JP2024162974A - Movable body, server, and method of manufacturing movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique allowing driving control of a movable body by remote control or autonomous control to be appropriately executed for each step.

SOLUTION: A movable body manufactured in a factory, comprises: a vehicle communication section for receiving a control command for remote control; a driving control section for executing driving control of the movable body according to the received control command for the remote control in a course of manufacture of the movable body in the factory; a process completion detection section for detecting completion of a process by at least one step included in the course of the manufacture; and a control detail change section for changing details on the control of the movable body when the completion of the process is detected.

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present disclosure relates to a mobile object, a server, and a method for manufacturing a mobile object.

For example, Patent Document 1 discloses a vehicle driving method in a manufacturing system for manufacturing vehicles, in which a vehicle is driven autonomously or by remote control from the end of an assembly line of the manufacturing system to a parking lot of the manufacturing system.

Special table 2017-538619 publication

Vehicle operation control by remote control or autonomous control can be performed even before the vehicle is completed, assuming that the vehicle is capable of running by remote control or autonomous control. However, as the vehicle approaches completion, various processes for the vehicle, such as the assembly of parts and the change of control parameters, may be performed for each process. Therefore, there is a demand for technology that can optimally perform vehicle operation control by remote control or autonomous control for each process. Furthermore, these issues are not limited to vehicles, but are common to any moving body.

This disclosure can be realized in the following forms:

(1) According to a first aspect of the present disclosure, there is provided a mobile body manufactured in a factory, the mobile body including: a communication unit for receiving a control command for remote control, an operation control unit for controlling operation of the mobile body in accordance with the received control command during a manufacturing process of the mobile body in the factory, a process completion detection unit for detecting completion of a process by at least one step included in the manufacturing process, and a control content change unit for changing a content of control of the mobile body when completion of the process is detected.
According to this aspect of the mobile body, the content of the control of the mobile body can be changed each time a process is completed, and the operation control of the mobile body can be performed by remote control suitable for each process.
(2) In the moving body of the above aspect, the process completion detection unit may detect the completion of the process of adding an element to the moving body or the process of changing an element provided in the moving body by the at least one step, and when the completion of the process is detected, the control content change unit may change the content of the control of the moving body so that the control is performed using the element that is added to or changed to the moving body by the completion of the process.
With this form of moving body, elements added to or changed in the moving body can be utilized according to the progress of the manufacturing process of the moving body, and the performance of the moving body in remote-controlled movement can be appropriately demonstrated according to the progress of the manufacturing process.
(3) In the moving body of the above aspect, the step may include an object detection device mounting step of performing a process of adding an object detection device including at least one of a radar device and a camera, the object detection device being capable of detecting objects around the moving body, to the moving body as the element. When completion of the object detection device mounting step is detected, the control content change unit may change content of the control of the moving body so as to execute collision prevention control using the added object detection device.
According to the moving body of this aspect, collision prevention can be achieved when the moving body is moving, as soon as the mounting process of the object detection device is completed.
(4) In the moving body of the above-described form, the control content change unit may further change the control content of the moving body so that the moving body travels by driving control of the moving body utilizing the collision prevention control, instead of driving control by the remote control.
According to this aspect of the moving body, as soon as the mounting process of the object detection device is completed, the driving control can be switched from remote control to movement by driving control of the moving body.
(5) In the moving body of the above aspect, the step may include a speed detection device mounting step of performing a process of adding a speed detection device, which includes at least one of a vehicle speed sensor, a wheel speed sensor, an acceleration sensor, and a yaw rate sensor, capable of acquiring speed information related to a speed of a vehicle as the moving body, to the moving body as the element. When completion of the speed detection device mounting step is detected, the control content change unit may change the content of the control of the moving body so as to execute driving control using the speed information detected by the added speed detection device.
According to the moving body of this aspect, upon completion of the process of mounting the speed detection device, it is possible to execute self-position estimation and feedback control of the vehicle speed using the detected speed information.
(6) In the moving body of the above aspect, the steps may include an adjustment step including at least one of a wheel alignment adjustment step of performing a process of changing a wheel alignment of a vehicle as the moving body as the element, and a suspension adjustment step of performing a process of changing a suspension of the vehicle as the element. When completion of the adjustment step is detected, the control content change unit may change the content of the control of the moving body so as to increase an upper limit value of the traveling speed of the moving body.
According to this form of moving body, the moving speed of the moving body during automatic traveling can be increased upon completion of the adjustment process, and the productivity of the moving body can be improved.
(7) The moving body of the above aspect may further include an operation unit for manually operating the moving body, and a storage device for storing a threshold value that is preset using an operation amount of the operation unit, and is used to determine whether or not to prioritize the operation control by the operation unit over the operation control by the remote control when the operation control by the remote control and the operation control by the operation unit are executed simultaneously. The process completion detection unit may detect the completion of a process by a process prior to a process in which a worker may contact the operation unit among the at least one process. The control content change unit may change the content of the control of the moving body when the completion of the process by the previous process is detected so as to relax the threshold value to a value at which the operation control by the operation unit is less likely to be prioritized.
According to this form of moving body, it is possible to suppress or prevent a malfunction in which the movement of the moving body is unintentionally stopped due to a worker or the like accidentally touching the operating unit while the moving body is being moved by remote control.
(8) According to another aspect of the present disclosure, there is provided a server comprising: a remote control unit that causes a moving body manufactured in a factory to travel by remote control, the moving body including a communication unit for receiving a control command for remote control and an operation control unit that executes operation control of the moving body in accordance with the received control command during a manufacturing process in the factory for manufacturing the moving body, a manufacturing information acquisition unit that acquires manufacturing information including a progress status of a process for adding an element to the moving body or a process for changing an element provided to the moving body in at least one process included in the manufacturing process, and a control content change instruction unit that, when completion of the process is detected, instructs the moving body to change the content of the control of the moving body so that the control is performed using the element that is added to or changed to the moving body upon completion of the process.
According to this form of server, the content of the control of the mobile object managed by the server can be appropriately changed depending on the progress of the manufacturing process of the mobile object, and the operation control of the mobile object can be performed by remote control suitable for each process.
(9) In the server of the above aspect, the manufacturing information acquisition unit may acquire completion of a process of adding an element to the moving body or a process of changing an element provided to the moving body by the at least one process, and when the completion of the process is acquired, the control content change instruction unit may instruct the moving body to change the content of control of the moving body so that the control is performed using the element that is added to or changed to the moving body by the completion of the process.
With this type of server, elements that are added to or changed in the moving body managed by the server can be appropriately utilized depending on the progress of the manufacturing process of the moving body, allowing each moving body to properly demonstrate its performance in remotely controlled movement.
(10) In the server of the above aspect, the manufacturing information acquisition unit may acquire completion of a process prior to a process in which a worker may contact the operation unit among the at least one process, and when the completion of the process prior to the process is acquired, the control content change instruction unit may instruct the mobile body to change content of control of the mobile body so as to relax a threshold value for determining whether or not to prioritize operation control by the operation unit over operation control by the remote control when operation control by the operation unit for manually operating the mobile body and operation control by the remote control are simultaneously executed, to a value at which operation control by the operation unit is less likely to be prioritized.
According to the server of this form, it is possible to suppress or prevent a malfunction in which the movement of the moving object is unintentionally stopped due to a worker or the like accidentally touching the operation unit while the moving object is being moved by remote control.
(11) The server of the above embodiment may further include an abnormality handling unit that, when operational control by the operation unit is executed preferentially after the threshold value is relaxed, executes at least one of abnormality measures, such as stopping production of the moving body and issuing an alert.
According to the server of this embodiment, by executing abnormality measures, it is possible to suppress or prevent risks associated with relaxing the threshold value.
(12) According to a second aspect of the present disclosure, there is provided a manufacturing method for a moving body, the manufacturing method comprising: driving the moving body in an unmanned manner during a manufacturing process in a factory where the moving body is manufactured, acquiring manufacturing information including a progress status of at least one process included in the manufacturing process, and instructing the moving body to change content of control of the moving body when completion of the process is detected.
According to this form of manufacturing method for a moving body, the content of control of the moving body can be changed each time processing in a process is completed, and operation control of the moving body can be preferably performed by remote control or autonomous control for each process.
(13) According to a third aspect of the present disclosure, there is provided a moving body manufactured in a factory, the moving body including: an operation control unit that generates a control signal for moving the moving body in an unmanned manner during a manufacturing process of the moving body in the factory and executes operation control of the moving body according to the control signal, a process completion detection unit that detects completion of a process by at least one step included in the manufacturing process, and a control content change unit that changes content of control of the moving body when completion of the process is detected.
With this type of mobile body, the control content of the mobile body can be changed each time processing by a process is completed, and operation control of the mobile body can be preferably performed by remote control or autonomous control for each process.
The present disclosure may be realized in various forms other than a moving body, a server, or a method for manufacturing a moving body, for example, a system, a method for transporting a moving body, a method for changing or adding control in a moving body, a method for controlling a moving body, a computer program for realizing the control method, a non-transitory recording medium on which the computer program is recorded, etc.

