Control devices and control systems

Abstract

To provide a technology capable of appropriately determining whether instructions are transmitted to a target vehicle.SOLUTION: A control device includes: an actual data acquisition unit that acquires actual data of at least one of a mark displayed on an external monitor mounted on a moving body that can be moved by remote control and acquired information acquired using the mark and including identification information for identifying the moving body; a reference data acquisition unit that acquires reference data corresponding to the actual data; and a remote control unit that remotely controls the moving body, which makes difference in processing related to the movement of the moving body between a case where the actual data and the reference data match and a case where the actual data and the reference data do not match.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a control device and a control system. Background Art

[0002] Conventionally, there is known a technique for confirming that remote control is executed on a desired vehicle by issuing an instruction to execute a predetermined operation to a vehicle to be remotely controlled, and detecting whether the instructed operation has been executed using a sensor arranged outside the vehicle (Patent Document 1). Prior Art Literature Patent Literature

[0003] Patent Document 1 U.S. Pat. No. 10,532,771 Specification Summary of the Invention Problem to be Solved by the Invention

[0004] In the conventional art, a non-target vehicle existing around a target vehicle instructed to execute a predetermined operation may perform the same operation as the target vehicle for some reason. In particular, when the instructed operation is a standard operation performed by a vehicle, such as an operation of turning on a light mounted on the vehicle, a non-target vehicle may perform the same operation as the target vehicle. If a non-target vehicle performs the same operation as the target vehicle, there is a possibility that it cannot be appropriately determined whether an instruction has been successfully transmitted to the target vehicle. Such problems are common not only to vehicles but also to moving bodies. Means for Solving the Problem

[0005] The present disclosure can be implemented in the following aspects. (1) A control device comprising: a real data acquisition unit that acquires real data of at least one of a marker displayed on an external monitor mounted on a mobile body that can be moved by remote control, and acquired information acquired using the marker, which includes identification information for identifying the mobile body; a reference data acquisition unit that acquires reference data corresponding to the real data; a remote control unit that remotely controls the mobile body, which causes the processing related to the movement of the mobile body to differ depending on whether the real data and the reference data match or whether the real data and the reference data do not match; and a process acquisition unit that acquires process information indicating a manufacturing process being executed on the mobile body. A control device comprising: the identification information is stored in a first memory of a mobile device control device mounted on the mobile body and a second memory of the control device, the items of the first identification information stored in the first memory are set according to the manufacturing process being performed on the mobile body, and when the actual data acquisition unit acquires the first identification information represented by the marker as actual data, the reference data acquisition unit acquires at least information of the items of the second identification information stored in the second memory according to the manufacturing process specified by the process information as reference data. (2) A control device comprising: a real data acquisition unit that acquires real data of at least one of the following: a marker displayed on an external monitor mounted on a mobile body that can be moved by remote control; and acquired information acquired using the marker, which includes identification information for identifying the mobile body; a reference data acquisition unit that acquires reference data corresponding to the real data; and a remote control unit that remotely controls the mobile body, which causes the processing related to the movement of the mobile body to differ depending on whether the real data and the reference data match or whether the real data and the reference data do not match, wherein the identification information is stored in a first memory of a mobile body control device mounted on the mobile body and a second memory of the control device, respectively, and when the marker is generated using at least the first identification information as the identification information stored in the first memory, and the first identification information represented by the marker includes unique information specific to the mobile body, when the real data acquisition unit acquires the first identification information represented by the marker as the real data, the reference data acquisition unit acquires the first identification information stored in the second memory A control device that acquires at least the second identification information, which includes the unique information, as reference data, when the marker is generated using the second identification information without using the first identification information, and the second identification information represented by the marker includes the unique information, and when the actual data acquisition unit acquires the second identification information represented by the marker as actual data, the reference data acquisition unit acquires at least the first identification information, which includes the unique information, as reference data, and when the marker is generated using at least the first identification information, and the first identification information represented by the marker does not include the unique information but includes non-unique information other than the unique information, and when the actual data acquisition unit acquires the non-unique information included in the first identification information represented by the marker and the unique information represented by the marker, which is acquired using access information for accessing the first memory, as actual data, the reference data acquisition unit acquires at least the second identification information, which includes the unique information and the non-unique information, as reference data. (3) A control system comprising a mobile body that can be moved by remote control, and a control device installed in a location different from the mobile body, wherein the mobile body comprises a communication device and a mobile body control device, the communication device comprises a generation unit that generates a marker using at least identification information for identifying the mobile body obtained from at least one of the control device and the mobile body control device, and an external monitor that displays the marker, the control device comprises a real data acquisition unit that acquires real data of at least one of the marker displayed on the external monitor and acquired information obtained using the marker, which includes the identification information, a reference data acquisition unit that acquires reference data corresponding to the real data, and a remote control unit that remotely controls the mobile body, wherein the real data and the reference data match, and the real data and the reference A control system comprising: a remote control unit that causes the processing related to the movement of the mobile body to differ depending on whether the data does not match; and a process acquisition unit that acquires process information indicating a manufacturing process being performed on the mobile body, wherein the identification information is stored in a first memory of the mobile body control device and a second memory of the control device, respectively, and the items of the first identification information stored in the first memory are set according to the manufacturing process being performed on the mobile body, and when the actual data acquisition unit acquires the first identification information represented by the marker as the actual data, the reference data acquisition unit acquires at least information of the items of the second identification information stored in the second memory that correspond to the manufacturing process specified by the process information as reference data. (4) A control system comprising a mobile body that can be moved by remote control, and a control device installed in a location different from the mobile body, wherein the mobile body comprises a communication device and a mobile body control device, the communication device comprises a generation unit that generates a marker using at least identification information for identifying the mobile body acquired from at least one of the control device and the mobile body control device, and an external monitor that displays the marker, the control device comprises a real data acquisition unit that acquires real data of at least one of the marker displayed on the external monitor and acquired information acquired using the marker, which includes the identification information, a reference data acquisition unit that acquires reference data corresponding to the real data, and a remote control unit that remotely controls the mobile body, which causes the processing related to the movement of the mobile body to differ depending on whether the real data and the reference data match or whether the real data and the reference data do not match, wherein the identification information is stored in a first memory of the mobile body control device and a second memory of the control device, and at least the first identification information as the identification information stored in the first memory When the marker is generated using the first identification information represented by the marker, and the first identification information represented by the marker includes unique information specific to the moving object, when the actual data acquisition unit acquires the first identification information represented by the marker as the actual data, the reference data acquisition unit acquires at least the second identification information stored in the second memory as the identification information, which includes the unique information, as the reference data, and when the marker is generated using the second identification information without using the first identification information, the second identification information represented by the marker When the marker includes the unique information, and the actual data acquisition unit acquires the second identification information represented by the marker as the actual data, the reference data acquisition unit acquires at least the first identification information including the unique information as the reference data, and when the marker is generated using at least the first identification information, and the first identification information represented by the marker does not include the unique information but includes non-unique information other than the unique information, the actual data acquisition unit acquires the non-unique information included in the first identification information represented by the marker as the actual data,A control system in which, when the access information represented by the aforementioned marker, and the unique information obtained using the access information for accessing the first memory, are acquired, the reference data acquisition unit acquires at least the second identification information, which includes the unique information and the non-unique information, as the reference data. (5) A control system comprising a mobile body that can be moved by remote control, and a control device installed in a location different from the mobile body, wherein the mobile body comprises a communication device having an external monitor that displays a marker acquired from the control device, and a mobile body control device, wherein the control device comprises a second memory that stores identification information for identifying the mobile body, a generation unit that generates the marker using at least a first identification information as the identification information acquired from the mobile body control device, an actual data acquisition unit that acquires actual data of at least one of the marker displayed on the external monitor and acquired information acquired using the marker, which includes the identification information, a reference data acquisition unit that acquires reference data corresponding to the actual data, and a remote control unit that remotely controls the mobile body, wherein when the actual data and the reference data match A control system comprising: a remote control unit that causes the processing related to the movement of the mobile body to differ depending on whether the actual data and the reference data do not match; and a process acquisition unit that acquires process information indicating a manufacturing process being performed on the mobile body, wherein the mobile body control device has a first memory that stores identification information for identifying the mobile body, the items of the first identification information stored in the first memory as the identification information are set according to the manufacturing process being performed on the mobile body, and when the actual data acquisition unit acquires the first identification information represented by the marker as the actual data, the reference data acquisition unit acquires at least information of the items of the second identification information stored in the second memory as the identification information, corresponding to the manufacturing process identified by the process information, as the reference data. (6) A control system comprising a mobile body that can be moved by remote control, and a control device installed at a location different from the mobile body, wherein the mobile body comprises a communication device having an external monitor that displays a marker acquired from the control device, and a mobile body control device, wherein the control device comprises a second memory that stores identification information for identifying the mobile body, a generation unit that generates the marker using at least the second identification information stored in the second memory as the identification information, or the first identification information acquired from the mobile body control device, an actual data acquisition unit that acquires actual data of at least one of the marker displayed on the external monitor and acquired information acquired using the marker, which includes the identification information, a reference data acquisition unit that acquires reference data corresponding to the actual data, and a remote control unit that remotely controls the mobile body, wherein the processing related to the movement of the mobile body differs depending on whether the actual data and the reference data match or whether the actual data and the reference data do not match, and the mobile body control device comprises identification information for identifying the mobile body The system has a first memory for storing information, the identification information is stored in the first memory and the second memory respectively, and when the marker is generated using at least the first identification information stored in the first memory as the identification information, and the first identification information represented by the marker includes unique information specific to the moving body, when the actual data acquisition unit acquires the first identification information represented by the marker as the actual data, the reference data acquisition unit acquires at least the second identification information stored in the second memory as the identification information, which includes the unique information, as the reference data, when the marker is generated using the second identification information without using the first identification information, and the second identification information represented by the marker includes the unique information, when the actual data acquisition unit acquires the second identification information represented by the marker as the actual data, the reference data acquisition unit acquires at least the first identification information including the unique information as the reference data, and when the marker is generated using at least the first identification information,In a control system where the first identification information represented by the marker does not include the unique information but includes non-unique information other than the unique information, and the actual data acquisition unit acquires, as actual data, the non-unique information included in the first identification information represented by the marker and the unique information acquired using access information represented by the marker for accessing the first memory, the reference data acquisition unit acquires at least the second identification information, which includes the unique information and the non-unique information, as the reference data.

