay device to perform the wireless communication using the frequency band, wherein the manufacturing status information includes information relating to the cycle time of the factory where the mobile body is manufactured, and the frequency band determination unit determines the second frequency band as the frequency band to be used if the cycle time is longer than a predetermined threshold, and determines the first frequency band as the frequency band to be used if the cycle time is less than or equal to the threshold. [Form 9] A mobile body that performs wireless communication with a communication device, comprising: a frequency band determination unit that determines a frequency band to be used for the wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the communication device to perform the wireless communication using the frequency band, wherein the mobile body information includes mobile body position information indicating the position of the mobile body, and the frequency band determination unit determines the second frequency band as the frequency band to be used if the mobile body is located in a work area predetermined as an area in which predetermined work is performed on the mobile body, and determines the first frequency band as the frequency band to be used if the mobile body is not located in the work area. [Form 10] A mobile body that performs wireless communication with a communication device, comprising: a frequency band determination unit that determines a frequency band to be used for the wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the communication device to perform the wireless communication using the frequency band, wherein the manufacturing status information includes component information relating to components attached to the mobile body, and the frequency band determination unit uses the component information to determine whether the mobile body is located in a predetermined process prior to a specified process, and if the mobile body is located in a process prior to the specified process, determines the second frequency band as the frequency band to be used, and if the mobile body is located in a process later than the specified process, determines the first frequency band as the frequency band to be used. [Form 11] A mobile body that performs wireless communication with a communication device, comprising: a frequency band determination unit that determines a frequency band to be used for the wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the communication device to perform the wireless communication using the frequency band to be used, wherein the manufacturing status information includes information relating to the cycle time of the factory in which the mobile body is manufactured, and the frequency band determination unit determines the second frequency band as the frequency band to be used if the cycle time is longer than a predetermined threshold, and determines the first frequency band as the frequency band to be used if the cycle time is less than or equal to the threshold. [Form 12] A communication control method for controlling wireless communication between a mobile body and a communication device, comprising: a step of determining a frequency band to be used for wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a step of controlling the communication device to perform the wireless communication using the frequency band, wherein the mobile body information includes mobile body position information indicating the position of the mobile body, and in the step of determining the frequency band to be used, the mobile body position information is used to determine the second frequency band as the frequency band to be used if the mobile body is located in a work area predetermined as an area in which predetermined work is performed on the mobile body, and the first frequency band as the frequency band to be used if the mobile body is not located in the work area. [Form 13] A communication control method for controlling wireless communication between a mobile body and a communication device, comprising the steps of: determining a frequency band to be used for the wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and controlling the communication device to perform the wireless communication using the frequency band, wherein the manufacturing status information includes component information relating to a component attached to the mobile body, and in the step of determining the frequency band, the component information is used to determine whether the mobile body is located in a predetermined process prior to a specified process, and if the mobile body is located in a process prior to the specified process, the second frequency band is determined as the frequency band to be used, and if the mobile body is located in a process later than the specified process, the first frequency band is determined as the frequency band to be used. [Form 14] A communication control method for controlling wireless communication between a mobile body and a communication device, comprising the steps of: determining a frequency band to be used for wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and controlling the communication device to perform the wireless communication using the frequency band, wherein the manufacturing status information includes information relating to the cycle time of the factory where the mobile body is manufactured, and in the step of determining the frequency band, if the cycle time is longer than a predetermined threshold, the second frequency band is determined as the frequency band to be used, and if the cycle time is less than or equal to the threshold, the first frequency band is determined as the frequency band to be used.