1 is an explanatory diagram showing a schematic configuration of a vehicle and a system according to a first embodiment; FIG. 2 is a block diagram showing the internal functional configuration of a server. FIG. 2 is a block diagram showing the internal functional configuration of the ECU. 4 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. FIG. 2 is an explanatory diagram showing automatic driving control of a vehicle by remote control of a remote control unit. FIG. 13 is an explanatory diagram conceptually showing a control content change table. 3 is a flowchart showing a method for manufacturing a vehicle according to the first embodiment. 2A to 2C are explanatory diagrams illustrating a method for manufacturing a vehicle according to the first embodiment. FIG. 11 is a block diagram showing the internal functional configuration of a server according to a second embodiment. FIG. 11 is a block diagram showing an internal functional configuration of an ECU provided in a vehicle according to a second embodiment. FIG. 11 is a block diagram showing the internal functional configuration of an ECU of a vehicle according to a third embodiment. FIG. 13 is a block diagram showing the internal functional configuration of a server according to a third embodiment. 10 is a flowchart showing a method for manufacturing a vehicle according to a third embodiment. FIG. 13 is a block diagram showing the internal functional configuration of an ECU of a vehicle according to a fourth embodiment. FIG. 13 is a block diagram showing the internal functional configuration of a server according to a fourth embodiment. FIG. 13 is an explanatory diagram showing a schematic configuration of a system according to a fifth embodiment. FIG. 13 is an explanatory diagram showing the internal functional configuration of an ECU of a vehicle according to a fifth embodiment. 13 is a flowchart showing a processing procedure for vehicle driving control according to a fifth embodiment.

A. First embodiment:
1 is an explanatory diagram showing a schematic configuration of a vehicle 100 and a system 500 according to a first embodiment. The system 500 in this embodiment is configured as a remote automatic driving system. The system 500 can automatically drive the vehicle 100 by remote control during the manufacturing process in a factory FC where the vehicle 100 as a moving object is manufactured. In this specification, the term "vehicle" refers collectively to a completed product and a semi-finished product or work-in-progress during manufacturing.

In this disclosure, "mobile body" means an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (a so-called flying car). A vehicle may be a vehicle that runs on wheels or a vehicle that runs on tracks, such as a passenger car, truck, bus, motorcycle, four-wheeled vehicle, tank, construction vehicle, etc. Vehicles include electric vehicles (BEVs: Battery Electric Vehicles), gasoline-powered vehicles, hybrid vehicles, and fuel cell vehicles. When a mobile body is something other than a vehicle, the expressions "vehicle" and "car" in this disclosure can be appropriately replaced with "mobile body", and the expression "running" can be appropriately replaced with "movement".

The vehicle 100 is configured to be capable of traveling in an unmanned manner. "Unmanned driving" means driving that is not performed by a passenger operating the vehicle. Driving operation means at least one of the operations of "running," "turning," and "stopping" of the vehicle 100. Unmanned driving is achieved by automatic or manual remote control using a device located outside the vehicle 100, or by autonomous control of the vehicle 100. A passenger who does not perform driving operations may be on board the vehicle 100 that is traveling in an unmanned manner. Passengers who do not perform driving operations include, for example, a person who simply sits in a seat of the vehicle 100, or a person who is riding in the vehicle 100 and performing work other than driving operations, such as assembly, inspection, and operation of switches. Note that driving by a passenger operating the vehicle is sometimes called "manned driving."

In this specification, "remote control" includes "full remote control" in which all of the operations of the vehicle 100 are completely determined from outside the vehicle 100, and "partial remote control" in which some of the operations of the vehicle 100 are determined from outside the vehicle 100. In addition, "autonomous control" includes "full autonomous control" in which the vehicle 100 autonomously controls its own operations without receiving any information from a device external to the vehicle 100, and "partial autonomous control" in which the vehicle 100 autonomously controls its own operations using information received from a device external to the vehicle 100.