[0006] (1) According to a first embodiment of the present disclosure, a control device is provided. The control device includes: a real data acquisition unit that acquires real data of at least one of a marker displayed on an external monitor mounted on a mobile body that can be moved by remote control, and acquired information acquired using the marker, which includes identification information for identifying the mobile body; a reference data acquisition unit that acquires reference data corresponding to the real data; and a remote control unit that remotely controls the mobile body, which causes the processing related to the movement of the mobile body to differ depending on whether the real data and the reference data match or whether the real data and the reference data do not match. According to this embodiment, the control device can determine whether it can send an instruction to the mobile body to be controlled without detecting by an external sensor whether or not an operation instructed to the mobile body to be controlled has been performed, by comparing the real data and reference data acquired using the marker. In other words, the control device can differentiate the processing related to the movement of the mobile object depending on whether or not it can send instructions to the mobile object. (2) In the above configuration, the identification information is stored in a first memory of a mobile device control device mounted on the mobile body and in a second memory of the control device, respectively, and the items of the first identification information stored in the first memory are set according to the manufacturing process being performed on the mobile body, and the control device further includes a process acquisition unit that acquires process information indicating the manufacturing process being performed on the mobile body, and when the actual data acquisition unit acquires the first identification information represented by the marker as the actual data, the reference data acquisition unit may acquire at least the information of the items of the second identification information stored in the second memory that correspond to the manufacturing process specified by the process information as the reference data. In this configuration, when the control device acquires the first identification information represented by the marker as actual data, it can acquire the information of the items of the second identification information that correspond to the manufacturing process specified by the process information as reference data. (3-1) In the above configuration, the identification information is stored in a first memory of a mobile device control device mounted on the mobile body and in a second memory of the control device, and when the marker is generated using at least the first identification information stored in the first memory as the identification information, and the first identification information represented by the marker includes unique information specific to the mobile body, when the actual data acquisition unit acquires the first identification information represented by the marker as the actual data, the reference data acquisition unit may acquire at least the second identification information, which is the second identification information stored in the second memory as the identification information and includes the unique information, as the reference data. According to this configuration, when a marker is generated using the first identification information, and the first identification information represented by the marker includes unique information, the control device compares the first identification information represented by the marker with the second identification information acquired as reference data. This allows the control device to determine whether or not it can transmit an instruction to the mobile body to be controlled. (3-2) In the above configuration, the identification information is stored in the first memory of the mobile device control device mounted on the mobile body and in the second memory of the control device, respectively, and when the marker is generated using the second identification information without using the first identification information, and the second identification information represented by the marker includes the unique information, when the actual data acquisition unit acquires the second identification information represented by the marker as the actual data, the reference data acquisition unit may acquire at least the first identification information including the unique information as the reference data. According to this configuration, when the marker is generated using the second identification information without using the first identification information, and the second identification information represented by the marker includes the unique information, the control device compares the second identification information represented by the marker with the first identification information acquired as reference data. This allows the control device to determine whether or not it can transmit an instruction to the mobile body to be controlled. (3-3) In the above configuration, the identification information is stored in the first memory of the mobile device control device mounted on the mobile body and in the second memory of the control device, respectively, and when the marker is generated using at least the first identification information, and the first identification information represented by the marker does not include the unique information but includes non-unique information other than the unique information, the actual data acquisition unit acquires, as actual data, the non-unique information included in the first identification information represented by the marker and the unique information obtained using the access information represented by the marker for accessing the first memory, and the reference data acquisition unit may acquire at least the second identification information including the unique information and the non-unique information as the reference data. According to this configuration, when the marker is generated using at least the first identification information, and the first identification information represented by the marker does not include the unique information but includes non-unique information, the control device compares the non-unique information included in the first identification information represented by the marker with the non-unique information acquired as reference data. Furthermore, the control device compares the unique information obtained using the access information represented by the marker with the unique information obtained as reference data. This allows the control device to determine whether or not it can send instructions to the mobile object being controlled. (4) According to a second embodiment of the present disclosure, a control system is provided. The control system comprises a mobile body that can be moved by remote control, and a control device installed at a location different from the mobile body, wherein the mobile body comprises a communication device and a mobile body control device, the communication device comprises a generation unit that generates a marker using at least identification information for identifying the mobile body obtained from at least one of the control device and the mobile body control device, and an external monitor that displays the marker, the control device comprises a real data acquisition unit that acquires real data of at least one of the marker displayed on the external monitor and acquired information obtained using the marker, which includes the identification information, a reference data acquisition unit that acquires reference data corresponding to the real data, and a remote control unit that remotely controls the mobile body, wherein the processing related to the movement of the mobile body differs depending on whether the real data and the reference data match or whether the real data and the reference data do not match. According to this embodiment, the control system can generate a marker using at least identification information obtained from at least one of the control device and the mobile body control device. Furthermore, by comparing the actual data acquired using markers with reference data, the control system can determine whether or not it can send instructions to the controlled mobile object without having to detect whether or not the instructed action has been executed by an external sensor. This allows the control system to more appropriately determine whether or not it can send instructions to the controlled mobile object. In addition, the control system can differentiate its processing related to the movement of the mobile object depending on whether the actual data and reference data match or do not match. In other words, the control system can differentiate its processing related to the movement of the mobile object depending on the result of its determination as to whether or not it can send instructions to the mobile object. (5) A third embodiment of the present disclosure provides a control system. The control system comprises a mobile body that can be moved by remote control, and a control device installed at a location different from the mobile body, wherein the mobile body includes a communication device having an external monitor that displays a marker acquired from the control device, and the control device comprises a memory for storing identification information for identifying the mobile body, a generation unit for generating the marker using at least the identification information stored in the memory, a real data acquisition unit for acquiring real data of at least one of the marker displayed on the external monitor and acquired information acquired using the marker, which includes the identification information, a reference data acquisition unit for acquiring reference data corresponding to the real data, and a remote control unit for remotely controlling the mobile body, which causes the processing related to the movement of the mobile body to differ depending on whether the real data and the reference data match or whether the real data and the reference data do not match. According to this embodiment, the control device can generate a marker using the identification information stored in the memory. Furthermore, by comparing the actual data acquired using markers with reference data, the control system can determine whether or not it can send instructions to the controlled mobile object without having to detect whether or not the instructed action has been executed by an external sensor. This allows the control system to more appropriately determine whether or not it can send instructions to the controlled mobile object. In addition, the control system can differentiate its processing related to the movement of the mobile object depending on whether the actual data and reference data match or do not match. In other words, the control system can differentiate its processing related to the movement of the mobile object depending on the result of its determination as to whether or not it can send instructions to the mobile object. This disclosure can be implemented in various forms other than the control device and control system described above. For example, it can be implemented in the form of a mobile body controlled by a control device, a method for manufacturing at least one of the control device, the control system, and the mobile body, a method for controlling at least one of the control device, the control system, and the mobile body, a method for identifying the mobile body and a communication device mounted on the mobile body, a method for remotely controlling the mobile body, a computer program for implementing the method, and a non-temporary recording medium on which the computer program is stored. [Brief explanation of the drawing]

[0007] [Figure 1] A conceptual diagram showing the configuration of the control system. [Figure 2] A block diagram showing the configuration of the control system in the first embodiment. [Figure 3] A flowchart illustrating the procedure for remotely controlling and operating a vehicle. [Figure 4] A flowchart illustrating the decision-making method in the first embodiment. [Figure 5] A block diagram showing the configuration of the control system in the second embodiment. [Figure 6] A first flowchart illustrating the determination method in the second embodiment. [Figure 7] A second flowchart illustrating the determination method in the second embodiment. [Figure 8] A third flowchart illustrating the determination method in the second embodiment. [Figure 9] A block diagram showing the configuration of the control system in the third embodiment. [Figure 10] A flowchart illustrating the decision-making method in the third embodiment. [Figure 11] A block diagram showing the configuration of the control system in the fourth embodiment. [Figure 12] A flowchart illustrating the processing steps when a vehicle is driven autonomously. [Modes for carrying out the invention]

[0008] A. First Embodiment: Fig. 1 is a conceptual diagram showing the configuration of a control system 50. The control system 50 includes one or more vehicles 100 serving as mobile objects, a remote control device 200 serving as a control device, and one or more external sensors 300. The control system 50 is a system for causing a target vehicle 100t to travel without erroneously causing a non-target vehicle 100n to travel. The target vehicle 100t is a vehicle 100 that is a target of remote control. The non-target vehicle 100n is another vehicle 100 that is different from the target vehicle 100t. Hereinafter, when there is no need to distinguish between each vehicle 100n and 100t, they are simply referred to as "vehicle 100".

[0009] In the present disclosure, the term "mobile object" means an object that can move, and is, for example, a vehicle or an electric vertical take-off and landing aircraft (so-called flying car). The vehicle may be a vehicle that travels using wheels or a vehicle that travels using a caterpillar track, and examples include passenger cars, trucks, buses, two-wheeled vehicles, four-wheeled vehicles, tanks, and construction vehicles. Vehicles include battery electric vehicles (BEV), gasoline vehicles, hybrid vehicles, and fuel cell vehicles. When the mobile object is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "mobile object", and the expression "travel" can be appropriately replaced with "move".

[0010] Vehicle 100 is configured to be able to travel via unmanned driving. The term "unmanned driving" means driving that does not rely on driving operations performed by an occupant. The term "driving operations" means operations relating to at least any one of "starting", "turning", and "stopping" of vehicle 100. Unmanned driving is implemented by automatic or manual remote control using a device located outside vehicle 100, or by autonomous control of vehicle 100. Vehicle 100 traveling via unmanned driving may carry an occupant who does not perform driving operations. Occupants who do not perform driving operations include, for example, a person simply seated in a seat of vehicle 100, and a person who performs work different from driving operations, such as assembly, inspection, or operation of switches, while riding on vehicle 100. Note that driving based on driving operations by an occupant is sometimes referred to as "manned driving".

[0011] In the present specification, "remote control" includes "full remote control", in which all operations of vehicle 100 are completely determined from outside vehicle 100, and "partial remote control", in which a part of the operations of vehicle 100 is determined from outside vehicle 100. Furthermore, "autonomous control" includes "full autonomous control", in which vehicle 100 autonomously controls its own operations without receiving any information from a device outside vehicle 100, and "partial autonomous control", in which vehicle 100 autonomously controls its own operations using information received from a device outside vehicle 100.

[0012] In the present embodiment, control system 50 is used in factory FC that manufactures vehicles 100. The reference coordinate system of factory FC is global coordinate system GC, and any position within factory FC can be represented by X, Y, Z coordinates in global coordinate system GC. Factory FC includes first location PL1 and second location PL2. First location PL1 and second location PL2 are connected by travel path TR along which vehicle 100 can travel. In factory FC, a plurality of external sensors 300 are installed along travel path TR. The position of each external sensor 300 in factory FC is adjusted in advance. Vehicle 100 moves from first location PL1 to second location PL2 via travel path TR by unmanned driving.

[0013] Figure 2 is a block diagram showing the configuration of the control system 50 in the first embodiment. The vehicle 100 includes a vehicle control device 110 for controlling various parts of the vehicle 100, an actuator group 120 including one or more actuators driven under the control of the vehicle control device 110, and a vehicle communication device 130 for communicating wirelessly with external devices such as a remote control 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.

[0014] The vehicle control device 110 is composed of a computer comprising a processor 111, a first memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the first 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 vehicle 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 first memory 112.

[0015] 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 remote control 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.

[0016] In this embodiment, in each manufacturing process, predetermined items of vehicle identification information VI are written to the first memory 112. As a result, the first memory 112 stores predetermined items of vehicle identification information VI according to the manufacturing process. In other words, the items of the vehicle identification information VI stored in the first memory 112 are set according to the manufacturing process. The vehicle identification information VI is information for identifying multiple vehicles 100. The vehicle identification information VI is information that includes at least one of unique information and non-unique information, and includes information on one or more items. Unique information is information unique to each vehicle 100 that can uniquely identify the vehicle 100. Unique information is, for example, a vehicle identification number assigned to each vehicle 100 so as not to overlap among multiple vehicles 100. The vehicle identification number is, for example, a VIN number. Non-unique information is information about the vehicle 100 other than the unique information. Non-unique information is, for example, part number information regarding the part numbers of hardware and software installed in the vehicle 100. Non-unique information may be specification information relating to the specifications of vehicle 100, or destination information relating to the region and country to which vehicle 100 is shipped. Non-unique information may also be an in-house identification number assigned to each vehicle 100 to identify multiple vehicles 100 within a single factory FC. Vehicle identification information VI may also include, for example, time-series data representing the changes in state quantities indicating the state of onboard equipment installed on vehicle 100. In this case, vehicle identification information VI may include, for example, time-series data representing the changes in the charge rate of the main battery that supplies power to the drive motor. Vehicle identification information VI may also include numerical information calculated by performing arithmetic processing using predetermined functions on numerical information representing the vehicle identification number, part number information, specification information, destination information, in-house identification number, etc. Hereinafter, vehicle identification information VI stored in the first memory 112 will also be referred to as "first vehicle identification information VI1".

[0017] The vehicle communication device 130 comprises a processor 131, a third memory 132, an input / output interface 133, an internal bus 134, and an external monitor 135. The processor 131, the third memory 132, the input / output interface 133, and the external monitor 135 are connected via the internal bus 134 to enable bidirectional communication. A communication unit 136 for communicating with various external devices of the vehicle communication device 130 is connected to the input / output interface 133. The communication unit 136 can communicate with the remote control device 200 and the external sensor 300 by wireless communication, and can communicate with the vehicle control device 110 by wired or wireless communication. The external monitor 135 is, for example, a liquid crystal display. The external monitor 135 is positioned so as to be visible from outside the vehicle 100. The processor 131 implements various functions, including those of a generation unit 138 and a display control unit 139, by executing a program PG3 stored in the third memory 132.

[0018] The generation unit 138 generates a marker MA. In this embodiment, the generation unit 138 obtains first vehicle identification information VI1 containing unique information from the vehicle control device 110. The generation unit 138 then generates a QR code (registered trademark, hereinafter omitted) as a marker MA, which represents the obtained first vehicle identification information VI1 and its own communication identification information CI. The communication identification information CI is information for identifying multiple vehicle communication devices 130. The communication identification information CI includes, for example, access information and a terminal-specific ID. The access information is information indicating the access destination for accessing the vehicle communication device 130. The access information includes, for example, the IP address and port number of the vehicle communication device 130. The terminal-specific ID is an identifier assigned to each vehicle communication device 130 so as not to overlap among the multiple vehicle communication devices 130. The terminal-specific ID is, for example, the MAC address of the vehicle communication device 130.

[0019] In this embodiment, the marker MA is a code representing various types of information, and may be, for example, a one-dimensional code such as a barcode, a stacked two-dimensional code, or a matrix two-dimensional code other than a QR code. In other embodiments, the marker MA may be a string of characters representing various types of information such as vehicle identification information VI, or it may be a mark with different characters, figures, symbols, three-dimensional shapes, colors, or a combination thereof, depending on the various types of information such as vehicle identification information VI.

[0020] The display control unit 139 displays the marker MA generated by the generation unit 138 on the external monitor 135. At this time, the display control unit 139 may display the marker MA on the external monitor 135 according to a predetermined display pattern. For example, the display control unit 139 may display the same marker MA on the external monitor 135 in different display patterns for its own vehicle 100 and another vehicle 100.