[0006] (1) According to one embodiment of the present disclosure, a communication control system is provided for controlling wireless communication between a mobile body and a communication device. The communication control system includes a frequency band determination unit that determines a frequency band to be used for wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body; and a communication control unit that controls the communication device to perform the wireless communication using the frequency band. According to this form of communication control system, the system determines the frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band, and controls the communication device to perform wireless communication using the selected frequency band. Therefore, the communication method can be easily switched by switching the selected frequency band, and the complexity of the system configuration for wireless communication between the mobile object and the communication device can be suppressed compared to a system that switches the communication method by switching between multiple pre-prepared communication paths. Furthermore, since the system determines the frequency band using at least one of the mobile object information and the manufacturing status information, wireless communication between the mobile object and the communication device can be realized by using an appropriate frequency band according to at least one of the mobile object information and the manufacturing status information. (2) In the above embodiment, the moving body information may include moving body position information indicating the position of the moving body. According to this type of communication control system, since the mobile object information includes the mobile object's position information, wireless communication between the mobile object and the communication device can be achieved by using an appropriate frequency band according to the mobile object's position. (3) In the above embodiment, the frequency band determination unit may use the mobile body position information to determine the second frequency band as the usable frequency band if the mobile body is located in a work area predetermined as an area in which predetermined work is performed on the mobile body, and determine the first frequency band as the usable frequency band if the mobile body is not located in the work area. According to this type of communication control system, if the mobile object is located in the work area, a second frequency band is determined as the frequency band to be used, and if the mobile object is not located in the work area, a first frequency band is determined as the frequency band to be used. Therefore, wireless communication between the mobile object and the communication device can be achieved by using the appropriate frequency band depending on whether or not the mobile object is located in the work area. (4) In the above embodiment, the work may include at least one of the following: assembling the components to the moving body, painting the moving body, and inspecting the moving body. According to this form of communication control system, the work includes at least one of the following: assembling parts onto a mobile body, painting the mobile body, and inspecting the mobile body. Therefore, wireless communication between the mobile body and the communication device can be achieved by using an appropriate frequency band depending on whether the mobile body is located in a process in which at least one of the following is performed: assembling parts onto the mobile body, painting the mobile body, or inspecting the mobile body. (5) In the above embodiment, the moving body information includes speed information indicating the speed of the moving body, and the frequency band determination unit may use the speed information to determine the second frequency band as the usable frequency band if the speed of the moving body is less than a predetermined threshold, and determine the first frequency band as the usable frequency band if the speed of the moving body is equal to or greater than the threshold. According to this type of communication control system, speed information is used to determine the second frequency band to be used if the speed of the moving object is below a threshold, and the first frequency band to be used if the speed of the moving object is above the threshold. Therefore, wireless communication between the moving object and the communication device can be achieved by using the appropriate frequency band according to the speed of the moving object. (6) In the above embodiment, the frequency band determination unit may use the speed of the moving body, which has been identified using control information relating to the movement control of the moving body, as the speed information. According to this type of communication control system, the speed of a moving object, which is identified using control information, is used as speed information. This makes it easy to determine the speed of the moving object and to easily determine an appropriate frequency band according to the speed of the moving object. (7) In the above embodiment, the manufacturing status information may include parts information relating to parts attached to the moving body. According to this type of communication control system, since the manufacturing status information includes component information, wireless communication between the mobile object and the communication device can be achieved by using an appropriate frequency band according to the mounting status of the components on the mobile object. (8) In the above embodiment, the frequency band determination unit may use the component information to determine whether the moving body is located in a predetermined process, which is a process prior to the designated process. If the moving body is located in a process prior to the designated process, the unit may determine the second frequency band as the usable frequency band. If the moving body is located in a process after the designated process, the unit may determine the first frequency band as the usable frequency band. According to this type of communication control system, the system identifies whether a mobile object is located in a process prior to a specified process as part information. If the mobile object is located in a process prior to the specified process, a second frequency band is determined as the frequency band to be used. If the mobile object is located in a process after the specified process, a first frequency band is determined as the frequency band to be used. Therefore, wireless communication between the mobile object and the communication device can be achieved by using an appropriate frequency band depending on whether or not the mobile object is located in a process prior to the specified process. (9) In the above embodiment, the frequency band determination unit may use the component information to determine the number of attached components, which is the number of components attached to the mobile body, and if the number of attached components is less than a predetermined threshold, it may determine the second frequency band as the usable frequency band, and if the number of attached components is equal to or greater than the threshold, it may determine the first frequency band as the usable frequency band. According to this type of communication control system, the number of installed parts is identified as part information. If the number of installed parts is below a predetermined threshold, a second frequency band is determined as the frequency band to be used. If the number of installed parts is equal to or greater than the threshold, a first frequency band is determined as the frequency band to be used. Therefore, wireless communication between a mobile device and a communication device can be achieved by using an appropriate frequency band according to the number of installed parts. (10) In the above embodiment, the frequency band determination unit may use the component information to determine whether a designated component, which is a pre-specified component, has already been attached to the mobile body. If the designated component has not yet been attached to the mobile body, the unit may determine the second frequency band as the usable frequency band. If the designated component has already been attached to the mobile body, the unit may determine the first frequency band as the usable frequency band. According to this type of communication control system, the system identifies whether a designated component has already been attached to a mobile object as part of the component information. If the designated component has not yet been attached to the mobile object, a second frequency band is determined as the frequency band to be used. If the designated component has already been attached to the mobile object, a first frequency band is determined as the frequency band to be used. Therefore, wireless communication between the mobile object and the communication device can be achieved by using the appropriate frequency band depending on whether the designated component has already been attached to the mobile object. (11) In the above embodiment, the manufacturing status information includes information regarding the cycle time of the factory where the mobile body is manufactured, and the frequency band determination unit may determine the second frequency band as the usable frequency band if the cycle time is longer than a predetermined threshold, and determine the first frequency band as the usable frequency band if the cycle time is less than or equal to the threshold. According to this type of communication control system, the manufacturing status information includes information about the cycle time of the factory where the mobile device is manufactured. If the cycle time is longer than a predetermined threshold, a second frequency band is determined as the frequency band to be used. If the cycle time is less than or equal to the threshold, the first frequency band is determined as the frequency band to be used. Therefore, wireless communication between the mobile device and the communication device can be achieved by using the appropriate frequency band according to the cycle time. (12) In the above embodiment, when the second frequency band is determined as the use frequency band, the communication control unit may execute the wireless communication targeting information having a larger information amount than when the first frequency band is used. According to the communication control system of this aspect, when the second frequency band is determined as the use frequency band, communication targeting information having a larger information amount than when the first frequency band is used is executed. Therefore, compared with an aspect where the second frequency band is used only when communication targeting information having a large information amount is required, a reduction in the degree of freedom of execution timing of communication targeting information having a large information amount can be suppressed. (13) In the above embodiment, the communication device may be a communication relay device that relays the wireless communication between the mobile body and an external device located outside the mobile body. According to the communication control system of this aspect, wireless communication between the mobile body and the communication relay device can be realized using an appropriate frequency band. (14) In the above embodiment, the external device may be a server device that controls unmanned driving of the mobile body. According to the communication control system of this aspect, wireless communication between the mobile body and the server device via the communication relay device can be realized using an appropriate frequency band. (15) According to another aspect of the present disclosure, there is provided a server device that executes wireless communication with a mobile body via a communication relay device. The server device uses at least one of mobile body information, which is information related to a state of the mobile body, and manufacturing status information, which is information related to a manufacturing status of the mobile body, to select a use frequency band, which is a frequency band to be used for the wireless communication, from frequency band candidates including at least a first frequency band and a second frequency band higher than the first frequency band. The server device comprises: a frequency band determination unit that determines the use frequency band; and a communication control unit that controls the communication relay device to execute the wireless communication using the use frequency band. According to this type of server device, the system determines the frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band, and controls the communication relay device to perform wireless communication using the frequency band. Therefore, the communication method can be easily switched by switching the frequency band, and the complexity of the system configuration for wireless communication between the mobile device and the communication relay device can be suppressed compared to a system that switches the communication method by switching between multiple pre-prepared communication paths. Furthermore, since the frequency band to be used is determined using at least one of the mobile device information and the manufacturing status information, wireless communication between the mobile device and the communication relay device can be realized by using an appropriate frequency band according to at least one of the mobile device information and the manufacturing status information. (16) According to another embodiment of the present disclosure, a mobile body is provided that performs wireless communication with a communication device. The mobile body includes a frequency band determination unit that determines a frequency band to be used for the wireless communication from among candidate frequency bands including at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information which is information relating to the state of the mobile body and manufacturing status information which is information relating to the manufacturing status of the mobile body, and a communication control unit that controls the communication device to perform the wireless communication using the frequency band. In this configuration of the mobile device, a frequency band to be used for wireless communication is determined from among candidate frequency bands that include at least a first frequency band and a second frequency band, and the communication device is controlled to perform wireless communication using the frequency band. Therefore, the communication method can be easily switched by switching the frequency band, and the complexity of the system configuration for wireless communication between the mobile device and the communication device can be suppressed compared to a configuration in which the communication method is switched by switching between multiple pre-prepared communication paths. Furthermore, since the frequency band to be used is determined using at least one of the mobile device information and the manufacturing status information, wireless communication between the mobile device and the communication device can be realized by using an appropriate frequency band according to at least one of the mobile device information and the manufacturing status information. (17) According to another aspect of the present disclosure, there is provided a communication control method for controlling wireless communication between a mobile object and a communication device. This communication control method uses at least one of mobile object information, which is information relating to the state of the mobile object, and manufacturing status information, which is information relating to the manufacturing status of the mobile object, to select a first frequency band and a second frequency band that is higher than the first frequency band from among frequency band candidates including at least the above, and determines a used frequency band, which is a frequency band to be used for the wireless communication; and controlling the communication device to perform the wireless communication using the used frequency band. According to the control method of this aspect, the used frequency band, which is a frequency band to be used for the wireless communication, is determined from among frequency band candidates including at least a first frequency band and a second frequency band, and the communication device is controlled to perform wireless communication using the used frequency band. Therefore, the communication scheme can be easily switched by switching the used frequency band, and compared with a configuration in which the communication scheme is switched by switching a plurality of pre-prepared communication paths, an increase in complexity of the system configuration for wireless communication between the mobile object and the communication device can be suppressed. Further, since the used frequency band is determined using at least one of the mobile object information and the manufacturing status information, wireless communication between the mobile object and the communication device can be realized by using an appropriate frequency band according to at least one of the mobile object information and the manufacturing status information. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] [Figure 1] It is a conceptual diagram showing the configuration of the control system in the first embodiment. [Figure 2] It is a block diagram showing the configuration of the control system. [Figure 3] It is a flowchart showing a processing procedure of vehicle travel control in the first embodiment. [Figure 4] It is a flowchart showing a procedure of frequency band switching processing in the first embodiment. [Figure 5] It is a flowchart showing a procedure of frequency band switching processing in the second embodiment. [Figure 6]This is a flowchart showing the procedure for frequency band switching processing in the third embodiment. [Figure 7] This is a block diagram showing the configuration of the control system in the fourth embodiment. [Figure 8] This is a flowchart showing the processing procedure for vehicle driving control in the fourth embodiment. [Modes for carrying out the invention]

[0008] A. First Embodiment: A-1. System Configuration: Figure 1 is a conceptual diagram showing the configuration of the control system 50 in the first embodiment. The control system 50 comprises one or more vehicles 100 as mobile bodies, a server device 200, and one or more external sensors 300.

[0009] In this disclosure, “mobile object” means an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (so-called flying car). A vehicle may be a wheeled vehicle or a tracked vehicle, such as a passenger car, truck, bus, motorcycle, car, tank, or construction vehicle. Vehicles include electric vehicles (BEVs: Battery Electric Vehicles), gasoline vehicles, hybrid vehicles, and fuel cell vehicles. If the mobile object is not a vehicle, the terms “vehicle” and “car” in this disclosure may be replaced with “mobile object” as appropriate, and the term “driving” may be replaced with “moving” as appropriate.

[0010] Vehicle 100 is configured to operate autonomously. "Autonomous operation" means operation without the operation of a passenger. Operation refers to operations related to at least one of the following: "going," "turning," or "stopping" of vehicle 100. Autonomous operation is achieved by automatic or manual remote control using a device located outside vehicle 100, or by autonomous control of vehicle 100. Vehicle 100 operating autonomously may have passengers on board who do not perform operation. Passengers who do not perform operation include, for example, people simply sitting in the seats of vehicle 100, or people performing tasks other than operation, such as assembly, inspection, or operating switches, while on board vehicle 100. Operation by a passenger is sometimes called "manned operation."