As shown in FIG. 1, the factory FC is equipped with a front process 50, a rear process 60, and a road RT for the vehicle 100. The road RT is a transport section for the vehicle 100 in the factory FC that connects the front process 50 and the rear process 60. The factory FC and each process in the manufacturing process are not limited to being one building, being located on one site, or being located at one address. The factory FC and each process in the manufacturing process may be located across multiple buildings, multiple sites, multiple addresses, etc. In addition, "the vehicle 100 travels within the factory FC" does not only mean that the vehicle 100 travels on a road within a factory located in one place, but also includes a case where the vehicle 100 travels on a transport section between multiple factories and processes located in multiple places. "The vehicle 100 travels within the factory FC" includes, for example, a case where the vehicle 100 travels on a public road, not limited to a private road, to move between factories and processes located in multiple places.

The front-end process 50 and the rear-end process 60 are various processes that belong to the manufacturing process of the vehicle 100. In the manufacturing process of the vehicle 100, a process of adding elements to the vehicle 100 and a process of changing elements provided in the vehicle 100 can be performed. "Processing" means performing a specific operation on the vehicle 100. The processing can be manual work by a worker or automatic work by equipment. "Elements of the vehicle 100" include, for example, elements related to the parts and devices installed in the vehicle 100, such as the type, parameters, position, and state of the parts and devices installed in the vehicle 100, and elements related to the control of the vehicle 100, such as control parameters and control programs related to various controls for operating each part of the vehicle 100, including the driving control of the vehicle 100. When the processing in a process is completed, a new element may be added to the vehicle 100, or an element that the vehicle 100 had may be changed.

The pre-process 50 includes, for example, an installation process in which parts of the vehicle 100, such as the detection devices 180, are installed on the vehicle 100, and an adjustment process in which the parts installed on the vehicle 100 are adjusted. The post-process 60 is, for example, an inspection process for the vehicle 100. The vehicle 100 removed from the pre-process 50 becomes a work in progress for the post-process 60, and travels on the route RT to the post-process 60, which is the destination, by remote control. When the vehicle 100 completes the inspection process as the post-process 60, it is completed as a product and travels to a waiting place in the factory FC to wait for shipment. Thereafter, the vehicle 100 is shipped to the shipping destination corresponding to each vehicle 100. Note that the pre-process 50 and the post-process 60 are not limited to the installation process, adjustment process, and inspection process, and various processes can be adopted on the premise that the vehicle 100 after processing by the pre-process 50 and the post-process 60 can run by unmanned driving.

Each process in the factory FC, including the front-end process 50 and the back-end process 60, is equipped with a process management device for managing the manufacturing information of the vehicle 100. The "manufacturing information" includes, for example, the progress of the process, the number of work-in-progress, the number of products being processed, the manufacturing time for each process, the start time and end time of the process for each process, the vehicle identification information of the vehicle 100 present in each process, the number of vehicles planned to be manufactured per day, the target manufacturing time for the process to manufacture one vehicle 100, and the like. The target manufacturing time is sometimes called the "takt time." The "vehicle identification information" refers to various information that can individually identify the vehicle 100. The vehicle identification information includes, for example, ID information given to each vehicle 100, such as the vehicle identification number (VIN), specification information of the vehicle 100, such as the model, color, and shape, and production management information of the vehicle 100, such as the name of the process in progress. The vehicle identification information can be acquired, for example, via short-range wireless communication from an RF-ID (Radio Frequency-Identification) tag attached to the vehicle 100. The process management device for each process acquires the manufacturing status of the vehicle 100 at each process from a camera or sensor (not shown) installed at each process, and transmits the acquired manufacturing status to the server 300 and the vehicle 100. The manufacturing status of each process may be transmitted to a production management device that manages the manufacturing status of each process in the factory FC.

The system 500 includes a vehicle detector and a server 300. The vehicle detector detects vehicle information including at least one of an image of the vehicle 100 and the position of the vehicle 100. The detected vehicle information is used for remote control by the system 500. The "vehicle information" may further include the running direction or orientation of the vehicle 100. The running direction or orientation of the vehicle 100 can be obtained, for example, by detecting the shape of the vehicle 100 or parts of the vehicle 100. However, the running direction or orientation of the vehicle 100 may be estimated by obtaining only the position of the vehicle 100 using the vehicle detector and using changes in the vehicle 100 over time.

In this embodiment, the vehicle detector uses a camera 80. The camera 80 is connected to the server 300 so as to be able to communicate with the server 300 by wireless communication or wired communication. The camera 80 has an imaging unit and an optical system, such as a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The camera 80 is fixed at a position where it can capture an image of the track RT and the vehicle 100 traveling on the track RT, and acquires an image of the vehicle 100 as vehicle information. The image acquired by the camera 80 can be analyzed to acquire various vehicle information that can be used for remote control, such as the relative position of the vehicle 100 with respect to the track RT and the orientation of the vehicle 100. By using the image of the camera 80 installed in the factory FC, it is possible to perform automatic driving of the vehicle 100 by remote control without using detectors mounted on the vehicle 100, such as a camera, millimeter wave radar, or LiDAR (Light Detection And Ranging). Note that the vehicle detector does not need to acquire an image of the vehicle 100 as long as it can acquire the position of the vehicle 100. In this case, the vehicle detector may use various detectors capable of detecting the position of the vehicle 100 instead of an image of the vehicle 100, such as LiDAR, an infrared sensor, a laser sensor, an ultrasonic sensor, or a millimeter wave radar.

Figure 2 is a block diagram showing the internal functional configuration of the server 300. The server 300 includes a CPU 310 as a central processing unit, a storage device 320, and a remote communication unit 390, which are interconnected via an internal bus, an interface circuit, etc. The remote communication unit 390 is a circuit for communicating with the vehicle 100, etc., via the network 72.

The storage device 320 is, for example, a RAM, a ROM, a HDD (hard disk drive), an SSD (solid state drive), etc. Various programs for implementing the functions provided in this embodiment are stored in the storage device 320. When the computer programs stored in the storage device 320 are executed by the CPU 310, the CPU 310 functions as a remote control unit 312 and a manufacturing information acquisition unit 314, etc. However, some or all of these functions may be configured by hardware circuits.

The manufacturing information acquisition unit 314 acquires manufacturing information 322 from a process management device provided in each process or a production management device that manages the manufacturing status of each process. The manufacturing information acquisition unit 314 may acquire manufacturing information 322 from each vehicle 100. The acquired manufacturing information 322 is stored in the storage device 320. As a result, the server 300 can acquire the progress of processing in each process for the vehicle 100 in the manufacturing process individually for each vehicle 100.