[0021] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that detects the vehicle 100 from outside the vehicle 100. The external sensor 300 is equipped with a communication device (not shown) and can communicate with other devices such as the remote control device 200 via wired or wireless communication.

[0022] Specifically, the external sensor 300 is comprised of a camera. The camera, as the external sensor 300, captures images of the vehicle 100 and outputs the captured images as detection results. Hereafter, the camera as the external sensor 300 will also be referred to as the "external camera 310".

[0023] As shown in Figure 1, the remote control device 200 is installed in a location different from the vehicle 100. The remote control device 200 implements various functions, including the functions of the production instruction server 210 and the functions of the self-propelled server 220. The production instruction server 210 transmits a driving instruction to the self-propelled server 220 to remotely control the target vehicle 100t. When the self-propelled server 220 receives a driving instruction from the production instruction server 210 to drive the target vehicle 100t, it drives the target vehicle 100t.

[0024] Here, the remote control device 200 causes the target vehicle 100t to move by sending an instruction to the target vehicle 100t using, for example, access information for accessing the target communication device 130t. The target communication device 130t is a vehicle communication device 130 that is scheduled to be installed on the target vehicle 100t and is pre-registered in the production management database DP stored in the second memory 202. However, within the same network, the same IP address may be assigned to multiple devices. If the same IP address as the vehicle communication device 130 installed on the target vehicle 100t is also assigned to other devices used in the factory FC, the following possibility may arise. In this case, the remote control device 200 may send an instruction to another device that has the same IP address as the vehicle communication device 130 installed on the target vehicle 100t. This may result in a situation where the target vehicle 100t cannot be driven. Furthermore, if the same IP address as the vehicle communication device 130 installed in the target vehicle 100t is also assigned to the vehicle communication device 130 installed in the non-target vehicle 100n, the following possibilities may arise. In this case, the remote control device 200 may transmit instructions to another vehicle communication device 130 that has the same IP address as the vehicle communication device 130 installed in the target vehicle 100t, and is installed in the non-target vehicle 100n. This may cause the non-target vehicle 100n to be driven incorrectly. Also, if the vehicle communication device 130 is replaced due to a malfunction or the like, the vehicle communication device 130 that was intended to be installed in the target vehicle 100t may be installed in the non-target vehicle 100n after repairs or other work are completed. In this case, the remote control device 200 may transmit instructions to the target communication device 130t installed in the non-target vehicle 100n. This may cause the non-target vehicle 100n to be driven incorrectly. Therefore, the above-mentioned problems may arise if the decision on whether or not to send instructions to the target vehicle 100t is made using only access information. To address this, the remote control device 200 uses the marker MA to determine whether or not to send instructions to the target vehicle 100t.Then, when the remote control device 200 determines that it can send instructions to the target vehicle 100t, it remotely controls the operation of the target vehicle 100t via the vehicle communication device 130, thereby causing the target vehicle 100t to move.

[0025] As shown in Figure 2, the remote control device 200 is composed of a computer comprising a processor 201, a second memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the second memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A remote communication device 205 for communicating with various devices outside the remote control device 200 is connected to the input / output interface 203. The remote communication device 205 can communicate with the vehicle 100 via wireless communication and can communicate with each external sensor 300 via wired or wireless communication.

[0026] The second memory 202 stores various information, including the production management database DP. The production management database DP is a database that associates vehicle identification information VI for one or more vehicles 100, including the target vehicle 100t, with communication identification information CI for the vehicle communication device 130 that is planned to be installed in each vehicle 100. Hereafter, the vehicle identification information VI stored in the second memory 202 will also be referred to as "second vehicle identification information VI2". When it is not necessary to distinguish between the vehicle identification information VI1 and IN2, they will simply be referred to as "vehicle identification information VI".

[0027] The processor 201 executes the program PG2 stored in the second memory 202, thereby realizing various functions including those of the actual data acquisition unit 211, the process acquisition unit 212, the reference data acquisition unit 213, and the remote control unit 214.

[0028] The actual data acquisition unit 211 acquires actual data consisting of at least one of the following: a marker MA displayed on the external monitor 135, and acquired information obtained using the marker MA, which includes vehicle identification information VI. In this embodiment, the actual data acquisition unit 211 acquires captured images from an external camera 310 capable of imaging an area where the target vehicle 100t is expected to be located. The actual data acquisition unit 211 then searches for the marker MA in the captured images. When the actual data acquisition unit 211 finds a marker MA in the captured images, it decodes the found marker MA. As a result, the actual data acquisition unit 211 acquires acquired information as actual data, which includes the first vehicle identification information VI1 containing unique information and the communication identification information CI, which is the acquired information represented by the marker MA.

[0029] As shown in Figure 1, if multiple vehicles 100 are present within the imaging range RG of the external camera 310, and multiple marker MAs are found in the captured image, the actual data acquisition unit 211 will, for example, decode all of the marker MAs. As a result, the actual data acquisition unit 211 acquires information for each of the candidate vehicles 100c that may be the target vehicle 100t.

[0030] The process acquisition unit 212 shown in Figure 2 acquires process information indicating the manufacturing process being executed on the target vehicle 100t. The process information is, for example, a process ID indicating the manufacturing process being executed on the target vehicle 100t. The process ID is an identifier assigned to each manufacturing process so as not to overlap among multiple manufacturing processes. The process information is generated, for example, by detecting feature points that can identify multiple manufacturing processes from an image captured of the target vehicle 100t, and identifying the manufacturing process being executed on the target vehicle 100t. The process information may also be generated by identifying the manufacturing process being executed on the target vehicle 100t using manufacturing management information that indicates the manufacturing status of each vehicle 100 in the factory FC.

[0031] The reference data acquisition unit 213 acquires reference data corresponding to the actual data. The reference data is data that should be acquired in order to identify the target vehicle 100t and the non-target vehicle 100n by comparing it with the actual data. For example, if the actual data acquisition unit 211 acquires the marker MA as actual data, the reference data acquisition unit 213 acquires the marker MA that should be acquired as reference data. If the actual data acquisition unit 211 acquires the acquisition information represented by the marker MA as actual data, the reference data acquisition unit 213 acquires the information corresponding to the acquisition information as reference data.

[0032] In this embodiment, the reference data acquisition unit 213 acquires, as reference data, information on items corresponding to the manufacturing process identified by the process information from the second vehicle identification information VI2 of the target vehicle 100t, and the communication identification information CI of the target communication device 130t. Specifically, the reference data acquisition unit 213 uses the process database DF stored in the second memory 202 to acquire items corresponding to the manufacturing process identified by the process information. This allows the reference data acquisition unit 213 to identify items corresponding to the manufacturing process identified by the process information. The process database DF is a database that associates items of the first vehicle identification information VI1 with each manufacturing process. The reference data acquisition unit 213 acquires the second vehicle identification information VI2 items corresponding to the identified manufacturing process. For example, if the manufacturing process being executed on the target vehicle 100t is the first manufacturing process, and the vehicle identification number and part number information are written to the first memory 112 in the first manufacturing process, then the items corresponding to the manufacturing process identified by the process information are the vehicle identification number and part number information. In this case, if the vehicle identification number, part number information, specification information, destination information, and factory identification number are stored as vehicle identification information VI in the second memory 202, the reference data acquisition unit 213 acquires the vehicle identification number and part number information without acquiring the specification information, destination information, and factory identification number stored in the second memory 202. Furthermore, the reference data acquisition unit 213 uses the production management database DP stored in the second memory 202 to acquire communication identification information CI associated with the unique information of the target vehicle 100t.

[0033] The remote control unit 214 determines whether or not it can send an instruction to the target vehicle 100t by comparing the actual data with the reference data. If the remote control unit 214 determines that it can send an instruction to the target vehicle 100t, it sends a driving control signal to the target vehicle 100t and drives the target vehicle 100t remotely. In this way, the remote control unit 214 drives the target vehicle 100t without mistakenly driving the non-target vehicle 100n.

[0034] The remote control unit 214 processes the vehicle 100 differently depending on whether the actual data and the reference data match or do not match. The remote control unit 214 compares the actual data and the reference data. If the actual data and the reference data match, the remote control unit 214 determines that it is OK to allow the target vehicle 100t to move, as it can send an instruction to the target vehicle 100t. When it determines that it is OK to send an instruction to the target vehicle 100t, the remote control unit 214 acquires the detection result from the sensor, generates a driving control signal to control the actuator group 120 of the target vehicle 100t using the detection result, and transmits the driving control signal to the target vehicle 100t. As a result, the remote control unit 214 allows the target vehicle 100t to move without allowing the non-target vehicle 100n to move. On the other hand, if the actual data and the reference data do not match, the remote control unit 214 determines that it is not OK to allow the target vehicle 100t to move, as it cannot send an instruction to the target vehicle 100t. If the remote control unit 214 determines that it is not possible to send instructions to the target vehicle 100t, it terminates processing without sending a driving control signal to the target vehicle 100t.

[0035] In this embodiment, the remote control unit 214 identifies the target vehicle 100t from the non-target vehicle 100n by comparing the first vehicle identification information VI1 represented by the marker MA with the second vehicle identification information VI2 of the target vehicle 100t, and confirms whether it is the target vehicle 100t or not. The remote control unit 214 confirms whether the target communication device 130t is installed on the target vehicle 100t as scheduled as indicated in the production management database DP by comparing the communication identification information CI represented by the marker MA with the communication identification information CI of the target communication device 130t. If the first vehicle identification information VI1 represented by the marker MA and the second vehicle identification information VI2 of the target vehicle 100t match, and the communication identification information CI represented by the marker MA and the communication identification information CI of the target communication device 130t match, the remote control unit 214 makes the following determination. In this case, the remote control unit 214 determines that it is OK to drive the target vehicle 100t because it can send an instruction to the target vehicle 100t. On the other hand, if the first vehicle identification information VI1 represented by the marker MA does not match the second vehicle identification information VI2 of the target vehicle 100t, or if the communication identification information CI represented by the marker MA does not match the communication identification information CI of the target communication device 130t, the remote control unit 214 makes the following determination. In this case, the remote control unit 214 determines that it cannot send instructions to the target vehicle 100t and therefore the target vehicle 100t should not be driven.

[0036] As shown in Figure 1, when the actual data acquisition unit 211 acquires vehicle identification information VI for multiple candidate vehicles 100c, the remote control unit 214 compares the actual data with the reference data for each candidate vehicle 100c. The remote control unit 214 then determines that if the actual data and reference data for a candidate vehicle 100c match, the candidate vehicle 100c is the target vehicle 100t and the target vehicle 100t may be driven. On the other hand, if the actual data and reference data for a candidate vehicle 100c do not match, the remote control unit 214 determines that the candidate vehicle 100c is a non-target vehicle 100n and the target vehicle 100t should not be driven.

[0037] When the actual data acquisition unit 211 acquires the marker MA as actual data, the reference data acquisition unit 213 acquires the marker MA as reference data corresponding to the actual data. In this case, the remote control unit 214 compares the marker MA displayed on the external monitor 135 with the marker MA acquired as reference data. If the marker MA displayed on the external monitor 135 matches the marker MA acquired as reference data, the remote control unit 214 can send an instruction to the target vehicle 100t and therefore determines that the target vehicle 100t should be driven. On the other hand, if the marker MA displayed on the external monitor 135 does not match the marker MA acquired as reference data, the remote control unit 214 cannot send an instruction to the target vehicle 100t and therefore determines that the target vehicle 100t should not be driven.

[0038] Figure 3 is a flowchart showing the processing procedure for driving control when the vehicle 100 is driven by remote control. The flow shown in Figure 3 is executed repeatedly at predetermined intervals during the period in which the target vehicle 100t is driven by remote control.

[0039] In step S1, the remote control unit 214 of the remote control device 200 acquires vehicle position information using the detection result output from the external sensor 300. The vehicle position information is the position information that forms the basis for generating the driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S1, the remote control unit 214 acquires vehicle position information using the captured image acquired from the camera, which is the external sensor 300.

[0040] In detail, in step S1, the remote control unit 214, for example, detects the outline of the vehicle 100 from the captured image, calculates the coordinates of the positioning point of the vehicle 100 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 stored in the second memory 202 beforehand. Examples of the detection model DM include a trained machine learning model that has been trained to realize 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 has, for example, multiple training images including the vehicle 100 and labels indicating whether each region in the training image is a region indicating the vehicle 100 or a region indicating something other than the vehicle 100. During CNN training, it is preferable that the CNN parameters be updated using backpropagation to reduce the error between the output result of the detection model DM and the label. Furthermore, the remote control unit 214 can obtain the orientation of the vehicle 100 by, for example, using the optical flow method, estimating 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 image.