[0011] In this specification, “remote control” includes “fully remote control,” in which all operations of the vehicle 100 are completely determined from outside the vehicle 100, and “partial remote control,” in which some operations of the vehicle 100 are determined from outside the vehicle 100. Furthermore, “autonomous control” includes “fully autonomous control,” in which the vehicle 100 autonomously controls its own operations without receiving any information from external devices, and “partial autonomous control,” in which the vehicle 100 autonomously controls its own operations using information received from external devices. In the following description, the control for the vehicle 100's movement achieved by remote control or autonomous control is also referred to as “driving control.” Driving control corresponds to “movement control” in this disclosure.

[0012] In this embodiment, the control system 50 is used in a factory FC where the vehicle 100 is manufactured. The reference coordinate system of the factory FC is the global coordinate system GC. That is, any position within the factory FC is represented by X, Y, Z coordinates in the global coordinate system GC. The factory FC comprises a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a track TR on which the vehicle 100 can travel. Multiple external sensors 300 are installed along the track TR in the factory FC. The position of each external sensor 300 in the factory FC is pre-adjusted. The vehicle 100 moves from the first location PL1 to the second location PL2 via the track TR by unmanned operation.

[0013] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that captures the vehicle 100 from outside the vehicle 100. Specifically, the external sensor 300 is composed of a camera. The camera as the external sensor 300 captures an image including the vehicle 100 and outputs the captured image as the detection result. The external sensor 300 is equipped with a communication device (not shown) and can communicate with other devices such as the server device 200 via wired or wireless communication.

[0014] Figure 2 is a block diagram showing the configuration of the control system 50. The vehicle 100 includes a vehicle control device 110 for controlling various parts of the vehicle 100, an actuator group 120 including one or more actuators driven under the control of the vehicle control device 110, and a communication device 130 for communicating wirelessly with external devices such as a server device 200. The actuator group 120 includes actuators for a drive system to accelerate the vehicle 100, actuators for a steering system to change the direction of travel of the vehicle 100, and actuators for a braking system to decelerate the vehicle 100. In addition, the vehicle 100 may be equipped with various sensors, such as a vehicle speed sensor and a yaw rate sensor, which are not shown.

[0015] 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.

[0016] 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 device 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.

[0017] The server device 200 is composed of a computer comprising a processor 201, memory 202, an input / output interface 203, and an internal bus 204. The processor 201, memory 202, and input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 for communicating with various devices outside the server device 200 is connected to the input / output interface 203. The communication device 205 can communicate with the vehicle 100 wirelessly via an access point AP, and can communicate with each external sensor 300 via wired or wireless communication.

[0018] The access point AP relays wireless communication between the vehicle 100 and the server device 200. In this embodiment, the server device 200 corresponds to the "external device" in this disclosure. The access point AP also relays wireless communication between the server device 200 and the external sensor 300, and wireless communication between the server device 200 and the process control device 400, which will be described later. In this embodiment, the access point AP functions as a wireless LAN (Local Area Network) access point AP. The access point AP communicates with the vehicle 100 via wireless LAN and also communicates with the server device 200 via a wired network including a router device (not shown). The access point AP may also communicate with the server device 200 via wireless LAN. The access point AP corresponds to the "communication relay device" in this disclosure. Note that communication between the server device 200 and the external sensor 300, and communication between the server device 200 and the process control device 400, which will be described later, may be achieved by wired communication instead of wireless communication via the access point AP.

[0019] In this embodiment, the access point AP is configured to communicate by switching between a predetermined number of frequency bands according to the control of the communication control unit 214 described later. In this embodiment, the access point AP is configured to communicate by switching between the 2.4GHz band and the 5.0GHz band as the frequency bands used in wireless communication. Here, the 2.4GHz band corresponds to the "first frequency band" in this disclosure, and the 5.0GHz band corresponds to the "second frequency band" in this disclosure. Generally, communication using lower frequency bands has the characteristic that radio waves are less likely to be shielded even when obstacles are present, compared to communication using higher frequency bands. On the other hand, communication using higher frequency bands has the characteristic that high-speed communication is possible compared to communication using lower frequency bands. Note that the access point AP is not limited to the 2.4GHz band and the 5.0GHz band, but may also communicate using any frequency band, such as the 6GHz band, in addition to the 2.4GHz band and the 5.0GHz band, or in place of at least one of the 2.4GHz band and the 5.0GHz band. Furthermore, communication devices 130 and 205 automatically switch the frequency band they use in accordance with the switching of the frequency band used by the access point AP.

[0020] The processor 201 implements various functions, including those of a remote control unit 210, by executing the program PG2 stored in the memory 202. In this embodiment, the processor 201 functions as a remote control unit 210, a frequency band determination unit 212, and a communication control unit 214.

[0021] The remote control unit 210 acquires detection results from the 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. The processing procedure for driving control realized by remote control in this embodiment will be described later. In addition to driving control signals, the remote control unit 210 may also generate and output control signals to control various auxiliary equipment and actuators that operate various equipment such as wipers, power windows, and lamps, provided on the vehicle 100. In other words, the remote control unit 210 may operate such various equipment and various auxiliary equipment by remote control.

[0022] The frequency band determination unit 212 uses at least one of the vehicle information and the manufacturing status information to determine, at the access point AP, the frequency band to be used for wireless communication between the server device 200 and the vehicle 100 (hereinafter also referred to as the "used frequency band") from among candidate frequency bands in the 2.4GHz band and the 5.0GHz band. "Vehicle information" means information about the status of the vehicle 100. Vehicle information corresponds to "mobile device information" in this disclosure. "Manufacturing status information" means information about the manufacturing status of the vehicle 100. Specific examples of vehicle information and manufacturing status information will be described later. The communication control unit 214 controls the access point AP to perform the wireless communication using the used frequency band. Specific processing in the frequency band determination unit 212 and the communication control unit 214 will be described later. The control system 50 of this embodiment, which includes a server device 200 having the frequency band determination unit 212 and the communication control unit 214 described above, also functions as a "communication control system" that controls wireless communication between the vehicle 100 and the access point AP.

[0023] The process control device 400 is a device for managing the manufacturing process of the vehicle 100. The process control device 400 is composed of a computer. The process control device 400 acquires information from various equipment in the factory FC and generates information related to the manufacturing process of the vehicle 100, which is the product. In the following description, information related to the manufacturing process of a product will be referred to as process information. In this embodiment, the process information includes information indicating when, where, which worker, on which product, and what work is scheduled to be performed; information indicating when, where, which worker, on which product, and what work has been performed; and information indicating the progress of the work. The process control device 400 is equipped with a communication device (not shown) and transmits process information to the server device 200 via wired or wireless communication. The functions of the process control device 400 may also be implemented in the same device as the server device 200.

[0024] A-2. Driving control: Figure 3 is a flowchart showing the processing procedure for controlling the driving of vehicle 100 in the first embodiment. In step S110, the remote control unit 210 acquires vehicle position information of vehicle 100 using the detection result output from the external sensor 300. Vehicle position information is position information that forms the basis for generating driving control signals. In this embodiment, the vehicle position information includes the position and orientation of vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S110, the remote control unit 210 acquires vehicle position information using the captured image acquired from the camera, which is the external sensor 300.

[0025] In detail, in step S110, the remote control unit 210, for example, 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 device 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 (hereinafter referred to as 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 remote control unit 210 can obtain the orientation of vehicle 100 by, for example, using the optical flow method to estimate the orientation 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.

[0026] In step S120, the remote control unit 210 determines the next target location to which the vehicle 100 should go. 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 device 200 has a reference route RR, which is the route that the vehicle 100 should travel, pre-stored therein. 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 remote control unit 210 uses the vehicle position information and the reference route RR to determine the next target location to which the vehicle 100 should go. The remote control unit 210 determines the target location on the reference route RR beyond the current location of the vehicle 100.