The remote control unit 312 performs automatic driving of the vehicle 100 in the factory FC by remote control. More specifically, the remote control unit 312 transmits a control signal requesting remote control to the vehicle 100 via the remote communication unit 390. Specifically, in this embodiment, this control signal is a driving control signal, which will be described later. When the vehicle 100 accepts a request for remote control, the ECU 200 realizes driving control according to the control signal, and as a result, the vehicle 100 drives automatically. By transporting the vehicle 100 using such unmanned driving, it is possible to suppress or prevent human-caused accidents while the vehicle 100 is driving.

In another embodiment, when the vehicle 100 is driven by remote control, the remote control unit 312 does not need to transmit a driving control signal to the vehicle 100, but only needs to transmit a control command to the vehicle 100. The control command includes at least one of a driving control signal and generation information for generating the driving control signal. As the generation information, for example, vehicle position information, a route, or a target position, which will be described later, can be used.

As shown in FIG. 1, the vehicle 100 includes an operation unit 170, a vehicle communication unit 190, a power receiving device 150, a battery 120, a PCU 130, a motor 140, detection devices 180, and an ECU (Electronic Control Unit) 200. The operation unit 170 is, for example, an accelerator, a steering wheel, a brake, etc. The operation unit 170 accepts manual operations for performing the functions of "running," "turning," and "stopping" in the vehicle 100. The manual operations correspond to the driving operations performed by the driver described above.

The vehicle communication unit 190 is a wireless communication device mounted on the vehicle 100, such as a dongle. The vehicle communication unit 190 has a communication function that communicates using CAN (Controller Area Network) communication that can be used for controlling the vehicle 100, and diagnosis communication that can be used for fault diagnosis. CAN communication is a communication standard that allows multi-directional transmission or reception. Diagnosis communication is a communication standard that allows one-to-one correspondence between requests and responses. The vehicle communication unit 190 performs wireless communication with devices outside the vehicle 100, such as a server 300 connected to the network 72 via an access point 70 in the factory FC, and a production management device (not shown) that manages the production information of the vehicle 100. Hereinafter, the vehicle communication unit 190 is also simply referred to as a communication unit.

The power receiving device 150 converts AC power supplied from an external power supply device or the like into DC power using a rectifier, and supplies the DC power to the battery 120 as a load. The battery 120 is, for example, a rechargeable secondary battery such as a lithium-ion battery or a nickel-metal hydride battery. The battery 120 is, for example, a high-voltage battery of several hundred volts, and stores the power used to drive the vehicle 100. When the power supplied to the power receiving device 150 from the external power supply device and the regenerative power generated by the motor 140 are supplied to the battery 120, the battery 120 is charged.

The motor 140 is, for example, an AC synchronous motor, and functions as both an electric motor and a generator. When the motor 140 functions as an electric motor, the motor 140 is driven by the power source stored in the battery 120. The output of the motor 140 is transmitted to the wheels via a reduction gear and an axle. When the vehicle 100 is decelerating, the motor 140 functions as a generator that uses the rotation of the wheels, and generates regenerative power. A PCU (Power Control Unit) 130 is electrically connected between the motor 140 and the battery 120.

The PCU 130 has an inverter, a boost converter, and a DC/DC converter. The inverter converts DC power supplied from the battery 120 into AC power and supplies the converted AC power to the motor 140. The inverter converts regenerative power supplied from the motor 140 into DC power and supplies it to the battery 120. The boost converter boosts the voltage of the battery 120 when the power stored in the battery 120 is supplied to the motor 140. The DC/DC converter lowers the voltage of the battery 120 when the power stored in the battery 120 is supplied to an auxiliary device, etc.

The detection devices 180 are sensors provided on the vehicle 100. The detection devices 180 are attached to the vehicle 100 in each process included in the previous process 50, for example. The detection devices 180 include, for example, an object detection device and a speed detection device. The object detection device is a radar device, an on-board camera, etc. The radar device includes a device that detects the presence or absence of a target around the vehicle 100, the distance to the target, and the position of the target, such as LiDAR and millimeter wave radar. The on-board camera includes various cameras that can capture images of targets around the vehicle 100, such as a stereo camera and a monocular camera. The speed detection device is a vehicle speed sensor, a wheel speed sensor, an acceleration sensor, a yaw rate sensor, etc. Note that the detection devices 180 are not limited to only an object detection device and a speed detection device, and may include various general sensors such as a steering angle sensor.

Figure 3 is a block diagram showing the internal functional configuration of the ECU 200. The ECU 200 is mounted on the vehicle 100 and executes various controls of the vehicle 100. The ECU 200 includes a storage device 220 such as a hard disk drive (HDD), a solid state drive (SSD), an optical recording medium, or a semiconductor memory, a CPU 210 as a central processing unit, and an interface circuit 280. The detection devices 180 and the vehicle communication unit 190 are connected to the interface circuit 280. The storage device 220 stores a control program 222 and a control content change table 224.

The control program 222 is a computer program that enables the CPU 210 to function as the operation control unit 212. The control program 222 also includes control parameters. The control content change table 224 shows the correspondence between a process and the contents of the control program 222 that are added or changed after the process is completed.

The storage device 220 stores various programs for implementing the functions provided in this embodiment. The CPU 210 executes the various computer programs stored in the storage device 220 to implement various functions such as the operation control unit 212, the processing completion detection unit 214, and the control content change unit 216. The ECU 200 also controls the PCU 130 to control the exchange of power between the battery 120 and the motor 140.

The processing completion detection unit 214 detects the completion of processing by a process included in the manufacturing process. In this embodiment, the processing completion detection unit 214 acquires information that processing on the vehicle by each process has been completed from a sensor, a camera, or the like provided at each process. The processing completion detection unit 214 may acquire information that processing on the vehicle by each process has been completed from a process management device provided at each process, a production management device that manages the manufacturing status of each process, or the server 300 that has acquired this information.

The control content change unit 216 changes the content of the control of the vehicle 100 when the process completion detection unit 214 detects the completion of the process of each process. Specifically, the control content change unit 216 changes the content of the control of the vehicle 100 so that the control uses the elements that are added or changed to the vehicle 100 by the process of the detected process. In this embodiment, the control content change unit 216 refers to the control content change table 224 and rewrites the control program 222 each time the process of a process is completed. As a result, the control program 222 is changed to the content of the control that uses the elements that are added or changed to the vehicle 100. "Rewriting the control program 222" includes rewriting the control parameters. Note that when a process is completed without elements that are added or changed to the vehicle 100, the control content change unit 216 does not need to change the content of the control of the vehicle 100.