[0041] In step S2, the remote control unit 214 determines the next target location that the vehicle 100 should head to. In this embodiment, the target location is represented by X, Y, Z coordinates in the global coordinate system GC. The second memory 202 pre-stores a reference route RR, which is the route that the vehicle 100 should travel. The route is represented by a node indicating the starting point, nodes indicating waypoints, a node indicating the destination, and links connecting each node. The remote control unit 214 uses the vehicle position information and the reference route RR to determine the next target location that the vehicle 100 should head to. The remote control unit 214 determines the target location on the reference route RR beyond the current location of the vehicle 100.

[0042] In step S3, the remote control unit 214 generates a driving control signal to drive the vehicle 100 toward the determined target position. The remote control unit 214 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 214 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 214 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 214 determines the steering angle and acceleration so that the vehicle 100 returns to the reference path RR.

[0043] In step S4, the remote control unit 214 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats the acquisition of vehicle position information, determination of target position, generation of driving control signal, and transmission of driving control signal at predetermined intervals.

[0044] In step S5, the vehicle control unit 115 of the vehicle control device 110 mounted on the vehicle 100 receives a driving control signal transmitted from the remote control device 200. In step S6, the vehicle control unit 115 of the vehicle 100 controls the actuator group 120 using the received driving control signal, thereby driving the vehicle 100 at the acceleration and steering angle expressed in the driving control signal. The processor 111 repeats the reception of the driving control signal and the control of the actuator group 120 at predetermined intervals. According to the control system 50 in this embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using transport equipment such as cranes or conveyors.

[0045] Figure 4 is a flowchart illustrating a determination method in the first embodiment, which determines whether or not an instruction can be sent to the target vehicle 100t. When driving vehicle 100 by remote control, it is necessary to confirm that an instruction can be sent to the target vehicle 100t before starting the driving. Therefore, the flow shown in Figure 4 is executed, for example, before starting the driving of the target vehicle 100t. In this way, the target vehicle 100t can be driven without accidentally driving a non-target vehicle 100n. Note that the flow shown in Figure 4 may also be executed at predetermined intervals while the target vehicle 100t is driving. In this way, it is possible to confirm at predetermined intervals that remote control is being performed on the target vehicle 100t while the target vehicle 100t is driving.

[0046] In step S101, the generation unit 138 of the vehicle communication device 130 acquires first vehicle identification information VI1, which includes unique information, from the vehicle control device 110. In step S102, the generation unit 138 generates a QR code representing the acquired first vehicle identification information VI1 and its own communication identification information CI. In step S103, the display control unit 139 displays the QR code representing the first vehicle identification information VI1 and communication identification information CI on the external monitor 135. Each step from step S101 to step S103 is executed for each vehicle 100.

[0047] In step S104, the data acquisition unit 211 of the remote control device 200 transmits an image request signal to an external camera 310 capable of imaging the area where the target vehicle 100t is expected to be located, in order to acquire an image. Upon receiving the image request signal, the external camera 310 transmits the image to the remote control device 200 in step S105. In step S106, the data acquisition unit 211 of the remote control device 200 searches for a QR code in the image. If a QR code is found in the image (step S107: Yes), in step S108, the data acquisition unit 211 decodes the found QR code according to a predetermined code standard. As a result, the data acquisition unit 211 acquires acquired information as actual data, which includes the first vehicle identification information VI1 containing unique information and communication identification information CI, which are the acquired information represented by the QR code. On the other hand, if a QR code cannot be found in the image (step S107: No), the control system 50 terminates this flow. In addition, a case in which a QR code cannot be found in the captured image is, for example, when the vehicle 100 is not within the imaging range of the external camera 310 that generated the captured image, and therefore the QR code is not present in the captured image. A case in which a QR code cannot be found in the captured image is also when the image quality is low and the QR code in the captured image cannot be recognized, or when the QR code is not displayed on the external monitor 135 and therefore the QR code is not present in the captured image.

[0048] In step S109, the process acquisition unit 212 acquires process information. In step S110, the reference data acquisition unit 213 uses the process database DF to acquire items corresponding to the manufacturing process identified by the process information, thereby identifying items corresponding to the manufacturing process identified by the process information. In step S111, the reference data acquisition unit 213 acquires information on items corresponding to the manufacturing process identified by the process information from the second vehicle identification information VI2 of the target vehicle 100t, and the communication identification information CI of the target communication device 130t, as reference data.

[0049] In step S112, the remote control unit 214 compares the first vehicle identification information VI1 represented by the QR code with the second vehicle identification information VI2 of the target vehicle 100t. In step S113, the remote control unit 214 compares the communication identification information CI represented by the QR code with the communication identification information CI of the target communication device 130t. If the first vehicle identification information VI1 represented by the QR code matches the second vehicle identification information VI2 of the target vehicle 100t (step S112: Yes), and if the communication identification information CI represented by the QR code matches the communication identification information CI of the target communication device 130t (step S113: Yes), the remote control unit 214 makes the determination shown in step S114. In step S114, the remote control unit 214 determines that it is possible to send an instruction to the target vehicle 100t and therefore it is OK to allow the target vehicle 100t to move. If the first vehicle identification information VI1 represented by the QR code does not match the second vehicle identification information VI2 of the target vehicle 100t (step S112: No), or if the communication identification information CI represented by the QR code does not match the communication identification information CI of the target communication device 130t (step S113: No), the remote control unit 214 makes the determination shown in step S115. In step S115, the remote control unit 214 determines that it cannot send instructions to the target vehicle 100t and therefore the target vehicle 100t should not be driven.

[0050] According to the first embodiment described above, the remote control device 200 can acquire acquired information as actual data, which includes acquired information represented by the marker MA, first vehicle identification information VI1 including unique information, and communication identification information CI. The remote control device 200 can acquire second vehicle identification information VI2 of the target vehicle 100t and communication identification information CI of the target communication device 130t as reference data corresponding to the actual data. By comparing the first vehicle identification information VI1 as actual data and the second vehicle identification information VI2 as reference data, the remote control device 200 can distinguish between the target vehicle 100t and non-target vehicle 100n and confirm whether or not it is the target vehicle 100t. By comparing the communication identification information CI as actual data and the communication identification information CI as reference data, the remote control device 200 can confirm whether or not the target communication device 130t is installed on the target vehicle 100t as planned. As a result, if the first vehicle identification information VI1 represented by the marker MA matches the second vehicle identification information VI2 of the target vehicle 100t, and the communication identification information CI represented by the marker MA matches the communication identification information CI of the target communication device 130t, the remote control device 200 can determine that it can send an instruction to the target vehicle 100t. If the first vehicle identification information VI1 represented by the marker MA does not match the second vehicle identification information VI2 of the target vehicle 100t, or if the communication identification information CI represented by the marker MA does not match the communication identification information CI of the target communication device 130t, the remote control device 200 can determine that it cannot send an instruction to the target vehicle 100t. In this configuration, the remote control device 200 can determine whether or not it can send an instruction to the target vehicle 100t without detecting whether or not the instructed operation for the target vehicle 100t has been executed by the external sensor 300. In this way, even if the target vehicle 100t is a vehicle 100 that is still under construction and therefore does not have various devices such as lights installed or the devices are unusable, the remote control device 200 can determine whether or not it can send instructions to the target vehicle 100t.Furthermore, in this configuration, the remote control device 200 can determine whether or not it can send instructions to the target vehicle 100t by confirming whether or not it is the target vehicle 100t and whether or not the target communication device 130t is installed on the target vehicle 100t as planned. This eliminates the problems that may arise when the determination of whether or not to send instructions to the target vehicle 100t is made using only access information. Therefore, the remote control device 200 can more appropriately determine whether or not it can send instructions to the target vehicle 100t.

[0051] Furthermore, according to the first embodiment described above, the marker MA is generated using the first vehicle identification information VI1. Therefore, the marker MA representing the first vehicle identification information VI1 of the non-target vehicle 100n is displayed on the external monitor 135 of the vehicle communication device 130 mounted on the non-target vehicle 100n. Thus, the remote control device 200 can distinguish between the target vehicle 100t and the non-target vehicle 100n by comparing the first vehicle identification information VI1 represented by the marker MA in the captured image with the second vehicle identification information VI2 of the target vehicle 100t. As a result, the remote control device 200 can obtain the position and orientation of the target vehicle 100t by performing image analysis on the target vehicle 100t in the captured image.

[0052] Furthermore, according to the first embodiment described above, the remote control device 200 searches for a marker MA in the captured image in order to acquire actual data. At this time, if the IP address that was intended to be assigned to the target communication device 130t is, for some reason, not assigned to the target communication device 130t but to another device other than the vehicle 100 used in the factory fuel cell, then the marker MA will not be present in the captured image. Therefore, if the remote control device 200 cannot find a marker MA in the captured image, it can recognize that the IP address intended to be assigned to the target communication device 130t may be assigned to another device. When the remote control device 200 recognizes that the IP address intended to be assigned to the target communication device 130t may be assigned to another device, it may notify the user, for example, by displaying warning information on the external monitor 135. In this way, the user can be notified that it is not possible to send instructions to the target vehicle 100t. This reduces the possibility that the target vehicle 100t cannot be driven.

[0053] Furthermore, according to the first embodiment described above, the remote control device 200 compares the communication identification information CI represented by the marker MA with the communication identification information CI of the target communication device 130t. This allows the remote control device 200 to confirm that the target communication device 130t is installed on the target vehicle 100t as planned. In this way, if the vehicle communication device 130 is replaced due to a malfunction or the like, the remote control device 200 can reduce the possibility of mistakenly driving a non-target vehicle 100n. Also, if a different marker MA than the one that should be displayed on the external monitor 135 is displayed on the external monitor 135 for some reason, the remote control device 200 can reduce the possibility of mistakenly driving a non-target vehicle 100n. In addition, if a medium printed with a different marker MA is positioned to cover the external monitor 135, the remote control device 200 can reduce the possibility of mistakenly driving a non-target vehicle 100n.

[0054] Furthermore, according to the first embodiment described above, the items of the first vehicle identification information VI1 are set according to the manufacturing process. The remote control device 200 can acquire process information indicating the manufacturing process being executed on the target vehicle 100t. When the first vehicle identification information VI1 is acquired as actual data, the remote control device 200 can acquire at least the information of the items in the second vehicle identification information VI2 corresponding to the manufacturing process identified by the process information as reference data. In this way, the remote control device 200 can acquire information of items necessary for comparing the actual data and the reference data as reference data, without acquiring information of unnecessary items as reference data when comparing the actual data and the reference data.

[0055] Furthermore, according to the first embodiment described above, the remote control device 200 can acquire acquired information including first vehicle identification information VI1 containing unique information as actual data. The remote control device 200 can acquire at least second vehicle identification information VI2 containing unique information as reference data. In this way, when the remote control device 200 compares the actual data and the reference data, it can use the unique information to more accurately determine whether or not it can send an instruction to the target vehicle 100t.

[0056] Furthermore, according to the first embodiment described above, the vehicle communication device 130 can generate a marker MA representing the first vehicle identification information VI1 using the first vehicle identification information VI1 acquired from the vehicle control device 110. In this way, the vehicle communication device 130 can generate a marker MA representing the vehicle identification information VI without the production instruction server 210, which acts as a remote control device 200, having previously written the second vehicle identification information VI2 to the third memory 132.

[0057] Furthermore, according to the first embodiment described above, when a marker MA is generated using at least the first vehicle identification information VI1, and the first vehicle identification information VI1 includes unique information, the remote control device 200 can do the following. In this case, the remote control device 200 can determine whether or not it can send an instruction to the target vehicle 100t without acquiring the first vehicle identification information VI1 as reference data or comparing the first vehicle identification information VI1 with actual data.

[0058] Furthermore, according to the first embodiment described above, when the remote control device 200 determines that it can send instructions to the target vehicle 100t, it sends a driving control signal to the target vehicle 100t, thereby allowing the target vehicle 100t to be driven remotely. On the other hand, when the remote control device 200 determines that it cannot send instructions to the target vehicle 100t, it terminates the process without sending a driving control signal to the target vehicle 100t, thereby allowing the non-target vehicle 100n to be stopped without being driven. In other words, the remote control device 200 can differentiate the processing related to the driving of vehicle 100 depending on whether the actual data and the reference data match or whether the actual data and the reference data do not match.

[0059] In the first embodiment described above, the remote control device 200 may, when it determines that it can send instructions to the target vehicle 100t, send a driving control signal to the vehicle 100 that associates the vehicle identification information VI as supplementary information. The vehicle control device 110, upon receiving the driving control signal, may use the supplementary information to decide whether or not to execute control of the actuator group 120 using the driving control signal. In this case, for example, if the supplementary information matches the first vehicle identification information VI1, the vehicle control device 110 executes control of the actuator group 120 using the driving control signal. If the supplementary information does not match the first vehicle identification information VI1, the vehicle control device 110 terminates processing without executing control of the actuator group 120 using the driving control signal. In this way, the remote control device 200 can operate the target vehicle 100t without operating non-target vehicles 100n, even if the same IP address is assigned to multiple devices within the same network. Furthermore, the remote control device 200 can reduce the possibility that it is not possible to operate the target vehicle 100t.