[0027] In step S130, the remote control unit 210 generates a driving control signal to drive the vehicle 100 toward the determined target position. The remote control unit 210 calculates the vehicle's speed from the change in the vehicle's position and compares the calculated speed with the target speed. Overall, the remote control unit 210 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 remote control unit 210 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 remote control unit 210 determines the steering angle and acceleration so that the vehicle 100 returns to the reference path RR.

[0028] In step S140, the remote control unit 210 transmits the generated driving control signal to the vehicle 100. The remote control unit 210 repeats the process of acquiring the position of the vehicle 100, determining the target position, generating the driving control signal, and transmitting the driving control signal at predetermined intervals.

[0029] In step S150, the vehicle control unit 115 receives a driving control signal transmitted from the server device 200. In step S160, the vehicle control unit 115 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 vehicle control unit 115 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.

[0030] A-3. Frequency band switching process: Figure 4 is a flowchart showing the procedure for frequency band switching processing in the first embodiment. In this embodiment, the above-described driving control is performed as the basic control, and the frequency band switching processing is performed in combination with such driving control. The frequency band switching processing is repeatedly performed while the server device 200 is in operation.

[0031] In step S210, the frequency band determination unit 212 determines the location of the vehicle 100. In this embodiment, the frequency band determination unit 212 determines the location of the vehicle 100 using the vehicle location information acquired by the remote control unit 210 as described above. The vehicle location information corresponds to the "mobile object location information" in this disclosure. The vehicle location information is also included in the vehicle information described above.

[0032] In step S220, the frequency band determination unit 212 determines whether the vehicle 100 is located in the work area. The "work area" refers to an area predetermined as an area where some kind of work is performed on the vehicle 100, for example, an area where work such as assembling parts, painting, and inspection of the vehicle 100 is performed. In the following description, the area in which the vehicle 100 is transported between work areas or the transported vehicle 100 after completion is performed, and in which no work is performed on the vehicle 100, is also referred to as the "transport area".

[0033] If it is determined that the vehicle 100 is located in the work area (step S220: Yes), in step S230, the frequency band determination unit 212 determines the 5.0 GHz band as the frequency band to be used. In the work area, in addition to transmitting control signals that control various operations of the vehicle 100, information is exchanged such as downloading programs and process information to the vehicle 100 for performing the above-mentioned tasks such as assembling, painting, or inspecting parts, and uploading inspection results and work performance status from the vehicle 100. Thus, in the work area, a larger amount of information is communicated compared to the transport area where basically only driving control signals are transmitted, so the frequency band determination unit 212 determines the 5.0 GHz band as the frequency band to be used, as it enables faster communication compared to the 2.4 GHz band.

[0034] On the other hand, if it is determined that the vehicle 100 is not located in the work area (step S220: No), in other words, if the vehicle 100 is located in the transport area, in step S240, the frequency band determination unit 212 determines the 2.4GHz band as the frequency band to be used. In the work area, work is performed on the vehicle 100, so the vehicle 100 is stopped or moving at a low speed, whereas in the transport area, no work is performed on the vehicle 100, so the vehicle 100 moves at a faster speed compared to the work area, and moves across obstacles such as pillars and parts shelves more frequently compared to the work area. For this reason, the frequency band determination unit 212 determines the 2.4GHz band as the frequency band to be used, as radio waves are less likely to be shielded even if obstacles are present, compared to the 5.0GHz band.

[0035] In step S250, the communication control unit 214 controls the access point AP to perform wireless communication using the available frequency band. The server device 200 repeatedly executes the process described above.

[0036] According to the control system 50 of the first embodiment described above, the system determines the frequency band to be used from the 2.4GHz band and the 5.0GHz band, and controls the access point AP to perform wireless communication using the used frequency band. Therefore, the communication method can be easily switched by switching the frequency band, and the complexity of the system configuration for wireless communication between the vehicle 100 and the access point AP can be suppressed compared to a system that switches the communication method by switching between multiple pre-prepared communication paths. Furthermore, since the system determines the frequency band using at least one of the vehicle information and the manufacturing status information, wireless communication between the vehicle 100 and the access point AP can be realized by using an appropriate frequency band according to at least one of the vehicle information and the manufacturing status information.

[0037] Furthermore, since the vehicle information includes vehicle location information, wireless communication between the vehicle 100 and the access point AP can be achieved by using an appropriate frequency band according to the location of the vehicle 100.

[0038] Furthermore, using vehicle location information, if vehicle 100 is located in the work area, the 5.0GHz band is determined as the frequency band to be used, and if vehicle 100 is not located in the work area, the 2.4GHz band is determined as the frequency band to be used. Therefore, wireless communication between vehicle 100 and access point AP can be achieved by using the appropriate frequency band depending on whether or not vehicle 100 is located in the work area.

[0039] Furthermore, since the work performed in the work area includes at least one of the following: assembly of parts onto the vehicle 100, painting of the vehicle 100, and inspection of the vehicle 100, wireless communication between the vehicle 100 and the access point AP can be achieved using an appropriate frequency band depending on whether the vehicle 100 is located in an area where at least one of the following is performed: assembly of parts onto the vehicle 100, painting of the vehicle 100, or inspection of the vehicle 100.

[0040] B. Second Embodiment: Figure 5 is a flowchart showing the procedure for the frequency band switching process in the second embodiment. The server device 200 of the second embodiment differs from the server device 200 of the first embodiment in that, as shown in Figure 5, it executes step S220A instead of step S220. Note that the system configuration of the server device 200 of the second embodiment and other procedures in the frequency band switching process are the same as those of the server device 200 of the first embodiment, so the same components and procedures are denoted by the same reference numerals, and their detailed descriptions are omitted.

[0041] In step S220A, the frequency band determination unit 212 determines whether the vehicle 100 is located in a process prior to a predetermined process (hereinafter also referred to as the "designated process"). For example, if the vehicle 100 is located in the region corresponding to the process designated as the designated process, the frequency band determination unit 212 determines that the vehicle 100 is located in the designated process. Alternatively, the frequency band determination unit 212 may use process information received from the process control device 400 to identify the process in which the vehicle 100 is located.

[0042] A "designated process" refers to a process in which the assembly state of parts on the vehicle 100 reaches a predetermined state. In other words, the assembly state of parts on the vehicle 100 can be specified depending on whether the vehicle 100 is in a process prior to the designated process. For example, a process in which the number of parts attached to the vehicle 100 exceeds a predetermined number, or a process in which large parts such as a body shell are attached to the vehicle 100, may be designated as a designated process. Since the designated process is determined in relation to the parts attached to the vehicle 100, whether the vehicle 100 is in a process prior to the designated process corresponds to "parts information" in this disclosure. Furthermore, parts information is included in the manufacturing status information described above.

[0043] If it is determined that vehicle 100 is in a process prior to the designated process (step S220A: Yes), in step S230, the frequency band determination unit 212 determines the 5.0 GHz band as the frequency band to be used. When vehicle 100 is in a process prior to the designated process, the number of parts attached to vehicle 100 is smaller compared to when vehicle 100 is in a process later than the designated process. In other words, there are fewer obstacles between the communication device 130 on vehicle 100 and the access point AP on which communication is performed. In such cases, radio waves are less likely to be shielded, so the frequency band determination unit 212 determines the 5.0 GHz band, which enables high-speed communication, as the frequency band to be used.

[0044] On the other hand, if it is determined that the vehicle 100 is not located in a process prior to the designated process (step S220A: No), in other words, if the vehicle 100 is located in a process later than the designated process, in step S240, the frequency band determination unit 212 determines the 2.4GHz band as the frequency band to be used. When the vehicle 100 is located in a process later than the designated process, compared to when the vehicle 100 is located in a process prior to the designated process, there are more parts attached to the vehicle 100 and more obstacles between the communication device 130 equipped in the vehicle 100 where communication is performed and the access point AP. In such cases, radio waves are more likely to be shielded, so the frequency band determination unit 212 determines the 2.4GHz band as the frequency band to be used, as radio waves are less likely to be shielded even if obstacles are present.