The driving control unit 212 executes driving control of the vehicle 100. "Driving control" includes, for example, adjusting acceleration, speed, and steering angle. In driving control by remote control, the driving control unit 212 controls each actuator mounted on the vehicle 100 according to a remote control request received from the server 300 via the vehicle communication unit 190.

Figure 4A is a flowchart showing the processing procedure for driving control of the vehicle 100 in the first embodiment. In step S1, the server 300 acquires vehicle position information of the vehicle 100 using the detection result output from an external sensor that is a sensor located outside the vehicle 100. The vehicle position information is position information that is the basis for generating a driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the reference coordinate system of the factory FC. In this embodiment, the reference coordinate system of the factory FC is a global coordinate system, and any position in the factory FC is expressed by X, Y, and Z coordinates in the global coordinate system. In this embodiment, the external sensor is a camera 80 installed in the factory FC, and a captured image is output from the external sensor as a detection result. That is, in step S1, the server 300 acquires vehicle position information using the captured image acquired from the camera 80 that is the external sensor.

In detail, in step S1, the server 300 detects the outer shape 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 converts the calculated coordinates into coordinates in the global coordinate system to obtain the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model that utilizes artificial intelligence. The detection model is prepared, for example, inside the system 500 or outside the system 500, and is stored in advance in the memory of the server 300. As the detection model, for example, a trained machine learning model that has been trained to realize either semantic segmentation or instance segmentation can be used. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset can be used. The training dataset has, for example, a plurality of training images including the vehicle 100 and a label indicating whether each area in the training image is an area indicating the vehicle 100 or an area indicating something other than the vehicle 100. During CNN training, it is preferable to update the parameters of the CNN by backpropagation so as to reduce the error between the output result of the detection model and the label. In addition, the server 300 can obtain the orientation of the vehicle 100 by estimating the orientation based on the orientation of the movement vector of the vehicle 100 calculated from the positional change of the feature points of the vehicle 100 between frames of the captured image using, for example, an optical flow method.

In step S2, the server 300 determines a target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in a global coordinate system. A reference route, which is the route along which the vehicle 100 should travel, is stored in advance in the memory of the server 300. The route is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting each node. The server 300 uses the vehicle position information and the reference route to determine a target position to which the vehicle 100 should next head. The server 300 determines a target position on the reference route that is further ahead than the current location of the vehicle 100.

In step S3, the server 300 generates a driving control signal for driving the vehicle 100 toward the determined target position. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. The server 300 calculates the driving speed of the vehicle 100 from the transition of the position of the vehicle 100, and compares the calculated driving speed with the target speed. When the driving speed is lower than the target speed as a whole, the server 300 determines the acceleration so that the vehicle 100 accelerates, and when the driving speed is higher than the target speed, the server 300 determines the acceleration so that the vehicle 100 decelerates. In addition, when the vehicle 100 is located on the reference route, the server 300 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the reference route, and when the vehicle 100 is not located on the reference route, in other words, when the vehicle 100 deviates from the reference route, the server 300 determines the steering angle and acceleration so that the vehicle 100 returns to the reference route. 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.

In step S4, the server 300 transmits the generated driving control signal to the vehicle 100. The server 300 repeats, at a predetermined cycle, obtaining vehicle position information of the vehicle 100, determining the target position, generating the driving control signal, and transmitting the driving control signal.

In step S5, the vehicle 100 receives a driving control signal transmitted from the server 300. In step S6, the vehicle 100 uses the received driving control signal to control the actuators of the vehicle 100, thereby causing the vehicle 100 to drive at the acceleration and steering angle indicated in the driving control signal. The vehicle 100 repeats receiving the driving control signal and controlling the actuators of the vehicle 100 at a predetermined cycle. According to the system 500 in this embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using transportation equipment such as a crane or conveyor.

Figure 4B is an explanatory diagram showing automatic driving control of the vehicle 100 by remote control of the remote control unit 312. In the example of Figure 4B, the track RT includes a first track RT1, a second track RT2, a third track RT3, and a fourth track RT4, which are continuous with each other. The first track RT1 and the second track RT2 are connected to each other via a right-angle curve. A parking lot PA is connected between the third track RT3 and the fourth track RT4. Under normal circumstances, the remote control unit 312 drives the vehicle 100 along the track RT to a loading position PG for the subsequent process 60.

As shown in FIG. 4B, the camera 80 as a vehicle detector acquires an image of the vehicle 100 in the road RT and the parking lot PA from above. The number of cameras 80 is set to a number that can capture the entire road RT and parking lot PA, taking into account the angle of view of the camera 80. In the example of FIG. 4B, the camera 80 includes a camera 801 capable of capturing an image of a range RG1 including the entire first road RT1, a camera 802 capable of capturing an image of a range RG2 including the entire second road RT2, a camera 803 capable of capturing an image of a range RG3 including the entire third road RT3 and the entire fourth road RT4, and a camera 804 capable of capturing an image of a range RG4 including the entire parking lot PA. Note that the camera 80 is not limited to capturing an image from above the vehicle 100, but may capture an image from the front, rear, side, etc. of the vehicle 100. In addition, the cameras that capture these images may be combined in any combination.

A virtual target route along which the vehicle 100 should travel in remote control is preset on the road RT. The target route in this embodiment corresponds to the reference route described above. The remote control unit 312 causes the ECU 200 to execute driving control of the vehicle 100 while analyzing images of the road RT and the vehicle 100 acquired by the camera 80 at a predetermined time interval. The remote control unit 312 requests the vehicle 100 to perform remote control that successively adjusts the relative position of the vehicle 100 with respect to the target route, so that the vehicle 100 can travel along the target route. Note that an image of the entire vehicle 100 may be used for the remote control, or an image of a part of the vehicle 100, such as an alignment mark provided on the vehicle 100, may be used.

As shown in FIG. 4B, at the connection position of each lane, the angles of view of the cameras 80 corresponding to the connected lane are configured to overlap each other. In the example of position P1, the angle of view of the camera 801 corresponding to the first lane RT1 and the angle of view of the camera 802 corresponding to the second lane RT2 overlap each other. The vehicle 100 discharged from the previous process 50 travels to position P1 by remote control using the captured image of the camera 801. When the vehicle 100 reaches position P1, the remote control is switched to the remote control using the captured image acquired by the camera 802 instead of the camera 801, and the vehicle 100 travels on the second lane RT2. Similarly, the captured image by the camera 803 is used for traveling on the third lane RT3 and the fourth lane RT4, and the captured image by the camera 804 is used for traveling in the parking lot PA. In this way, the remote control unit 312 remotely controls the vehicle 100 while appropriately switching the captured image to be analyzed for each range of the lane RT. The remote control unit 312 can remotely control the vehicle 100 to travel from the road RT to the parking lot PA, to retreat from the road RT, and to stop the vehicle at the parking position P2 in the parking lot PA.