[0060] B. Second Embodiment: Figure 5 is a block diagram showing the configuration of the control system 50a in the second embodiment. The control system 50a comprises one or more vehicles 100a, a remote control device 200a as a control device, and one or more external cameras 310. In this embodiment, the method for generating the marker MA and the method for determining whether or not an instruction can be sent to the target vehicle 100t differ from those in the first embodiment. The other components of the control system 50a are the same as those in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0061] The remote control device 200a implements various functions, including those of the production instruction server 210a and the self-propelled server 220a. The production instruction server 210a transmits a driving control signal to the self-propelled server 220 as a driving instruction to remotely control the target vehicle 100t. Furthermore, the production instruction server 210a writes the second vehicle identification information VI2 of one or more vehicles 100a, including the target vehicle 100t, to the third memory 132a. When the self-propelled server 220a receives a driving instruction from the production instruction server 210a to drive the target vehicle 100t, it determines whether it can transmit the instruction to the target vehicle 100t. If the self-propelled server 220a determines that it can transmit the instruction to the target vehicle 100t, it remotely controls the operation of the target vehicle 100t via the vehicle communication device 130 to drive the target vehicle 100t.

[0062] The remote control device 200a is composed of a computer comprising a processor 201a, a second memory 202a, an input / output interface 203, and an internal bus 204. The processor 201a executes a program PG2a stored in the second memory 202a to realize various functions, including those of a writing unit 215, a device-side switching unit 216, an actual data acquisition unit 211a, a reference data acquisition unit 213a, and a remote control unit 214a.

[0063] The writing unit 215 writes the second vehicle identification information VI2 of one or more vehicles 100a, including the target vehicle 100t, which includes unique information, to the third memory 132a. For example, as in the first embodiment, if, at the time of writing the second vehicle identification information VI2 to the third memory 132a, the vehicle communication device 130 to be installed on the target vehicle 100t is predetermined from among the multiple vehicle communication devices 130, the writing unit 215 performs the following processing. In this case, the writing unit 215 writes the second vehicle identification information VI2 of the target vehicle 100t to the third memory 132a without writing the second vehicle identification information VI2 of the non-target vehicles 100n to the third memory 132a. On the other hand, if, at the time of writing the second vehicle identification information VI2 to the third memory 132a, the vehicle communication device 130 to be installed on the target vehicle 100t among the multiple vehicle communication devices 130 has not been predetermined, the writing unit 215 performs the following processing. In this case, the writing unit 215 writes the second vehicle identification information VI2 of multiple vehicles 100a, including the target vehicle 100t, to the third memory 132a. At this time, the writing unit 215 may also write the second vehicle identification information VI2 of vehicles 100a that are scheduled to be produced within a predetermined period from the time the second vehicle identification information VI2 is written to the third memory 132a to the third memory 132a.

[0064] When the writing unit 215 writes the second vehicle identification information VI2 of multiple vehicles 100a to the third memory 132a, and the marker MA does not represent the vehicle identification information VI but rather access information, the device-side switching unit 216 performs the following processing. The device-side switching unit 216 uses the access information represented by the marker MA to transmit the second vehicle identification information VI2 of the target vehicle 100t, which includes unique information, to the target communication device 130t as a switching instruction to switch the settings of the vehicle communication device 130a. As a result, the device-side switching unit 216 causes the vehicle communication device 130a to recognize that it will be used for remote control of the target vehicle 100t, and switches the settings of the vehicle communication device 130a.

[0065] The actual data acquisition unit 211a acquires acquisition information represented by the marker MA as actual data. The actual data acquisition unit 211a may further acquire access information represented by the marker MA.

[0066] When the actual data acquisition unit 211a acquires acquired information including the first vehicle identification information VI1 represented by the marker MA, which includes unique information, and the communication identification information CI represented by the marker MA, the reference data acquisition unit 213a performs the following processing. In this case, the reference data acquisition unit 213a acquires the second vehicle identification information VI2 of the target vehicle 100t, which includes unique information, and the communication identification information CI of the target communication device 130t as reference data.

[0067] When the actual data acquisition unit 211a acquires the second vehicle identification information VI2, which is represented by the marker MA and includes unique information, the reference data acquisition unit 213a performs the following processing. In this case, the reference data acquisition unit 213a acquires the first vehicle identification information VI1, which includes unique information, as reference data. At this time, the reference data acquisition unit 213a uses, for example, the production management database DP stored in the second memory 202a to acquire access information associated with the unique information of the target vehicle 100t. Then, the reference data acquisition unit 213a uses the acquired access information to acquire the first vehicle identification information VI1.

[0068] When the actual data acquisition unit 211 acquires acquired information that includes the first vehicle identification information VI1 represented by the marker MA, which includes unique information, and communication identification information CI, the remote control unit 214a performs the following processing. In this case, the remote control unit 214a identifies the target vehicle 100t from the non-target vehicle 100n by comparing the first vehicle identification information VI1 represented by the marker MA with the second vehicle identification information VI2 of the target vehicle 100t, and confirms whether or not it is the target vehicle 100t. The remote control unit 214a confirms whether or not the target communication device 130t is installed on the target vehicle 100t as planned by comparing the communication identification information CI represented by the marker MA with the communication identification information CI of the target communication device 130t. If the first vehicle identification information VI1 represented by the marker MA matches the second vehicle identification information VI2 of the target vehicle 100t, and the communication identification information CI represented by the marker MA matches the communication identification information CI of the target communication device 130t, the remote control unit 214a makes the following determination: In this case, the remote control unit 214a can send instructions to the target vehicle 100t, and therefore determines that the target vehicle 100t may be driven. On the other hand, if at least one of the following conditions is met: the first vehicle identification information VI1 represented by the marker MA does not match the second vehicle identification information VI2 of the target vehicle 100t, or the communication identification information CI represented by the marker MA does not match the communication identification information CI of the target communication device 130t, the remote control unit 214a makes the following determination: In this case, the remote control unit 214a cannot send instructions to the target vehicle 100t, and therefore determines that the target vehicle 100t should not be driven.

[0069] When the data acquisition unit 211 acquires the second vehicle identification information VI2 represented by the marker MA, which includes unique information, the remote control unit 214a performs the following processing. In this case, the remote control unit 214a compares the second vehicle identification information VI2 represented by the marker MA with the first vehicle identification information VI1 acquired as reference data. As a result, the remote control unit 214a identifies the target vehicle 100t and the non-target vehicle 100n, confirms whether it is the target vehicle 100t or not, and confirms whether the target communication device 130t is installed on the target vehicle 100t as planned. If the second vehicle identification information VI2 represented by the marker MA and the first vehicle identification information VI1 acquired as reference data match, the remote control unit 214a can send an instruction to the target vehicle 100t and therefore decides that it is OK to drive the target vehicle 100t. On the other hand, if the second vehicle identification information VI2 represented by the marker MA does not match the first vehicle identification information VI1 acquired as reference data, the remote control unit 214a cannot send an instruction to the target vehicle 100t and therefore determines that the target vehicle 100t should not be driven.

[0070] Vehicle 100a includes a vehicle control device 110a for controlling various parts of vehicle 100a, an actuator group 120 including one or more actuators driven under the control of vehicle control device 110a, and a vehicle communication device 130a for communicating wirelessly with external devices such as a remote control device 200a.

[0071] The vehicle control device 110a is composed of a computer comprising a processor 111a, a first memory 112a, an input / output interface 113, and an internal bus 114. The processor 111a executes a program PG1a stored in the first memory 112a to realize various functions, including those of the vehicle control unit 115 and the vehicle-side switching unit 116.

[0072] When the second vehicle identification information VI2 of multiple vehicles 100a is written to the third memory 132a, the vehicle-side switching unit 116 acquires the first vehicle identification information VI1. If the acquired first vehicle identification information VI1 contains unique information, the vehicle-side switching unit 116 performs the following processing. In this case, the vehicle-side switching unit 116 recognizes that among the multiple vehicles 100a identified by the second vehicle identification information VI2 stored in the third memory 132a, the one to be used for remote control of its own vehicle 100a is selected. As a result, the vehicle-side switching unit 116 switches the settings of the vehicle control device 110a. If the acquired first vehicle identification information VI1 contains non-unique information but does not contain unique information, the vehicle-side switching unit 116 performs the following processing. In this case, the vehicle-side switching unit 116 causes the vehicle communication device 130a to recognize that, among the multiple vehicles 100a identified by the second vehicle identification information VI2 stored in the third memory 132a, the vehicle 100a identified by the unique information contained in the second vehicle identification information VI2 acquired from the remote control device 200a, i.e., the target vehicle 100t, will be used for remote control. As a result, the vehicle-side switching unit 116 switches the settings of the vehicle communication device 130a.

[0073] The vehicle communication device 130a comprises a processor 131a, a third memory 132a, an input / output interface 133, an internal bus 134, and an external monitor 135. The processor 131a executes a program PG3a stored in the third memory 132a to realize various functions, including those of a generation unit 138a and a display control unit 139a.

[0074] The generation unit 138a generates a QR code as a marker MA in a different way depending on whether or not the second vehicle identification information VI2 of the non-target vehicle 100n has been written to the third memory 132a.

[0075] If the second vehicle identification information VI2 for the non-target vehicle 100n is not written to the third memory 132a, and the second vehicle identification information VI2 for the target vehicle 100t is written to the third memory 132a, the generation unit 138a performs the following process. The generation unit 138a uses the second vehicle identification information VI2 written to the third memory 132a by the remote control device 200a to generate a QR code representing the second vehicle identification information VI2. In other words, in this case, the QR code is generated using the second vehicle identification information VI2 without using the first vehicle identification information VI1.

[0076] When the second vehicle identification information VI2 of multiple vehicles 100a is written to the third memory 132a, and the settings of the vehicle communication device 130a are switched using the first vehicle identification information VI1 which includes unique information, the generation unit 138a performs the following processing. In this case, the generation unit 138a generates a QR code that represents the first vehicle identification information VI1 which includes unique information and the communication identification information CI of the vehicle communication device 130a. In other words, in this case, the QR code is generated using at least the first vehicle identification information VI1.

[0077] When the second vehicle identification information VI2 of multiple vehicles 100a is written to the third memory 132a, and the first vehicle identification information VI1 contains non-unique information but not unique information, the generation unit 138a performs the following processing. In this case, the generation unit 138a generates a QR code representing access information for accessing the vehicle communication device 130a. The display control unit 139a displays the QR code representing the access information on the external monitor 135. This enables the remote control device 200 to transmit the second vehicle identification information VI2 of the target vehicle 100t, which contains unique information, to its own vehicle 100a.

[0078] When vehicle identification information VI for multiple vehicles 100a is written to the third memory 132a, and the settings of the vehicle communication device 130a are switched using second vehicle identification information VI2 containing unique information, the generation unit 138a performs the following processing. The generation unit 138a generates a QR code representing the second vehicle identification information VI2 containing unique information corresponding to the unique information obtained from the remote control device 200a, from among the second vehicle identification information VI2 of multiple vehicles 100a stored in the third memory 132a. In other words, in this case, the QR code is generated using the second vehicle identification information VI2 without using the first vehicle identification information VI1.

[0079] Figure 6 is a first flowchart showing the decision method in the second embodiment. Figure 7 is a second flowchart showing the decision method in the second embodiment. Figure 8 is a third flowchart showing the decision method in the second embodiment. The flows shown in Figures 6 to 8 are executed, for example, before the target vehicle 100t starts moving. Note that the flows shown in Figures 6 to 8 may also be executed at predetermined intervals while the target vehicle 100t is moving.

[0080] As shown in Figure 6, if the writing unit 215 of the remote control device 200a has not written the second vehicle identification information VI2 to the third memory 132 (step S201: Yes), the writing unit 215 executes step S202. In step S202, the writing unit 215 writes the second vehicle identification information VI2, which includes unique information, for one or more vehicles 100a, including the target vehicle 100t, to the third memory 132a.

[0081] If the second vehicle identification information VI2 for the target vehicle 100t is written to the third memory 132a without the second vehicle identification information VI2 for the non-target vehicle 100n being written (step S203: Yes), the generation unit 138a of the vehicle communication device 130a executes step S204. In step S204, the generation unit 138a generates a QR code representing the second vehicle identification information VI2 using the second vehicle identification information VI2 written to the third memory 132a by the remote control device 200a. In step S205, the display control unit 139a displays the QR code representing the second vehicle identification information VI2 on the external monitor 135.

[0082] If the second vehicle identification information VI2 of multiple vehicles 100a is written to the third memory 132a (step S203: No), the vehicle-side switching unit 116 of the vehicle control device 110a executes step S206 shown in Figure 7. In step S206, the vehicle-side switching unit 116 acquires the first vehicle identification information VI1.