[0045] According to the server device 200 of the second embodiment described above, the component information identifies whether the vehicle 100 is located in a process prior to the specified process. If the vehicle 100 is located in a process prior to the specified process, the 5.0 GHz band is determined as the frequency band to be used. If the vehicle 100 is located in a process after the specified process, the 2.4 GHz band is determined as the frequency band to be used. Therefore, wireless communication between the vehicle 100 and the access point AP can be realized by using an appropriate frequency band depending on whether the vehicle 100 is located in a process prior to the specified process.

[0046] C. Third Embodiment: Figure 6 is a flowchart showing the procedure for the frequency band switching process in the third embodiment. The server device 200 of the third embodiment differs from the server device 200 of the first embodiment in that, as shown in Figure 6, it executes steps S210B and S220B instead of steps S210 and S220. Note that the system configuration and other procedures in the frequency band switching process of the server device 200 of the second embodiment are the same as those of the server device 200 of the first embodiment, so the same components and procedures are denoted by the same reference numerals, and their detailed explanation is omitted.

[0047] In step S210B, the frequency band determination unit 212 acquires control information for the vehicle 100. "Control information" refers to information relating to the driving control of the vehicle 100. In this embodiment, the frequency band determination unit 212 acquires a driving control signal generated by the remote control unit 210 as control information. As described above, since the vehicle 100 drives according to the received driving control signal, the frequency band determination unit 212 can identify the state of the driving control to be performed on the vehicle 100 by acquiring the driving control signal. Furthermore, in this embodiment, the remote control unit 210 that generates the driving control signal and the frequency band determination unit 212 are implemented in the same device, the server device 200, so the frequency band determination unit 212 can easily acquire control information without communicating with external devices of the server device 200 and can easily identify the speed of the vehicle 100.

[0048] In step S220B, the frequency band determination unit 212 determines whether the speed of the vehicle 100, as realized by the acceleration expressed in the driving control signal, is less than a predetermined threshold. If it is determined that the speed of the vehicle 100 is less than the threshold (step S220B: Yes), in step S230, the frequency band determination unit 212 determines the 5.0 GHz band as the frequency band to be used. When the speed of the vehicle 100 is less than the threshold, the frequency of crossing obstacles such as pillars and parts shelves is less compared to when the speed of the vehicle 100 is above the threshold. In this case, the frequency of crossing obstacles is less frequent and radio waves are less likely to be shielded, so the frequency band determination unit 212 determines the 5.0 GHz band, which enables high-speed communication, as the frequency band to be used. If the driving control signal includes the speed of the vehicle 100 as a parameter, in this step, the frequency band determination unit 212 may determine whether the speed of the vehicle 100 expressed in the driving control signal is less than or equal to a predetermined threshold.

[0049] On the other hand, if it is determined that the speed of vehicle 100 is not below the threshold (step S220B: No), in other words, if the speed of vehicle 100 is above the threshold, in step S240, the frequency band determination unit 212 determines the 2.4GHz band as the frequency band to be used. When the speed of vehicle 100 is above the threshold, it is more likely to pass over obstacles such as pillars and parts shelves compared to when the speed of vehicle 100 is below the threshold. In such cases, radio waves are more likely to be shielded, so the frequency band determination unit 212 determines the 2.4GHz band, where radio waves are less likely to be shielded, as the frequency band to be used.

[0050] According to the third embodiment 200 described above, by utilizing speed information, if the speed of the vehicle 100 is below a threshold, the 5.0 GHz band is determined as the frequency band to be used, and if the speed of the vehicle 100 is above the threshold, the 2.4 GHz band is determined as the frequency band to be used. Therefore, wireless communication between the vehicle 100 and the access point AP can be realized by using an appropriate frequency band according to the speed of the vehicle 100.

[0051] Furthermore, since the speed of vehicle 100, which is identified using control information, is used as speed information, the speed of vehicle 100 can be easily identified, and it is easy to determine an appropriate frequency band according to the speed of vehicle 100.

[0052] D. Fourth Embodiment: Figure 7 is an explanatory diagram showing the schematic configuration of the control system 50D in the fourth embodiment. In this embodiment, the control system 50D differs from the first embodiment in that it does not include a server device 200. Also, in this embodiment, the vehicle 100D can be driven by autonomous control of the vehicle 100D. The other configurations are the same as in the first embodiment unless otherwise specified.

[0053] In this embodiment, the processor 111D of the vehicle control device 110D functions as a vehicle control unit 115D by executing the program PG1D stored in the memory 112D. The vehicle control unit 115D acquires the output result from the external sensor 300, generates a driving control signal using the output result, and outputs the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100D to be driven autonomously. In this embodiment, the external sensor 300 corresponds to the "external device" in this disclosure. In this embodiment, in addition to the program PG1D, the memory 112D has the detection model DM and the reference path RR pre-stored in it.

[0054] Furthermore, in this embodiment, the processor 111D also functions as a frequency band determination unit 117D and a communication control unit 119D, corresponding to the frequency band determination unit 212 and communication control unit 214 that were provided in the server device 200 of the first embodiment, by executing the program PG1D stored in the memory 112D. In this embodiment, the vehicle 100D may acquire process information from the process control device 400, similar to the server device 200 of the first embodiment. In this case, the process control device 400 corresponds to the "external device" in this disclosure. With the vehicle 100D configured in this way, the same effects as in the first embodiment can be obtained without using the server device 200.

[0055] Figure 8 is a flowchart showing the processing procedure for controlling the driving of vehicle 100D in the fourth embodiment. In step S310, the vehicle control unit 115D acquires vehicle position information using the detection result output from the camera, which is an external sensor 300. In step S320, the vehicle control unit 115D determines the target position to which vehicle 100D should next go. In step S330, the vehicle control unit 115D generates a driving control signal to drive vehicle 100D toward the determined target position. In step S340, the vehicle control unit 115D drives vehicle 100D according to the parameters expressed in the driving control signal by controlling the actuator group 120 using the generated driving control signal. The vehicle control unit 115D 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 50D in this embodiment, vehicle 100D can be driven by autonomous control of vehicle 100D without remote control of vehicle 100D by the server device 200.

[0056] E. Other embodiments: (E1) In the first embodiment described above, the download of programs and process information may be performed each time it is necessary in each process, or it may be performed all at once for multiple processes at a predetermined arbitrary timing. In addition, the upload of inspection results, work status, etc. from the vehicle 100 may be performed each time the work in each process is completed, or it may be performed all at once for multiple processes at a predetermined arbitrary timing. In each of these configurations, the frequency band determination unit 212 may determine the 5.0 GHz band as the frequency band to be used when uploading or downloading information is performed, in other words, when information with a larger amount of information than in other cases is being communicated, and may determine the 2.4 GHz band as the frequency band to be used in processes where information uploading or downloading is not performed, even in the work area. According to this configuration, an appropriate frequency band can be used depending on the amount of information exchanged between the vehicle 100 and other devices.

[0057] Furthermore, the download of information to the vehicle 100 and the uploading of information from the vehicle 100 may be performed when communication using the 5.0GHz band is performed due to factors other than the location of the vehicle 100, such as the mounting status of parts on the vehicle 100 or the speed of the vehicle 100, as described in each of the embodiments described above. In other words, when communication using the 5.0GHz band is performed, the communication control unit 214 causes wireless communication between the vehicle 100 and the external device to target information with a larger amount of data compared to when using the 2.4GHz band. With this configuration, regardless of whether the vehicle 100 requires communication targeting information with a large amount of data, communication targeting information with a large amount of data can be performed when high-speed communication is possible because the 5.0GHz band is used. Therefore, a decrease in the degree of freedom of the timing of communication targeting information with a large amount of data in the vehicle 100 can be suppressed.