Figure 5 is an explanatory diagram conceptually showing the control content change table 224. The "major process," "medium process," and "minor process" shown in Figure 5 are classifications set for convenience. In the example of Figure 5, the major process includes an installation process for installing components such as the detection devices 180 on the vehicle 100, and an adjustment process for adjusting the components installed on the vehicle 100.

As shown in FIG. 5, the control content change table 224 shows the correspondence between a process and the contents of the control program 222 that are added or changed after the process is completed. The contents to be added or changed in the control program 222 are set in advance so that the elements to be added or changed in the vehicle 100 are used when the processing of each process is completed.

In the example of FIG. 5, the mounting process includes an object detection device mounting process for mounting an object detection device to the vehicle 100, a speed detection device mounting process for mounting a speed detection device to the vehicle 100, and a final mounting process. The object detection device mounting process is a process for mounting the object detection device as an element, and includes, for example, a radar device mounting process and an on-board camera mounting process. The radar device mounting process includes, for example, a LiDAR mounting process and a millimeter wave radar mounting process.

When the radar device and the on-board camera are installed on the vehicle 100, the control program 222 is rewritten to execute collision prevention control using the installed radar device and the on-board camera. In addition, the control program 222 is rewritten to execute automatic driving using collision prevention control without using remote control. That is, the vehicle 100 is switched to automatic driving by driving control of the driving control unit 212 without using remote control by the remote control unit 312 of the server 300. However, even after the object detection device installation process is completed, automatic driving by remote control of the server 300 may be executed. In this case, for example, the collision detection device installed on the vehicle 100 can be used as an auxiliary for the purpose of preventing collisions during self-propelled transport by the remote control unit 312 of the server 300. In addition, after the on-board camera installation process is completed, control is also executed to acquire vehicle speed data using images captured by the on-board camera.

The speed detection device mounting process is a process of mounting a speed detection device as an element to the vehicle 100. The speed detection device is a sensor capable of acquiring speed information related to the speed of the vehicle 100. "Speed information" is not limited to vehicle speed, but includes various information related to the speed of the vehicle 100, such as wheel speed, acceleration, angular velocity, and angular acceleration of the vehicle 100. In the example of FIG. 5, the speed detection device mounting process includes a wheel speed sensor mounting process and an acceleration sensor mounting process. However, the speed detection device is not limited to only the wheel speed sensor and the acceleration sensor, and may be at least one of a wheel speed sensor, an acceleration sensor, a vehicle speed sensor, and a yaw rate sensor.

When the speed detection device installation process is completed, the wheel speed sensor and acceleration sensor are installed, and the vehicle 100 is able to detect wheel speed data and acceleration data as speed information. By using the acquired wheel speed data and acceleration data, vehicle speed data can be acquired as speed information, and the server 300 or the ECU 200 can execute automatic driving using the vehicle speed data. Furthermore, by using the acquired wheel speed data and acceleration data, self-position estimation of the vehicle 100 can be executed. Therefore, automatic driving of the vehicle 100 can be executed using self-position estimation. In this case, the automatic driving may be either automatic driving of the vehicle 100 by remote control or automatic driving by driving control of the driving control unit 212 without using remote control.

When the final step of the installation process is completed, that is, when installation of all detection devices including the object detection device and the speed detection device is completed, the safety performance of the vehicle 100 during autonomous driving is improved by utilizing all detection devices. Therefore, as an example of the content of control that is added or changed to the control program 222, the upper limit value of the vehicle speed limit value allowed during autonomous driving can be increased, and the allowable range of the steering angle can be expanded.

As shown in the lower left of FIG. 5, the adjustment process includes, for example, a wheel alignment adjustment process, a drive play adjustment process, a suspension adjustment process, and a process for adjusting the mounting position of the detection device. In the wheel alignment adjustment process, a process is executed to adjust the mounting position of the wheel relative to the vehicle body as an element. When the wheel alignment adjustment process is completed, the vehicle 100 can travel straight ahead stably. Therefore, as an example of the content of the control that is added or changed to the control program 222, the upper limit value of the limit value of the vehicle speed allowed during autonomous driving can be increased.

The drive play adjustment process is a process of eliminating play in the transmission system from the motor as an element to the wheels. The suspension adjustment process is a process of adjusting the suspension as an element. It can also be said to be a process of mounting the suspension bush as an element. When the drive play adjustment process and the suspension adjustment process are completed, the running of the vehicle 100 can be stabilized. The process of adjusting the mounting position of the detection device includes a process of attaching a cover to the sensor mounted in the mounting process and a process of fixing the sensor to its final position. When the process of adjusting the mounting position of the detection device is completed, the detection accuracy of the sensor is improved, thereby improving the running stability and safety performance of the vehicle 100. Therefore, when the suspension adjustment process, drive play adjustment process, and the process of adjusting the mounting position of the detection device are completed, examples of the contents of control that are added or changed to the control program 222 include an increase in the upper limit value of the limit value of the vehicle speed allowed during automatic driving, and an expansion of the allowable range of the steering angle.

Figure 6 is a flowchart showing a method for manufacturing the vehicle 100 according to the first embodiment. This flow starts, for example, when the vehicle 100 arrives at a specified process.

In step S10, the process is performed on the vehicle 100. In step S18, the process is completed on the vehicle 100. The completion of the process is detected by the process completion detection unit 214 or the manufacturing information acquisition unit 314. In step S20, the control content change unit 216 checks whether there is an addition or change to the content of the control by the detected process. More specifically, the control content change unit 216 refers to the control content change table 224 to check the change or addition of the control corresponding to the detected process. If there is no change or addition to the control of the vehicle 100 (S20: NO), the process proceeds to step S40. If there is a change or addition to the control of the vehicle 100 (S20: YES), the control content change unit 216 proceeds to step S30.

In step S30, the control content change unit 216 rewrites the control program 222 according to the contents of the control content change table 224. In step S40, the process completion detection unit 214 checks whether all processes in the manufacturing process of the vehicle 100 have been completed. If all processes have been completed (S40: YES), this flow ends. If all processes have not been completed (S40: NO), the process completion detection unit 214 transitions the process to step S50. In step S50, the remote control unit 312 starts the vehicle 100 to travel, and drives the vehicle 100 toward the next process. In this case, the driving control of the vehicle 100 is executed based on the rewritten control program 222. In step S60, the vehicle 100 arrives at the next process. When the vehicle 100 arrives at the next process, the process returns to step S10.