[0083] If the acquired first vehicle identification information VI1 contains unique information (step S207: Yes), the vehicle-side switching unit 116 executes step S208. In step S208, the vehicle-side switching unit 116 makes the vehicle communication device 130a recognize that, among the multiple vehicles 100a identified by the second vehicle identification information VI2 stored in the third memory 132a, it is to be used for remote control of its own vehicle 100a. As a result, the vehicle-side switching unit 116 switches the settings of the vehicle communication device 130a using the first vehicle identification information VI1 containing unique information. In step S209, the generation unit 138a of the vehicle communication device 130a generates a QR code representing the first vehicle identification information VI1 containing unique information and the communication identification information CI. In step S210, the display control unit 139a displays the QR code representing the first vehicle identification information VI1 containing unique information and the communication identification information CI on the external monitor 135.

[0084] If the acquired first vehicle identification information VI1 contains non-unique information but no unique information (step S207: No), the generation unit 138a of the vehicle communication device 130a executes step S211 shown in Figure 8. In step S211, the generation unit 138 generates a QR code representing access information for accessing the vehicle communication device 130a. In step S212, the display control unit 139a displays the QR code representing the access information on the external monitor 135.

[0085] As shown in Figure 6, in step S213, the data acquisition unit 211a of the remote control device 200a transmits an image request signal to the external camera 310, which is capable of imaging the area where the target vehicle 100t is expected to be located, in order to acquire an image. Upon receiving the image request signal, the external camera 310 transmits the image to the remote control device 200a in step S214. In step S215, the data acquisition unit 211a of the remote control device 200a searches for a QR code in the image. If a QR code is found in the image (step S216: Yes), in step S217, the data acquisition unit 211a decodes the found QR code according to a predetermined code standard to acquire the information represented by the QR code. On the other hand, if a QR code is not found in the image (step S216: No), the control system 50a terminates this flow.

[0086] When the actual data acquisition unit 211a acquires the access information represented by the QR code (step S218: Yes), the device-side switching unit 216 executes step S219 shown in Figure 8. In step S219, the device-side switching unit 216 uses the access information represented by the QR code to transmit the second vehicle identification information VI2 of the target vehicle 100t, which includes unique information, to the vehicle communication device 130a as a switching instruction. Upon receiving the second vehicle identification information VI2 including unique information, the vehicle-side switching unit 116 of the vehicle communication device 130a executes step S220. In step S220, the vehicle-side switching unit 116 makes the vehicle communication device 130a recognize that, among the multiple vehicles 100a identified by the second vehicle identification information VI2 stored in the third memory 132a, the target vehicle 100t is to be used for remote control. As a result, the vehicle-side switching unit 116 switches the settings of the vehicle communication device 130a using the second vehicle identification information VI2 which includes unique information. In step S221, the generation unit 138a generates a QR code representing the second vehicle identification information VI2 which includes unique information corresponding to the unique information acquired from the remote control device 200a, from among the second vehicle identification information VI2 of multiple vehicles 100a stored in the third memory 132a. In step S222, the display control unit 139a displays the QR code representing access information on the external monitor 135.

[0087] As shown in Figure 6, when the actual data acquisition unit 211a acquires the second vehicle identification information VI2 represented by the QR code, which includes unique information, the reference data acquisition unit 213a executes step S223. In step S223, the reference data acquisition unit 213a acquires the first vehicle identification information VI1, which includes unique information, as reference data using the access information of the target communication device 130t. In step S224, the remote control unit 214a compares the second vehicle identification information VI2 represented by the QR code with the first vehicle identification information VI1 acquired using the access information of the target communication device 130t. If the second vehicle identification information VI2 represented by the QR code and the first vehicle identification information VI1 acquired using the access information of the target communication device 130t match (step S224: Yes), the remote control unit 214a makes a decision as shown in step S225. In step S225, the remote control unit 214a determines that it is permissible to drive the target vehicle 100t because it can send instructions to the target vehicle 100t. If the second vehicle identification information VI2 represented by the QR code and the first vehicle identification information VI1 obtained using the access information of the target communication device 130t do not match (step S224: No), the remote control unit 214a makes the determination shown in step S226. In step S226, the remote control unit 214a determines that it is not permissible to drive the target vehicle 100t because it cannot send instructions to the target vehicle 100t.

[0088] When the actual data acquisition unit 211a acquires the first vehicle identification information VI1 represented by the QR code, which includes unique information, and the communication identification information CI represented by the QR code, the reference data acquisition unit 213a executes step S227 shown in Figure 7. In step S227, the reference data acquisition unit 213a acquires the second vehicle identification information VI2 of the target vehicle 100t, which includes unique information, and the communication identification information CI of the target communication device 130t as reference data. In step S228, the remote control unit 214a compares the first vehicle identification information VI1 represented by the QR code with the second vehicle identification information VI2 of the target vehicle 100t. In step S229, the remote control unit 214a compares the communication identification information CI represented by the QR code with the communication identification information CI of the target communication device 130t. If the first vehicle identification information VI1 represented by the QR code matches the second vehicle identification information VI2 of the target vehicle 100t (step S228: Yes), and if the communication identification information CI represented by the QR code matches the communication identification information CI of the target communication device 130t (step S229: Yes), the remote control unit 214a can send an instruction to the target vehicle 100t, as shown in step S225 of Figure 6, and therefore determines that it is OK to drive the target vehicle 100t. On the other hand, as shown in Figure 7, if the first vehicle identification information VI1 represented by the QR code does not match the second vehicle identification information VI2 of the target vehicle 100t (step S228: No), or if the communication identification information CI represented by the QR code does not match the communication identification information CI of the target communication device 130t (step S229: No), the remote control unit 214a determines that it cannot send instructions to the target vehicle 100t, as shown in step S226 of Figure 6, and therefore the target vehicle 100t should not be driven.

[0089] According to the second embodiment described above, the remote control device 200a can write the second vehicle identification information VI2, which includes unique information, to the third memory 132a using the access information. As a result, the vehicle communication device 130a can perform the following processing. In this case, the vehicle communication device 130a can generate a marker MA representing the second vehicle identification information VI2 using the second vehicle identification information VI2 obtained from the remote control device 200a. In this way, a marker MA representing the vehicle identification information VI can be generated without obtaining the first vehicle identification information VI1 from the vehicle control device 110a.

[0090] Furthermore, according to the second embodiment described above, when the second vehicle identification information VI2 of multiple vehicles 100a is written to the third memory 132a, and the first vehicle identification information VI1 includes unique information, the vehicle communication device 130a can perform the following processing. In this case, the vehicle communication device 130a can generate a marker MA representing the first vehicle identification information VI1 using the first vehicle identification information VI1 without using the second vehicle identification information VI2.

[0091] Furthermore, according to the second embodiment described above, when the second vehicle identification information VI2 of multiple vehicles 100a is written to the third memory 132a, and the first vehicle identification information VI1 contains non-unique information but does not contain unique information, the vehicle communication device 130a can perform the following processing. In this case, the vehicle communication device 130a can generate a QR code representing access information. The vehicle communication device 130a can use the QR code representing access information to obtain the second vehicle identification information VI2 containing unique information from the remote control device 200a. As a result, the vehicle communication device 130a can use the second vehicle identification information VI2 to generate a marker MA representing the second vehicle identification information VI2.

[0092] Furthermore, according to the second embodiment described above, when a marker MA is generated using the second vehicle identification information VI2 without using the first vehicle identification information VI1, and the second vehicle identification information VI2 represented by the marker MA includes unique information, the remote control device 200a can perform the following processing. In this case, the remote control device 200a can acquire the second vehicle identification information VI2 represented by the marker MA, which includes unique information, as actual data. The remote control device 200a can acquire the first vehicle identification information VI1, which includes unique information, as reference data corresponding to the actual data. The remote control device 200a compares the second vehicle identification information VI2 as actual data with the first vehicle identification information VI1 as reference data. As a result, the remote control device 200a can determine whether or not it can send an instruction to the target vehicle 100t when a marker MA is generated using the second vehicle identification information VI2 without using the first vehicle identification information VI1, and the second vehicle identification information VI2 represented by the marker MA includes unique information.

[0093] Furthermore, according to the second embodiment described above, when a marker MA is generated using at least the first vehicle identification information VI1, and the first vehicle identification information VI1 represented by the marker MA includes unique information, the remote control device 200a can perform the following processing. In this case, the remote control device 200a can acquire the first vehicle identification information VI1 represented by the marker MA, which includes unique information, as actual data. The remote control device 200a can acquire the second vehicle identification information VI2, which includes unique information, as reference data corresponding to the actual data. The remote control device 200a compares the first vehicle identification information VI1 as actual data with the second vehicle identification information VI2 as reference data. As a result, the remote control device 200a can determine whether or not it can send an instruction to the target vehicle 100t when a marker MA is generated using at least the first vehicle identification information VI1, and the first vehicle identification information VI1 represented by the marker MA includes unique information.

[0094] C. Third Embodiment: Figure 9 is a block diagram showing the configuration of the control system 50b in the third embodiment. The control system 50b comprises one or more vehicles 100b, a remote control device 200b as a control device, and one or more external cameras 310. In this embodiment, the items of the vehicle identification information VI represented by the marker MA and the determination method for determining whether or not an instruction can be transmitted to the target vehicle 100t differ from those in the first embodiment. The other components of the control system 50b are the same as those in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0095] The remote control device 200b implements various functions, including those of the production instruction server 210b and the self-propelled server 220b. The production instruction server 210b transmits a driving instruction to the self-propelled server 220 for remotely controlling and driving the target vehicle 100t. When the self-propelled server 220b receives a driving instruction from the production instruction server 210 for driving the target vehicle 100t, it drives the target vehicle 100t.

[0096] The remote control device 200b is composed of a computer comprising a processor 201b, a second memory 202b, an input / output interface 203, and an internal bus 204. The processor 201b executes the program PG2b stored in the second memory 202b to realize various functions, including those of the actual data acquisition unit 211b, the reference data acquisition unit 213b, and the remote control unit 214b.

[0097] When a marker MA is generated using at least the first vehicle identification information VI1, and the first vehicle identification information VI1 represented by the marker MA contains non-unique information but no unique information, the actual data acquisition unit 211b performs the following processing. In this case, the actual data acquisition unit 211b acquires the first vehicle identification information VI1 represented by the marker MA, that is, the non-unique information represented by the marker MA, as actual data. Furthermore, the actual data acquisition unit 211b acquires the unique information stored in the first memory 112 by accessing the first memory 112 using the access information represented by the marker MA, as actual data.

[0098] When a marker MA is generated using at least the first vehicle identification information VI1, and the first vehicle identification information VI1 represented by the marker MA contains non-unique information but no unique information, the reference data acquisition unit 213b performs the following processing. In this case, the reference data acquisition unit 213b acquires second vehicle identification information VI2 as reference data, which includes the unique information of the target vehicle 100t and non-unique information of the target vehicle 100t that is the same as the non-unique information included in the first vehicle identification information VI1 acquired as actual data.

[0099] When a marker MA is generated using at least the first vehicle identification information VI1, and the first vehicle identification information VI1 represented by the marker MA contains non-unique information but no unique information, the remote control unit 214b performs the following processing. In this case, the remote control unit 214b compares the non-unique information represented by the marker MA with the non-unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2. Furthermore, the remote control unit 214b compares the unique information acquired by accessing the first memory 112 using the access information represented by the marker MA with the unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2. If the non-unique information represented by the marker MA matches the non-unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2, and if the unique information acquired by accessing the first memory 112 using the access information represented by the marker MA matches the unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2, the remote control unit 214b makes the following determination. In this case, the remote control unit 214b can send an instruction to the target vehicle 100t, and therefore determines that it is OK to drive the target vehicle 100t. On the other hand, if the non-unique information represented by the marker MA does not match the non-unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2, or if the unique information acquired by accessing the first memory 112 using the access information represented by the marker MA does not match the unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2, the remote control unit 214b makes the following determination. In this case, the remote control unit 214b cannot send instructions to the target vehicle 100t, and therefore determines that the target vehicle 100t should not be driven.

[0100] Vehicle 100b includes a vehicle control device 110 for controlling various parts of vehicle 100b, an actuator group 120 including one or more actuators driven under the control of the vehicle control device 110, and a vehicle communication device 130b for communicating wirelessly with external devices such as a remote control device 200b.

[0101] The vehicle communication device 130b comprises a processor 131b, a third memory 132b, an input / output interface 133, an internal bus 134, and an external monitor 135. The processor 131b executes a program PG3b stored in the third memory 132b to realize various functions, including those of a generation unit 138b and a display control unit 139.

[0102] The generation unit 138b acquires first vehicle identification information VI1, which contains non-unique information but not unique information, from the vehicle control device 110. Then, the generation unit 138b generates a QR code as a marker MA that represents the first vehicle identification information VI1, which contains non-unique information but not unique information.

[0103] Figure 10 is a flowchart of the decision-making method in the third embodiment. The flow shown in Figure 10 is executed, for example, before the target vehicle 100t starts moving. Alternatively, the flow shown in Figure 10 may be executed at predetermined intervals while the target vehicle 100t is moving.