[0058] (E2) In the first embodiment described above, the frequency band determination unit 212 determines the frequency band to be used depending on whether the vehicle 100 is located in the work area or not, but the disclosure is not limited thereto. The frequency band determination unit 212 may determine the frequency band to be used depending on whether the vehicle 100 is located in a predetermined area, regardless of whether it is in the work area or not. For example, the frequency band determination unit 212 may determine the 2.4GHz band as the frequency band to be used if the vehicle 100 is located in a predetermined area where there are many obstacles such as pillars and parts shelves, and may determine the 5.0GHz band as the frequency band to be used if the vehicle 100 is not located in that area. With this configuration, wireless communication between the vehicle 100 and the access point AP can be realized by using a more appropriate frequency band depending on the predetermined area, regardless of whether the vehicle 100 is located in the work area or not.

[0059] Furthermore, the frequency band determination unit 212 may determine the frequency band according to the content of the inspection performed in the inspection process, which is the area within the work domain where the inspection is performed. For example, the information uploaded in the abnormal noise inspection of the vehicle 100 includes audio information, so the amount of information is greater than the information uploaded in the process of visually inspecting for the presence or absence of liquid leaks, etc. Thus, the frequency band determination unit 212 may determine the 5.0 GHz band as the frequency band to use when the vehicle 100 is located in an inspection process where the amount of information uploaded is greater than in other inspection processes, and determine the 2.4 GHz band as the frequency band to use when the vehicle 100 is located in other inspection processes. With this configuration, wireless communication between the vehicle 100 and the access point AP can be realized by using an appropriate frequency band according to the content of the inspection performed in the inspection process.

[0060] (E3) In the second embodiment described above, the frequency band determination unit 212 determines the frequency band to be used depending on whether the vehicle 100 is located in a process prior to the specified process, but the disclosure is not limited thereto. For example, the frequency band determination unit 212 may use the process in which the vehicle 100 is located to identify the number of parts attached to the vehicle 100 up to the process in which the vehicle 100 is located (hereinafter also referred to as "number of attached parts"), and if the number of attached parts is greater than or equal to a predetermined threshold, it may determine the 2.4GHz band as the frequency band to be used, and if it is less than the threshold, it may determine the 5.0GHz band as the frequency band to be used. As described above, the more attached parts there are, the more obstacles there are between the communication device 130 on the vehicle 100 where communication is performed and the access point AP, making it easier for radio waves to be shielded. The number of attached parts corresponds to "part information" in the disclosure. According to this embodiment, wireless communication between the vehicle 100 and the access point AP can be realized by using an appropriate frequency band according to the number of attached parts.

[0061] Furthermore, the frequency band determination unit 212 may determine the 2.4GHz band as the usable frequency band if a pre-specified part (hereinafter also referred to as "specified part") has already been installed on the vehicle 100, and may determine the 5.0GHz band as the usable frequency band if the part has not yet been installed. "Specified part" means a part that, when installed, results in a predetermined assembly state of the parts on the vehicle 100. That is, the assembly state of the parts on the vehicle 100 can be specified depending on whether or not the specified part has already been installed on the vehicle 100. For example, a part that, when installed, results in a number of parts installed on the vehicle 100 exceeding a predetermined number, or a large part such as a body shell, may be designated as a specified part. Whether or not the specified part has already been installed on the vehicle 100 is included in the "part information" in this disclosure. Whether or not the specified part has already been installed on the vehicle 100 can be determined, for example, by analyzing the image of the vehicle 100 acquired by the external sensor 300. According to this configuration, wireless communication between the vehicle 100 and the access point AP can be achieved by using an appropriate frequency band depending on whether or not the specified component is already installed on the vehicle 100.

[0062] (E4) In the third embodiment described above, the frequency band determination unit 212 acquires a driving control signal generated by the remote control unit 210 and determines the frequency band to be used using the speed of the vehicle 100 identified using the driving control signal, but the disclosure is not limited thereto. The frequency band determination unit 212 may acquire the speed of the vehicle 100 detected by a vehicle speed sensor mounted on the vehicle 100 or a vehicle speed sensor installed near the track TR, and determine the frequency band to be used using the acquired speed of the vehicle 100. This configuration provides the same effects as the third embodiment described above. In addition, the frequency band can be determined using the actual speed of the vehicle 100, and wireless communication between the vehicle 100 and the access point AP can be realized using a more appropriate frequency band according to the actual driving control state of the vehicle 100.

[0063] (E5) In the above embodiment, the frequency band determination unit 212 determines the frequency band to be used according to the position and speed of the vehicle 100, but the disclosure is not limited thereto. The frequency band determination unit 212 may determine the frequency band to be used according to the manufacturing status of the vehicle 100 in the factory fuel cell. For example, the frequency band determination unit 212 may determine the frequency band to be used according to whether or not the preset target manufacturing time is longer than a predetermined threshold. "Target manufacturing time" means the target value of the manufacturing time required to process one vehicle 100. The target manufacturing time is determined based on the number of vehicles 100 to be produced during the operating hours of the factory fuel cell, and is sometimes called "cycle time". The target manufacturing time is managed, for example, by a process control device 400 and can be adjusted as appropriate according to the target number of vehicles to be produced per day and the manufacturing status of the preceding and succeeding processes. The target manufacturing time may be included in the "manufacturing status information" in the disclosure.

[0064] When the target manufacturing time is short, control is implemented to increase the speed of the vehicle 100 compared to when the target manufacturing time is long, in order to reduce the time required to transport the vehicle 100. In other words, when the target manufacturing time is short, the vehicle will cross obstacles more frequently compared to when the target manufacturing time is long. For this reason, the frequency band determination unit 212 determines the 2.4GHz band as the frequency band to be used when the target manufacturing time is below the threshold, and determines the 5.0GHz band as the frequency band to be used when the target manufacturing time is longer than the threshold. With this configuration, wireless communication between the vehicle 100 and the access point AP can be realized by using an appropriate frequency band according to the target manufacturing time.

[0065] Furthermore, the frequency band determination unit 212 may determine the frequency band to be used by utilizing information related to the inspection results of multiple vehicles 100 being manufactured at the factory fuel cell. In this embodiment, the frequency band determination unit 212 uses the number of vehicles 100 that were found to have problems in the inspection results as information related to the inspection results, and determines the frequency band to be used depending on whether the number of such vehicles is above a predetermined threshold. Since vehicles 100 that were found to have problems in the inspection results are returned to the inspection line after the problematic parts are corrected, a delay occurs in relation to the target manufacturing time. Therefore, in order to suppress such delays in relation to the target manufacturing time, if the number of vehicles 100 that were found to have problems in the inspection results is above a threshold, control is performed so that the speed of the vehicles 100 is faster compared to when the number of vehicles 100 that were found to have problems in the inspection results is below a threshold. In other words, when the number is above a threshold, the frequency of crossing obstacles increases compared to when the number is below a threshold. Therefore, the frequency band determination unit 212 determines the 2.4GHz band as the frequency band to be used if the number of units is above a threshold, and determines the 5.0GHz band as the frequency band to be used if the number of units is below the threshold. With this configuration, wireless communication between the vehicles 100 and the access point AP can be realized by using an appropriate frequency band according to the inspection results of the multiple vehicles 100 being manufactured at the factory FC.

[0066] Furthermore, the frequency band determination unit 212 may determine the frequency band depending on whether or not the production line for vehicle 100 has stopped at the factory FC. If the production line has stopped, a delay equal to the time the production line was stopped will occur relative to the target manufacturing time. Therefore, in order to suppress such delays relative to the target manufacturing time, if the production line has stopped, after the production line is restored, control is performed so that the speed of vehicle 100 is faster than before the production line stopped. In other words, if the production line has stopped, the frequency of crossing obstacles will increase compared to before the production line stopped. For this reason, the frequency band determination unit 212 determines the 2.4GHz band as the frequency band to be used if the production line has stopped, and determines the 5.0GHz band as the frequency band to be used if the production line has not stopped. With this configuration as well, wireless communication between vehicle 100 and access point AP can be realized by using an appropriate frequency band according to the manufacturing status of vehicle 100 at the factory FC.

[0067] (E6) In the first to third embodiments described above, the server device 200 performs wireless communication with the vehicle 100 via an access point AP, but the disclosure is not limited thereto. The server device 200 may also perform wireless communication directly with the vehicle 100. This configuration also produces the same effects as the embodiments described above. The server device 200 in this configuration corresponds to the “communication device” in the disclosure.