Figure 7 is an explanatory diagram that shows a schematic diagram of a manufacturing method for a vehicle 100 according to the first embodiment. Figure 7 shows the steps included in the pre-process 50, and vehicles 100p, 100q, and 100r that automatically travel on the transport sections C1, C2, and C3 between the steps. The steps shown in Figure 7 are, for example, the radar device mounting step 50p and the vehicle-mounted camera mounting step 50q of the object detection device mounting step shown in Figure 5, and the wheel speed sensor mounting step 50r of the speed detection device mounting step.

When the processing of the radar device mounting process 50p is completed, as shown in FIG. 5, the control content change unit 216, referring to the control content change table 224, rewrites the control program 222 so that the vehicle 100 using the radar device runs automatically. As a result, the vehicle 100p runs automatically through the transport section C1 under the driving control of the driving control unit 212 of the vehicle 100p, instead of the remote control by the remote control unit 312 of the server 300.

Furthermore, when the processing of the on-board camera installation process 50q is completed, the control content change unit 216, referring to the control content change table 224, further rewrites the control program 222 so that the vehicle 100q performs automatic driving using the on-board camera. As a result, the vehicle 100q performs collision prevention control using the on-board camera together with the radar device, while automatically driving through the transport section C2 under the driving control of the driving control unit 212.

Furthermore, when the processing of the wheel speed sensor mounting process 50r is completed, the control content change unit 216 rewrites the control program 222 to acquire vehicle speed data using the acquired wheel speed data, and to perform automatic driving using self-position estimation using the wheel speed data. As a result, the vehicle 100r automatically travels through the transport section C3 under the driving control of the driving control unit 212 while acquiring vehicle speed data using the wheel speed data, and estimating its own position using the wheel speed data.

As described above, the vehicle 100 of this embodiment includes a process completion detection unit 214 that detects the completion of at least one process included in the manufacturing process, and a control content change unit 216 that changes the content of control of the vehicle 100 when the completion of the process is detected. The content of control of the vehicle 100 can be changed each time the process is completed, and driving control of the vehicle 100 can be performed by remote control suitable for each process.

According to the vehicle 100 of this embodiment, the process completion detection unit 214 detects the completion of a process that adds an element to the vehicle 100 or changes an element provided in the vehicle 100, which is performed in a process included in the manufacturing process. When the completion of the process is detected, the control content change unit 216 changes the content of the control of the vehicle 100 so that the control uses the element that is added to or changed in the vehicle 100. Therefore, the element that is added to or changed in the vehicle 100 can be appropriately used according to the progress of the manufacturing process of the vehicle 100, and the performance of the vehicle 100 in the autonomous driving can be properly exhibited. For example, the production efficiency of the vehicle 100 can be improved by properly exhibiting the performance of the vehicle 100 during driving, such as increasing the driving speed of the vehicle 100 or expanding the allowable range of the steering angle.

According to the vehicle 100 of this embodiment, the manufacturing process of the vehicle 100 includes an object detection device mounting process that performs processing to mount an object detection device that includes at least one of a radar device and an on-board camera and is capable of detecting objects around the vehicle 100. When the completion of the object detection device mounting process is detected, the control content change unit 216 changes the content of the control of the vehicle 100 so as to execute collision prevention control using the mounted object detection device. Therefore, collision prevention can be executed when the vehicle 100 is traveling autonomously upon completion of the object detection device mounting process.

According to the vehicle 100 of this embodiment, the control content change unit 216 further changes the content of the control of the vehicle 100 so that the vehicle 100 runs under driving control of the vehicle 100 using collision prevention control, instead of driving control by remote control. Therefore, when the mounting process of the object detection device is completed, the subject of control of the vehicle 100 can be switched from remote control by the server 300 to automatic driving under driving control of the vehicle 100.

According to the vehicle 100 of this embodiment, the manufacturing process of the vehicle 100 includes a speed detection device mounting process that performs a process of mounting a speed detection device that includes at least one of a vehicle speed sensor, a wheel speed sensor, an acceleration sensor, and a yaw rate sensor and is capable of acquiring speed information related to the speed of the vehicle 100. When the completion of the speed detection device mounting process is detected, the control content change unit 216 changes the content of the control of the vehicle 100 so as to execute driving control using the speed information detected by the mounted speed detection device. Therefore, upon completion of the speed detection device mounting process, it is possible to execute self-position estimation and feedback control of the vehicle speed using the detected speed information.

According to the vehicle 100 of this embodiment, the manufacturing process of the vehicle 100 includes an adjustment process that includes at least one of a wheel alignment adjustment process for adjusting the wheel alignment and a suspension adjustment process for adjusting the suspension. When the completion of the adjustment process is detected, the control content change unit 216 changes the content of the control of the vehicle 100 so as to increase the upper limit of the traveling speed of the vehicle 100. Therefore, upon completion of the adjustment process, the traveling speed of the vehicle 100 in autonomous driving can be increased, and the productivity of the vehicle 100 can be improved.

B. Second embodiment:
Fig. 8 is a block diagram showing an internal functional configuration of a server 300b according to the second embodiment. Fig. 9 is a block diagram showing an internal functional configuration of an ECU 200b provided in a vehicle 100 according to the second embodiment. As shown in Figs. 8 and 9, this embodiment differs from the first embodiment in that the control content change table 224 is not stored in the storage device 220 of the ECU 200b, and a control content change table 324 is stored in the storage device 320 of the server 300b. The configuration of the control content change table 324 is similar to that of the control content change table 224 shown in the first embodiment.

In this embodiment, the CPU 210 of the ECU 200b does not function as the processing completion detection unit 214, and the CPU 310 of the server 300b functions as the control content change instruction unit 316, which is different from the first embodiment. When the manufacturing information acquisition unit 314 detects the completion of processing in each process, the control content change instruction unit 316 instructs the control content change unit 216 of the vehicle 100 to add or change the control content of the vehicle 100 so that the elements added or changed to the vehicle 100 by the completion of the processing are used. In this embodiment, the control content change instruction unit 316 refers to the control content change table 324 and issues an instruction to the control content change unit 216 to rewrite the control program 222 to add or change the control content corresponding to the completed process. As a result, the control program 222 is changed to the control content in which the elements added or changed to the vehicle 100 by the completed processing are used.