[0104] In step S301, the generation unit 138b of the vehicle communication device 130 acquires first vehicle identification information VI1 from the vehicle control device 110, which includes non-unique information but does not include unique information. In step S302, the generation unit 138b generates a QR code representing the acquired first vehicle identification information VI1. In step S303, the display control unit 139 displays the QR code representing the first vehicle identification information VI1 on the external monitor 135. Each step from step S301 to step S303 is performed for each vehicle 100b.

[0105] In step S304, the data acquisition unit 211b of the remote control device 200b transmits an image request signal to an external camera 310 capable of imaging the area where the target vehicle 100t is expected to be located, in order to acquire an image. Upon receiving the image request signal, the external camera 310 transmits the image to the remote control device 200b in step S305. In step S306, the data acquisition unit 211b of the remote control device 200b searches for a QR code in the image. If a QR code is found in the image (step S307: Yes), in step S308, the data acquisition unit 211b decodes the found QR code according to a predetermined code standard. As a result, the data acquisition unit 211b acquires, as actual data, non-unique information represented by the marker MA and unique information obtained by accessing the first memory 112 using the access information represented by the marker MA. On the other hand, if a QR code cannot be found in the captured image (step S307: No), the control system 50b terminates this flow.

[0106] In step S309, the reference data acquisition unit 213b acquires second vehicle identification information VI2 as reference data, which includes unique information of the target vehicle 100t and non-unique information of the target vehicle 100t that is the same as the non-unique information included in the first vehicle identification information VI1 acquired as actual data.

[0107] In step S310, the remote control unit 214b compares the non-unique information represented by the marker MA with the non-unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2. In step S311, the remote control unit 214b compares the unique information acquired by accessing the first memory 112 using the access information represented by the marker MA with the unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2. If the non-unique information represented by the marker MA matches the non-unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2 (step S310: Yes), and if the unique information acquired by accessing the first memory 112 using the access information represented by the marker MA matches the unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2 (step S311: Yes), then the remote control unit 214b makes the determination as shown in step S312. In step S312, the remote control unit 214b determines that it is OK to allow the target vehicle 100t to move, since it can send an instruction to the target vehicle 100t. On the other hand, if the non-unique information represented by the marker MA does not match the non-unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2 (step S310: No), or if the unique information acquired by accessing the first memory 112 using the access information represented by the marker MA does not match the unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2 (step S311: No), the remote control unit 214b makes the determination as shown in step S313. In step S313, the remote control unit 214b determines that it cannot send instructions to the target vehicle 100t and therefore the target vehicle 100t should not be driven.

[0108] According to the third embodiment described above, when a marker MA is generated using at least the first vehicle identification information VI1, and the first vehicle identification information VI1 represented by the marker MA contains non-unique information but not unique information, the remote control device 200b can perform the following processing. In this case, the remote control device 200a can obtain the non-unique information represented by the marker MA as actual data. Furthermore, the remote control device 200a can obtain the unique information stored in the first memory 112 by accessing the first memory 112 using the access information represented by the marker MA as actual data. The remote control device 200b can obtain second vehicle identification information VI2 as reference data corresponding to the actual data, which includes the unique information of the target vehicle 100t and non-unique information of the target vehicle 100t that is the same as the non-unique information included in the first vehicle identification information VI1 obtained as actual data. The remote control device 200b can compare the non-unique information represented by the marker MA with the non-unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2. The remote control device 200b can also compare the unique information acquired by accessing the first memory 112 using the access information represented by the marker MA with the unique information of the target vehicle 100t acquired as reference data from the second vehicle identification information VI2. As a result, the remote control device 200b can determine whether or not it can send an instruction to the target vehicle 100t when the marker MA is generated using at least the first vehicle identification information VI1, and the first vehicle identification information VI1 represented by the marker MA contains non-unique information but no unique information.

[0109] D. Fourth Embodiment: Figure 11 is a block diagram showing the configuration of the control system 50v in the fourth embodiment. In this embodiment, the vehicle 100v is further capable of driving by autonomous control of the vehicle 100v. The other configurations are the same as in the first embodiment unless otherwise specified.

[0110] In this embodiment, the processor 111v of the vehicle control device 110v functions as a vehicle control unit 115v by executing the program PG1v stored in memory 112v. The vehicle control unit 115v acquires the output results from the sensors, generates a driving control signal using the output results, and outputs the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100v to be driven autonomously. In this embodiment, in addition to the program PG1v, the detection model DM and the reference path RR are pre-stored in memory 112v.

[0111] Figure 12 is a flowchart showing the processing procedure for driving control when vehicle 100V is driving under autonomous control. The flow shown in Figure 12 is executed repeatedly at a predetermined cycle during the period when vehicle 100V is driving under autonomous control.

[0112] In step S901, the vehicle control unit 115v of the vehicle control device 110v acquires vehicle position information using the detection result output from the camera, which is an external sensor 300. In step S902, the vehicle control unit 115v determines the target position to which the vehicle 100v should next go. In step S903, the vehicle control unit 115v generates a driving control signal to drive the vehicle 100v toward the determined target position. In step S904, the vehicle control unit 115v drives the vehicle 100v according to the parameters expressed in the driving control signal by controlling the actuator group 120 using the generated driving control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target position, generation of the driving control signal, and control of the actuators at a predetermined cycle. According to the control system 50v in this embodiment, the vehicle 100v can be driven by autonomous control of the vehicle 100v without remote control of the vehicle 100v by the remote control device 200.

[0113] E. Other embodiments: E-1. Other Embodiments 1: At least some functions of the remote control devices 200, 200a, and 200b may be functions of the vehicles 100, 100a, and 100v, or functions of the external sensor 300. Also, at least some functions of the vehicles 100, 100a, and 100v may be functions of the remote control devices 200, 200a, and 200b. For example, the generation units 138, 138a, and 138b may be functions of the remote control devices 200, 200a, and 200b. In this case, the generation units 138, 138a, and 138b generate a marker MA using, for example, the second vehicle identification information VI2 of the target vehicle 100t stored in the second memory 202, 200a, and 200b. Then, the generation units 138, 138a, and 138b transmit the generated marker MA image data to the vehicle communication devices 130, 130a, and 130b. The display control units 139 and 139a of the vehicle communication devices 130, 130a, and 130b display the marker MA image data received from the remote control devices 200, 200a, and 200b on the external monitor 135. Even in this configuration, the control systems 50, 50a, and 50b can generate marker MA representing vehicle identification information VI and display the generated marker MA on the external monitor 135.

[0114] E-2. Other Embodiments 2: In each of the above embodiments, the external sensor 300 is not limited to a camera, but may be, for example, a distance measuring device. The distance measuring device may be, for example, LiDAR (Light Detection And Ranging). In this case, the detection result output by the external sensor 300 may be 3D point cloud data representing vehicles 100, 100a, 100b, and 100v. In this case, the servers 200, 200a, and 200b, and the vehicles 100, 100a, 100b, and 100v may acquire vehicle position information by template matching using the 3D point cloud data as a detection result and pre-prepared reference point cloud data.

[0115] E-3. Other Embodiments 3: In each of the embodiments from the first to the third embodiment described above, the servers 200, 200a, and 200b perform the processing from acquiring vehicle position information to generating driving control signals. In contrast, the vehicles 100, 100a, and 100b may perform at least a part of the processing from acquiring vehicle position information to generating driving control signals. For example, the following forms (1) to (3) may also be used.

[0116] (1) Servers 200, 200a, and 200b may acquire vehicle location information, determine the next target location that vehicles 100, 100a, and 100b should head to, and generate a route from the current location of vehicles 100, 100a, and 100b, as shown in the acquired vehicle location information, to the target location. Servers 200, 200a, and 200b may generate a route from the current location to the target location, or a route to the destination. Servers 200, 200a, and 200b may transmit the generated route to vehicle 100. Vehicles 100, 100a, and 100b may generate a driving control signal so that vehicles 100, 100a, and 100b travel along the route received from servers 200, 200a, and 200b, and may use the generated driving control signal to control the actuator group 120.

[0117] (2) Servers 200, 200a, and 200b may acquire vehicle location information and transmit the acquired vehicle location information to vehicles 100, 100a, and 100b. Vehicles 100, 100a, and 100b may determine the next target location to which vehicle 100 should go, generate a route from the current location of vehicles 100, 100a, and 100b shown in the received vehicle location information to the target location, generate a driving control signal so that vehicles 100, 100a, and 100b travel along the generated route, and use the generated driving control signal to control the actuator group 120.

[0118] (3) In the embodiments of (1) and (2) above, internal sensors are installed in vehicles 100, 100a, and 100b, and 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 installed in vehicles 100, 100a, and 100b. The internal sensors may include, for example, sensors that detect the motion state of vehicles 100, 100a, and 100b, sensors that detect the operating state of each part of vehicles 100, 100a, and 100b, and sensors that detect the environment around vehicles 100, 100a, and 100b. Specifically, the internal sensors may include, for example, cameras, LiDAR, millimeter-wave radar, ultrasonic sensors, GPS sensors, acceleration sensors, gyroscopes, etc. For example, in the embodiment of (1) above, servers 200, 200a, and 200b may acquire detection results from the internal sensors and reflect the detection results from the internal sensors in the route when generating a route. In the embodiment of (1) above, vehicles 100, 100a, and 100b may acquire detection results from internal sensors and reflect the detection results from internal sensors in the driving control signal when generating a driving control signal. In the embodiment of (2) above, vehicles 100, 100a, and 100b may acquire detection results from internal sensors and reflect the detection results from internal sensors in the route when generating a route. In the embodiment of (2) above, vehicles 100, 100a, and 100b may acquire detection results from internal sensors and reflect the detection results from internal sensors in the driving control signal when generating a driving control signal.

[0119] E-4. Other Embodiments 4: In the fourth embodiment described above, the vehicle 100v is equipped with an internal sensor, and the detection result output from the internal sensor may be used in at least one of the generation of the route and the generation of the driving control signal. For example, the vehicle 100v may acquire the detection result from the internal sensor and reflect the detection result from the internal sensor in the route when generating the route. The vehicle 100v may acquire the detection result from the internal sensor and reflect the detection result from the internal sensor in the driving control signal when generating the driving control signal.

[0120] E-5. Other Embodiments 5: In the fourth embodiment described above, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. Alternatively, the vehicle 100v may be equipped with an internal sensor, which may acquire vehicle position information using the detection results of the internal sensor, determine the next target location to which the vehicle 100v should go, generate a route from the vehicle 100v's current location to the target location as shown in the acquired vehicle position information, generate a driving control signal for traveling along the generated route, and control the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can travel without using the detection results of the external sensor 300 at all. The vehicle 100v may also acquire the target arrival time and congestion information from outside the vehicle 100v and reflect the target arrival time and congestion information in at least one of the route and the driving control signal.

[0121] E-6. Other Embodiments 6: In each of the embodiments from the first to the third embodiment described above, servers 200, 200a, and 200b automatically generate driving control signals to transmit to vehicles 100, 100a, and 100b. Alternatively, server 200 may generate driving control signals to transmit to vehicles 100, 100a, and 100b in accordance with the operations of an external operator located outside the vehicles 100, 100a, and 100b. 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 vehicles 100, 100a, and 100b, an accelerator pedal, a brake pedal, and a communication device for communicating with servers 200, 200a, and 200b via wired or wireless communication, and servers 200, 200a, and 200b may generate driving control signals in accordance with the operations applied to the control device.

[0122] E-7. Other Embodiments 7: In each of the above embodiments, the vehicles 100, 100a, 100b, and 100v only need to be configured to be movable by unmanned operation, and may take the form of a platform having the configuration described below. Specifically, in order for the vehicles 100, 100a, 100b, and 100v to perform the three functions of "driving," "turning," and "stopping" by unmanned operation, they only need to be equipped with at least a vehicle control device 110, 110a, and 110v and an actuator group 120. When the vehicles 100, 100a, 100b, and 100v acquire information from the outside for unmanned operation, they may further be equipped with communication devices 130, 130a, and 130b. In other words, the autonomously operated vehicles 100, 100a, 100b, and 100v do not need to have at least some of their interior components, such as the driver's seat and dashboard, or at least some of their exterior components, such as the bumper and fenders, or they do not need to have a body shell. In this case, the remaining components, such as the body shell, may be attached to the vehicles 100, 100a, 100b, and 100v before they are shipped from the factory FC, or the remaining components, such as the body shell, may be attached to the vehicles 100, 100a, 100b, and 100v after they have been shipped from the factory FC, while the remaining components, such as the body shell, are not attached to the vehicles 100, 100a, 100b, and 100v. Each component may be mounted on the vehicles 100, 100a, 100b, and 100v from any direction, such as the top, bottom, front, rear, right, or left side. They may be mounted from the same direction or from different directions. The positioning of the components on the platform can also be determined in the same way as for the vehicles 100, 100a, 100b, and 100v in the first embodiment.