[0068] Furthermore, in the fourth embodiment described above, the vehicle 100 performs wireless communication with external devices such as external sensors 300 and process control devices 400 via an access point AP, but the disclosure is not limited thereto. The vehicle 100 may also perform wireless communication directly with external devices such as external sensors 300 and process control devices 400. This configuration also produces the same effects as the above embodiment. In this configuration, each of the external devices such as external sensors 300 and process control devices 400 corresponds to a "communication device" in this disclosure.

[0069] (E7) In each of the above embodiments, the external sensor 300 is a camera. However, the external sensor 300 does not have to be a camera; for example, it may be a LiDAR (Light Detection And Ranging). In this case, the detection result output by the external sensor 300 may be 3D point cloud data representing the vehicle 100. In this case, the server device 200 and the vehicle 100 may acquire vehicle position information by template matching using the 3D point cloud data as the detection result and pre-prepared reference point cloud data.

[0070] (E8) In the first embodiment described above, the server device 200 performs the processing from acquiring vehicle position information to generating a driving control signal. In contrast, the vehicle 100 may perform at least a part of the processing from acquiring vehicle position information to generating a driving control signal. For example, the following forms (1) to (3) may be used.

[0071] (1) The server device 200 may acquire vehicle position information, determine the next target location that vehicle 100 should head to, and generate a route from the vehicle 100's current location, as shown in the acquired vehicle position information, to the target location. The server device 200 may generate a route to the target location between the current location and the destination, or it may generate a route to the destination. The server device 200 may transmit the generated route to vehicle 100. Vehicle 100 may generate a driving control signal so that vehicle 100 travels along the route received from the server device 200, and may use the generated driving control signal to control the actuator group 120.

[0072] (2) The server device 200 may acquire vehicle position information and transmit the acquired vehicle position information to the vehicle 100. The vehicle 100 may determine the next target location to which the vehicle 100 should go, generate a route from the vehicle 100's current location shown in the received vehicle position information to the target location, generate a driving control signal so that the vehicle 100 travels along the generated route, and control the actuator group 120 using the generated driving control signal.

[0073] (3) In the embodiments of (1) and (2) above, the vehicle 100 is equipped with internal sensors, and 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, the server device 200 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.

[0074] (E9) In the fourth embodiment described above, the vehicle 100D 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 100D 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 100D 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.

[0075] (E10) In the fourth embodiment described above, the vehicle 100D acquires vehicle position information using the detection results of the external sensor 300. In contrast, the vehicle 100D may be equipped with an internal sensor, and the vehicle 100D may acquire vehicle position information using the detection results of the internal sensor, determine the target position to which the vehicle 100D should go next, generate a route from the current location of the vehicle 100D represented in the acquired vehicle position information to the target position, generate a driving control signal for driving along the generated route, and control the actuator group 120 using the generated driving control signal. In this case, the vehicle 100D can drive without using the detection results of the external sensor 300 at all. The vehicle 100D may also acquire the target arrival time and congestion information from outside the vehicle 100D 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 50D may be provided in the vehicle 100D. That is, the processing realized by the control system 50D in this disclosure may be realized by the vehicle 100D alone.

[0076] (E11) In the first embodiment described above, the server device 200 automatically generates a driving control signal to be transmitted to the vehicle 100. Alternatively, the server device 200 may generate a driving control signal to be transmitted to the vehicle 100 in accordance with the operation of an external operator located outside the vehicle 100. For example, an external operator may operate a control device that includes a display for displaying captured images output from an external sensor 300, a steering wheel for remotely controlling the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server device 200 via wired or wireless communication, and the server device 200 may generate a driving control signal in accordance with the operation applied to the control device.

[0077] (E12) In each of the above embodiments, the vehicle 100 only needs to have a configuration that allows it to move by unmanned operation, and may take the form of a platform having the configuration described below. Specifically, in order for the vehicle 100 to perform the three functions of "driving," "turning," and "stopping" by unmanned operation, it is sufficient to have at least a vehicle control device 110 and an actuator group 120. When the vehicle 100 acquires information from the outside for unmanned operation, the vehicle 100 may further have a communication device 130. That is, the vehicle 100 that can move by unmanned operation does not need to have at least some of the interior parts such as the driver's seat and dashboard attached, at least some of the exterior parts such as the bumper and fender attached, and does not need to have a body shell attached. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory FC, or the remaining parts such as the body shell may be attached to the vehicle 100 after the vehicle 100 has been shipped from the factory FC without the remaining parts such as the body shell attached to the vehicle 100. Each component may be attached to the vehicle 100 from any direction, such as the top, bottom, front, rear, right, or left side, and 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 for the vehicle 100 in the first embodiment.

[0078] (E13) Vehicle 100 may be manufactured by combining multiple modules. A module means a unit composed of multiple parts grouped together according to the part or function of the vehicle 100. For example, the platform of vehicle 100 may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the central part of the platform, and a rear module that constitutes the rear part of the platform. The number of modules that constitute the platform is not limited to three, but may be two or fewer, or four or more. In addition to, or instead of, the parts that constitute the platform may be modularized, as well as parts that constitute parts of the vehicle 100 that are different from the platform. Various modules may also include any exterior parts such as bumpers and grilles, or any interior parts such as seats and consoles. Furthermore, not limited to vehicle 100, 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 parts that constitute the module as a single part by casting. A molding technique for integrally molding a single component, especially a relatively large component, is also called gigacast or megacast. For example, the front module, central module, and rear module mentioned above may be manufactured using gigacast.

[0079] (E14) Transporting vehicle 100 using the unmanned operation of vehicle 100 is also called "autonomous transport." The configuration for realizing autonomous transport is also called a "vehicle remote control autonomous driving transport system." Furthermore, a production method that uses autonomous transport to produce vehicle 100 is also called "autonomous production." In autonomous production, for example, at a factory FC that manufactures vehicle 100, at least a portion of the transport of vehicle 100 is realized by autonomous transport.

[0080] (E15) In each of the above embodiments, some or all of the functions and processes implemented in software may be implemented in hardware. Also, some or all of the functions and processes implemented in hardware may be implemented in software. As hardware for implementing the various functions in each of the above embodiments, various circuits such as integrated circuits and discrete circuits may be used.

[0081] 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 in 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]

[0082] 50, 50D…Control system, 100, 100D…Vehicle, 110, 110D…Vehicle control device, 111, 111D…Processor, 112, 112D…Memory, 113…Input / Output interface, 114…Internal bus, 115, 115D…Vehicle control unit, 117D…Frequency band determination unit, 119D…Communication control unit, 120…Actuator group, 130…Communication device, 200…Server device, 201…Processor, 202… Memory, 203… Input / Output Interface, 204… Internal Bus, 205… Communication Device, 210… Remote Control Unit, 212… Frequency Band Determination Unit, 214… Communication Control Unit, 300… External Sensor, 400… Process Control Device, AP… Access Point, DM… Detection Model, FC… Factory, GC… Global Coordinate System, PG1, PG1D, PG2… Program, PL1… First Location, PL2… Second Location, RR… Reference Path, TR… Track

Claims

1. A communication control system that controls wireless communication between a mobile device and a communication device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of mobile body information, which is information relating to the state of the mobile body, and manufacturing status information, which is information relating to the manufacturing status of the mobile body. A communication control unit that controls the wireless communication by the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The aforementioned moving body information includes moving body position information indicating the position of the moving body, The frequency band determination unit uses the mobile body position information to: When the mobile body is located in a predetermined work area, which is defined as an area in which predetermined work is performed on the mobile body, the second frequency band is determined as the utilization frequency band. If the mobile body is not located in the work area, the first frequency band is determined to be the usable frequency band. Communication control system.

2. A communication control system according to claim 1, The aforementioned work includes at least one of the following: assembling parts to the mobile body, painting the mobile body, and inspecting the mobile body. Communication control system.

3. A communication control system for controlling wireless communication between a mobile body and a communication device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of mobile body information, which is information relating to the state of the mobile body, and manufacturing status information, which is information relating to the manufacturing status of the mobile body. A communication control unit that controls the wireless communication by the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The manufacturing status information includes component information relating to the components attached to the mobile body, The frequency band determination unit, Using the aforementioned part information, it is determined whether the moving body is located in a predetermined process, which is a process prior to the specified process. If the moving body is located in a process prior to the specified process, the second frequency band is determined as the utilization frequency band. If the moving body is located in a step later than the specified step, the first frequency band is determined to be the utilization frequency band. Communication control system.

4. A communication control system for controlling wireless communication between a mobile body and a communication device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of mobile body information, which is information relating to the state of the mobile body, and manufacturing status information, which is information relating to the manufacturing status of the mobile body. A communication control unit that controls the wireless communication by the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The manufacturing status information includes component information relating to the components attached to the mobile body, The frequency band determination unit, Using the aforementioned parts information, the number of attached parts, which is the number of parts attached to the moving body, is identified. If the number of installed parts is less than a predetermined threshold, the second frequency band is determined to be the frequency band used. If the number of installed parts is equal to or greater than the threshold, the first frequency band is determined to be the frequency band used. Communication control system.

5. A communication control system for controlling wireless communication between a mobile body and a communication device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of mobile body information, which is information relating to the state of the mobile body, and manufacturing status information, which is information relating to the manufacturing status of the mobile body. A communication control unit that controls the wireless communication by the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The manufacturing status information includes component information relating to the components attached to the mobile body, The frequency band determination unit, Using the aforementioned part information, it is determined whether a designated part, which is a pre-specified part, is already attached to the moving body. If the specified component has not yet been attached to the mobile body, the second frequency band is determined as the usable frequency band. If the designated component is already attached to the mobile body, the first frequency band is determined to be the usable frequency band. Communication control system.

6. A communication control system for controlling wireless communication between a mobile body and a communication device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of mobile body information, which is information relating to the state of the mobile body, and manufacturing status information, which is information relating to the manufacturing status of the mobile body. A communication control unit that controls the wireless communication by the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The manufacturing status information includes information regarding the cycle time of the factory where the mobile body is manufactured. The frequency band determination unit, If the cycle time is longer than a predetermined threshold, the second frequency band is determined to be the frequency band used. If the cycle time is less than or equal to the threshold, the first frequency band is determined to be the frequency band used. Communication control system.

7. A server device that performs wireless communication with a mobile object via a communication relay device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of the mobile body information, which is information regarding the state of the mobile body, and the manufacturing status information, which is information regarding the manufacturing status of the mobile body. A communication control unit that controls the communication relay device to perform the wireless communication using the aforementioned operating frequency band, Equipped with, The aforementioned moving body information includes moving body position information indicating the position of the moving body, The frequency band determination unit uses the mobile body position information to: When the mobile body is located in a predetermined work area, which is defined as an area in which predetermined work is performed on the mobile body, the second frequency band is determined as the utilization frequency band. If the mobile body is not located in the work area, the first frequency band is determined to be the usable frequency band. Server device.

8. A server device that performs wireless communication with a mobile body via a communication relay device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of the mobile body information, which is information regarding the state of the mobile body, and the manufacturing status information, which is information regarding the manufacturing status of the mobile body. A communication control unit that controls the communication relay device to perform the wireless communication using the aforementioned operating frequency band, Equipped with, The manufacturing status information includes component information relating to the components attached to the mobile body, The frequency band determination unit, Using the aforementioned part information, it is determined whether the moving body is located in a predetermined process, which is a process prior to the specified process. If the moving body is located in a process prior to the specified process, the second frequency band is determined as the utilization frequency band. If the moving body is located in a step later than the specified step, the first frequency band is determined to be the utilization frequency band. Server device.

9. A server device that performs wireless communication with a mobile body via a communication relay device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of the mobile body information, which is information regarding the state of the mobile body, and the manufacturing status information, which is information regarding the manufacturing status of the mobile body. A communication control unit that controls the communication relay device to perform the wireless communication using the aforementioned operating frequency band, Equipped with, The manufacturing status information includes information regarding the cycle time of the factory where the mobile body is manufactured. The frequency band determination unit, If the cycle time is longer than a predetermined threshold, the second frequency band is determined to be the frequency band used. If the cycle time is less than or equal to the threshold, the first frequency band is determined to be the frequency band used. Server device.

10. A mobile device that performs wireless communication with a communication device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of the mobile body information, which is information regarding the state of the mobile body, and the manufacturing status information, which is information regarding the manufacturing status of the mobile body. A communication control unit that controls the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The aforementioned moving body information includes moving body position information indicating the position of the moving body, The frequency band determination unit uses the mobile body position information to: When the mobile body is located in a predetermined work area, which is defined as an area in which predetermined work is performed on the mobile body, the second frequency band is determined as the utilization frequency band. If the mobile body is not located in the work area, the first frequency band is determined to be the usable frequency band. A mobile object.

11. A mobile device that performs wireless communication with a communication device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of the mobile body information, which is information regarding the state of the mobile body, and the manufacturing status information, which is information regarding the manufacturing status of the mobile body. A communication control unit that controls the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The manufacturing status information includes component information relating to the components attached to the mobile body, The frequency band determination unit, Using the aforementioned part information, it is determined whether the moving body is located in a predetermined process, which is a process prior to the specified process. If the moving body is located in a process prior to the specified process, the second frequency band is determined as the utilization frequency band. If the moving body is located in a step later than the specified step, the first frequency band is determined to be the utilization frequency band. A mobile object.

12. A mobile device that performs wireless communication with a communication device, A frequency band determination unit determines a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band that is higher than the first frequency band, using at least one of the mobile body information, which is information regarding the state of the mobile body, and the manufacturing status information, which is information regarding the manufacturing status of the mobile body. A communication control unit that controls the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The manufacturing status information includes information regarding the cycle time of the factory where the mobile body is manufactured. The frequency band determination unit, If the cycle time is longer than a predetermined threshold, the second frequency band is determined to be the frequency band used. If the cycle time is less than or equal to the threshold, the first frequency band is determined to be the frequency band used. A mobile object.

13. A communication control method for controlling wireless communication between a mobile device and a communication device, A step of determining a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information, which is information relating to the state of the mobile body, and manufacturing status information, which is information relating to the manufacturing status of the mobile body. A step of controlling the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The aforementioned moving body information includes moving body position information indicating the position of the moving body, In the step of determining the frequency band to be used, the mobile body position information is used, When the mobile body is located in a predetermined work area, which is defined as an area in which predetermined work is performed on the mobile body, the second frequency band is determined as the utilization frequency band. If the mobile body is not located in the work area, the first frequency band is determined to be the usable frequency band. Communication control method.

14. A communication control method for controlling wireless communication between a mobile body and a communication device, A step of determining a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information, which is information relating to the state of the mobile body, and manufacturing status information, which is information relating to the manufacturing status of the mobile body. A step of controlling the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The manufacturing status information includes component information relating to the components attached to the mobile body, In the step of determining the frequency band to be used, Using the aforementioned part information, it is determined whether the moving body is located in a predetermined process, which is a process prior to the specified process. If the moving body is located in a process prior to the specified process, the second frequency band is determined as the utilization frequency band. If the moving body is located in a step later than the specified step, the first frequency band is determined to be the utilization frequency band. Communication control method.

15. A communication control method for controlling wireless communication between a mobile body and a communication device, A step of determining a frequency band to be used for wireless communication from among candidate frequency bands that include at least a first frequency band and a second frequency band higher than the first frequency band, using at least one of mobile body information, which is information relating to the state of the mobile body, and manufacturing status information, which is information relating to the manufacturing status of the mobile body. A step of controlling the communication device to perform the wireless communication using the aforementioned frequency band, Equipped with, The manufacturing status information includes information regarding the cycle time of the factory where the mobile body is manufactured. In the step of determining the frequency band to be used, If the cycle time is longer than a predetermined threshold, the second frequency band is determined to be the frequency band used. If the cycle time is less than or equal to the threshold, the first frequency band is determined to be the frequency band used. Communication control method.

Citation Information

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