[0123] E-8. Other Embodiments 8: Vehicles 100, 100a, 100b, and 100v may be manufactured by combining multiple modules. A module means a unit composed of one or more parts grouped together according to the configuration and function of the vehicle 100, 100a, 100b, and 100v. For example, the platform of vehicle 100, 100a, 100b, and 100v may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the middle part of the platform, and a rear module that constitutes the rear part of the platform. The number of modules that constitute the platform is not limited to three, and may be two or fewer, or four or more. In addition to the platform, or in place of the platform, parts of vehicle 100, 100a, 100b, and 100v that are different from the platform may be modularized. Furthermore, various modules may include any exterior parts such as bumpers and grilles, or any interior parts such as seats and consoles. Moreover, not limited to vehicles 100, 100a, 100b, and 100v, any type of mobile body may be manufactured by combining multiple modules. These modules may be manufactured, for example, by joining multiple parts by welding or fasteners, or by integrally molding at least a portion of the module as a single part by casting. The molding method of integrally molding at least a portion of the module as a single part is also called Gigacast or Megacast. By using Gigacast, each part of the moving body, which was conventionally formed by joining multiple parts, can be formed as a single part. For example, the forward module, central module, and rear module mentioned above may be manufactured using Gigacast.

[0124] E-9. Other Embodiments 9: The use of unmanned operation of vehicles 100, 100a, 100b, and 100v to transport them 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 vehicles 100, 100a, 100b, and 100v is also called "autonomous production." In autonomous production, for example, in a factory cluster (FC) that manufactures vehicles 100, 100a, 100b, and 100v, at least a portion of the transport of vehicles 100, 100a, 100b, and 100v is realized by autonomous transport.

[0125] E-10. Other Embodiments 10: In each of the above embodiments, some or all of the functions and processes implemented in software may be implemented in hardware. Conversely, some or all of the functions and processes implemented in hardware may be implemented in software. As hardware for implementing the various functions in each of the above embodiments, various circuits such as integrated circuits and discrete circuits may be used.

[0126] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features of the embodiments corresponding to the technical features in each form described in the summary of the invention can be replaced or combined as appropriate in order to solve some or all of the above-described problems, or to achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate. [Explanation of Symbols]

[0127] 50, 50a, 50b, 50v… Control system, 100, 100a, 100b, 100v… Vehicle, 100c… Candidate vehicle, 100n… Non-target vehicle, 100t… Target vehicle, 110, 110a, 110v… Vehicle control device, 111, 111a, 111v… Processor of vehicle control device, 112, 112a, 112v… First memory, 113… Input / output interface of vehicle control device, 114… Internal bus of vehicle control device, 115, 115v… Vehicle control unit, 116… Vehicle-side switching unit, 120… Active Tuner group, 130, 130a, 130b... Vehicle communication device, 130t... Target communication device, 131, 131a, 131b... Processor of vehicle communication device, 132, 132a, 132b... Third memory, 133... Input / output interface of vehicle communication device, 134... Internal bus of vehicle communication device, 135... External monitor, 136... Communication unit, 138, 138a, 138b... Generation unit, 139, 139a... Display control unit, 200, 200a, 200b... Remote control device, 201, 201a, 201b... Remote control The device's processor, 202, 202a, 202b... Second memory, 203... Input / output interface of the remote control device, 204... Internal bus of the remote control device, 205... Remote communication device, 210, 210a, 210b... Production instruction server, 211, 211a, 211b... Actual data acquisition unit, 212... Process acquisition unit, 213, 213a, 213b... Reference data acquisition unit, 214, 214a, 214b... Remote control unit, 215... Writing unit, 216... Device-side switching unit, 220, 220a, 220b... Self-propelled server B, 300…External sensor, 310…External camera, CI…Communication identification information, DF…Process database, DM…Detection model, DP…Production management database, FC…Factory, GC…Global coordinate system, MA…Landmark, PG1,PG1a,PG1v,PG2,PG2a,PG2b,PG3,PG3a,PG3b…Program, PL1…First location, PL2…Second location, RG…Imaging range, RR…Reference path, TR…Track, VI…Vehicle identification information, VI1…First vehicle identification information, VI2…Second vehicle identification information

Claims

1. A control device, A real data acquisition unit that acquires real data of at least one of the following: a marker displayed on an external monitor mounted on a mobile body that can be moved by remote control, and acquired information acquired using the marker, which includes identification information for identifying the mobile body. A reference data acquisition unit that acquires reference data corresponding to the aforementioned actual data, A remote control unit for remotely controlling the moving body, wherein the remote control unit performs different processing related to the movement of the moving body depending on whether the actual data and the reference data match or whether the actual data and the reference data do not match. The system includes a process acquisition unit that acquires process information indicating the manufacturing process being performed on the moving body, The aforementioned identification information is stored in the first memory and the second memory of the mobile device control device mounted on the mobile body, respectively. The items of the first identification information stored in the first memory are set according to the manufacturing process being performed on the mobile body. When the actual data acquisition unit acquires the first identification information represented by the marker as the actual data, The control device, wherein the reference data acquisition unit acquires, as reference data, at least information relating to the items corresponding to the manufacturing process identified by the process information, from the second identification information stored in the second memory as the identification information.

2. A control device, A real data acquisition unit that acquires real data of at least one of the following: a marker displayed on an external monitor mounted on a mobile body that can be moved by remote control, and acquired information acquired using the marker, which includes identification information for identifying the mobile body. A reference data acquisition unit that acquires reference data corresponding to the aforementioned actual data, A remote control unit for remotely controlling the moving body, comprising a remote control unit that causes the processing related to the movement of the moving body to differ depending on whether the actual data and the reference data match or whether the actual data and the reference data do not match. The aforementioned identification information is stored in the first memory and the second memory of the mobile device control device mounted on the mobile body, respectively. When the marker is generated using at least the first identification information stored in the first memory as identification information, and the first identification information represented by the marker includes unique information specific to the moving object, when the actual data acquisition unit acquires the first identification information represented by the marker as actual data, the reference data acquisition unit acquires at least the second identification information stored in the second memory as identification information, which includes the unique information, as reference data. When the marker is generated using the second identification information without using the first identification information, and the second identification information represented by the marker includes the unique information, when the actual data acquisition unit acquires the second identification information represented by the marker as the actual data, the reference data acquisition unit acquires at least the first identification information including the unique information as the reference data. A control device in which, when a marker is generated using at least the first identification information, and the first identification information represented by the marker does not include the unique information but includes non-unique information other than the unique information, the actual data acquisition unit acquires, as actual data, the non-unique information included in the first identification information represented by the marker and the unique information which is acquired using access information for accessing the first memory, the reference data acquisition unit acquires at least the second identification information which includes the unique information and the non-unique information as the reference data.

3. A control system, A mobile body that can be moved by remote control, The system comprises a control device installed in a location different from the aforementioned mobile body, The mobile body comprises a communication device and a mobile body control device. The aforementioned communication device is A generation unit that generates a marker using at least identification information for identifying the moving body obtained from at least one of the control device and the moving body control device, The system includes an external monitor that displays the aforementioned markers, The control device is A real data acquisition unit that acquires real data of at least one of the marker displayed on the external monitor and acquired information acquired using the marker, which includes the identification information, A reference data acquisition unit that acquires reference data corresponding to the aforementioned actual data, A remote control unit for remotely controlling the moving body, wherein the remote control unit performs different processing related to the movement of the moving body depending on whether the actual data and the reference data match or whether the actual data and the reference data do not match. The system includes a process acquisition unit that acquires process information indicating the manufacturing process being performed on the moving body, The aforementioned identification information is stored in the first memory of the mobile device control device and the second memory of the control device, respectively. The items of the first identification information stored in the first memory are set according to the manufacturing process being performed on the mobile body. When the actual data acquisition unit acquires the first identification information represented by the marker as the actual data, The control system includes a reference data acquisition unit which acquires, as reference data, at least information relating to the items corresponding to the manufacturing process identified by the process information, from among the second identification information stored in the second memory as the identification information.

4. A control system, A mobile body that can be moved by remote control, The system comprises a control device installed in a location different from the aforementioned mobile body, The mobile body comprises a communication device and a mobile body control device. The aforementioned communication device is A generation unit that generates a marker using at least identification information for identifying the moving body obtained from at least one of the control device and the moving body control device, The system includes an external monitor that displays the aforementioned markers, The control device is A real data acquisition unit that acquires real data of at least one of the marker displayed on the external monitor and acquired information acquired using the marker, which includes the identification information, A reference data acquisition unit that acquires reference data corresponding to the aforementioned actual data, A remote control unit for remotely controlling the moving body, comprising a remote control unit that causes the processing related to the movement of the moving body to differ depending on whether the actual data and the reference data match or whether the actual data and the reference data do not match. The aforementioned identification information is stored in the first memory of the mobile device control device and the second memory of the control device, respectively. When the marker is generated using at least the first identification information stored in the first memory as identification information, and the first identification information represented by the marker includes unique information specific to the moving object, when the actual data acquisition unit acquires the first identification information represented by the marker as actual data, the reference data acquisition unit acquires at least the second identification information stored in the second memory as identification information, which includes the unique information, as reference data. When the marker is generated using the second identification information without using the first identification information, and the second identification information represented by the marker includes the unique information, when the actual data acquisition unit acquires the second identification information represented by the marker as the actual data, the reference data acquisition unit acquires at least the first identification information including the unique information as the reference data. A control system in which, when a marker is generated using at least the first identification information, and the first identification information represented by the marker does not include the unique information but includes non-unique information other than the unique information, the actual data acquisition unit acquires, as actual data, the non-unique information included in the first identification information represented by the marker and the unique information which is acquired using access information for accessing the first memory, the reference data acquisition unit acquires at least the second identification information which includes the unique information and the non-unique information as the reference data.

5. A control system, A mobile body that can be moved by remote control, The system comprises a control device installed in a location different from the aforementioned mobile body, The mobile body comprises a communication device having an external monitor that displays markers acquired from the control device, and a mobile body control device. The control device is A second memory for storing identification information for identifying the aforementioned mobile body, A generation unit that generates the marker using at least the first identification information as identification information acquired from the mobile device control device, A real data acquisition unit that acquires real data of at least one of the marker displayed on the external monitor and acquired information acquired using the marker, which includes the identification information, A reference data acquisition unit that acquires reference data corresponding to the aforementioned actual data, A remote control unit for remotely controlling the moving body, wherein the remote control unit performs different processing related to the movement of the moving body depending on whether the actual data and the reference data match or whether the actual data and the reference data do not match. The system includes a process acquisition unit that acquires process information indicating the manufacturing process being performed on the moving body, The mobile body control device has a first memory for storing identification information for identifying the mobile body, The items of the first identification information stored in the first memory are set according to the manufacturing process being performed on the mobile body. When the actual data acquisition unit acquires the first identification information represented by the marker as the actual data, The control system includes a reference data acquisition unit which acquires, as reference data, at least information relating to the items corresponding to the manufacturing process identified by the process information, from among the second identification information stored in the second memory as the identification information.

6. A control system, A mobile body that can be moved by remote control, The system comprises a control device installed in a location different from the aforementioned mobile body, The mobile body comprises a communication device having an external monitor that displays markers acquired from the control device, and a mobile body control device. The control device is A second memory for storing identification information for identifying the aforementioned mobile body, A generation unit that generates the marker using at least the first identification information as the identification information obtained from the mobile device control device, or the second identification information as the identification information stored in the second memory, A real data acquisition unit that acquires real data of at least one of the marker displayed on the external monitor and acquired information acquired using the marker, which includes the identification information, A reference data acquisition unit that acquires reference data corresponding to the aforementioned actual data, A remote control unit for remotely controlling the moving body, comprising a remote control unit that causes the processing related to the movement of the moving body to differ depending on whether the actual data and the reference data match or whether the actual data and the reference data do not match. The mobile body control device has a first memory for storing identification information for identifying the mobile body, The aforementioned identification information is stored in the first memory and the second memory, respectively. When the marker is generated using at least the first identification information stored in the first memory as identification information, and the first identification information represented by the marker includes unique information specific to the moving object, when the actual data acquisition unit acquires the first identification information represented by the marker as actual data, the reference data acquisition unit acquires at least the second identification information stored in the second memory as identification information, which includes the unique information, as reference data. When the marker is generated using the second identification information without using the first identification information, and the second identification information represented by the marker includes the unique information, when the actual data acquisition unit acquires the second identification information represented by the marker as the actual data, the reference data acquisition unit acquires at least the first identification information including the unique information as the reference data. A control system in which, when a marker is generated using at least the first identification information, and the first identification information represented by the marker does not include the unique information but includes non-unique information other than the unique information, the actual data acquisition unit acquires, as actual data, the non-unique information included in the first identification information represented by the marker and the unique information which is acquired using access information for accessing the first memory, the reference data acquisition unit acquires at least the second identification information which includes the unique information and the non-unique information as the reference data.

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