As described above, the server 300b of this embodiment includes a manufacturing information acquisition unit 314 that acquires manufacturing information 322 including the progress of a process for adding elements to the vehicle 100 or a process for changing elements provided in the vehicle 100 by a process included in the manufacturing process, and a control content change instruction unit 316 that, when completion of the process is detected, instructs the vehicle 100 to change the content of the control of the vehicle 100 so that the elements added or changed to the vehicle 100 upon completion of the process are used. Therefore, the elements added to or changed to the vehicle 100 can be appropriately used according to the progress of the manufacturing process of each vehicle 100 managed by the server 300b, and the performance of each vehicle 100 in autonomous driving can be appropriately demonstrated.

C. Third embodiment:
Fig. 10 is a block diagram showing the internal functional configuration of an ECU 200c provided in a vehicle 100 according to the third embodiment. As shown in Fig. 10, in this embodiment, the vehicle 100 is provided with an ECU 200c including a CPU 210c and a storage device 220c. The CPU 210c differs from the CPU 210 shown in the first embodiment in that it further includes a manual operation detection unit 217 and an abnormality detection unit 218, but the other configurations are the same. The storage device 220c differs from the storage device 220 shown in the first embodiment in that it further stores a threshold value 226, but the other configurations are the same.

Fig. 11 is a block diagram showing the internal functional configuration of a server 300c according to the third embodiment. As shown in Fig. 11, the server 300c is similar in configuration to the server 300 in the first embodiment except that, instead of the CPU 310, the server 300c further includes a CPU 310c that further includes an abnormality handling unit 318.

The manual operation detection unit 217 is a type of sensor for detecting the amount of manual operation of the operation unit 170. The "operation amount of the operation unit 170" is, for example, the accelerator opening, the steering angle, the amount of foot brake depression, etc. The operation amount of the operation unit 170 may be an output value for driving control based on the manual operation of the operation unit 170, such as the speed, acceleration, deceleration, actual steering angle, and braking force of the vehicle 100.

The abnormality detection unit 218 detects an unscheduled operation of the operation unit 170 as an abnormality. More specifically, the abnormality detection unit 218 detects that an unscheduled operation of the operation unit 170 has occurred when the amount of manual operation of the operation unit 170 exceeds a threshold value 226 relaxed by the control content change unit 216 as described below. The detection result by the abnormality detection unit 218 is output to the server 300c.

The threshold value 226 is used to determine whether or not to execute a so-called override. In this specification, "override" refers to a process for giving priority to the execution of the driving control of the vehicle 100 by the operation unit 170 over the driving control of the vehicle 100 by remote control when the driving control of the vehicle 100 by remote control and the manual driving control of the operation unit 170 are executed simultaneously.

The threshold value 226 is set in advance using the operation amount of the operation unit 170. In this embodiment, the threshold value 226 includes a lower limit value that is smaller than the reference value by a predetermined operation amount when the operation amount of the operation unit 170 planned in the remote control is set as a reference value, and an upper limit value that is larger than the reference value by a predetermined operation amount. When the detected operation amount of the operation unit 170 is less than the lower limit value or greater than the upper limit value, driving control by the operation of the operation unit 170 is executed preferentially by override. For example, when the steering operation of the vehicle 100 is executed by remote control and at the same time, a manual steering operation with an operation amount larger than or smaller than the upper limit value of the steering operation amount is executed, driving control by the manual steering operation is executed preferentially by override. Note that when the operation amount of the operation unit 170 is equal to or greater than the lower limit value and equal to or less than the upper limit value, driving control by remote control is executed preferentially over driving control by manual operation. The threshold value 226 is set individually for each type of the operation unit 170, such as a steering wheel, an accelerator, a brake, etc. The threshold value 226 may be included in the control content change table 224.

During the manufacturing process of the vehicle 100, the self-propelled transport of the vehicle 100 by remote control can be performed in an unmanned state with no occupants inside the vehicle 100. When the vehicle 100 is unmanned, the operation unit 170 is usually not manually operated and an override does not occur. However, even during the self-propelled transport of the vehicle 100, a worker or the like may get into the vehicle 100, for example, to inspect the inside of the vehicle 100 or to install parts inside the vehicle 100. In this case, for example, if a worker or the like accidentally touches the operation unit 170, the amount of operation of the operation unit 170 may exceed the threshold value 226, and the self-propelled transport of the vehicle 100 may be unintentionally stopped by an override.

In this embodiment, in a process where an operator may come into contact with the operation unit 170 during self-propelled transport, the threshold value 226 is relaxed to a value where operation control by the operation unit 170 is less likely to be prioritized, i.e., where an override is less likely to occur, thereby suppressing or preventing the occurrence of an unintended override by an operator, etc., during self-propelled transport. For this reason, the relaxed threshold value 226 can also be said to be a threshold value for detecting unplanned operation of the operation unit 170. Note that the correspondence between the process where an operator may come into contact with the operation unit 170 during self-propelled transport and the relaxed threshold value 226 is preset in the control content change table 224. The relaxed threshold value 226 is preset using a suitable value for each type of operation unit 170.

The abnormality handling unit 318 executes a predetermined abnormality handling measure when an unexpected operation of the operation unit 170 is detected by the abnormality detection unit 218. The abnormality handling measures include, for example, notifying the manager or worker of the process where the abnormality occurred of the abnormality, and stopping the production of the vehicle 100 by making an emergency stop of the production equipment or production line.

Figure 12 is a flowchart showing a method for manufacturing a vehicle 100 according to the third embodiment. This flow differs from the method for manufacturing a vehicle 100 according to the first embodiment shown in Figure 6 in that it includes steps S12, S14, and S16 after step S10, and in that it includes steps S22 and S32 instead of steps S20 and S30.

In step S12, the manual operation detection unit 217 monitors the amount of operation of the operation unit 170. In step S14, the manual operation detection unit 217 determines whether or not the amount of operation of the operation unit 170 exceeds the relaxed threshold 226. If the amount of operation of the operation unit 170 is within the relaxed threshold 226 (S14; NO), the process proceeds to step S18. Note that if the threshold 226 has not been relaxed at the time of step S12, steps S12, S14, and S16 may be omitted and the process proceeds to step S18.

In step S14, if the amount of operation of the operation unit 170 exceeds the relaxed threshold value 226 (S14: YES), the manual operation detection unit 217 transitions the process to step S16. In step S16, the abnormality handling unit 318 takes abnormality handling measures. More specifically, the abnormality detection unit 218 outputs the detection result of the unscheduled operation of the operation unit 170 to the server 300c. When the abnormality handling unit 318 of the server 300c acquires the detection result from the abnormality detection unit 218 of the vehicle 100, the abnormality handling unit 318 takes abnormality handling measures and ends this flow. Specifically, the abnormality handling unit 318 notifies the manager or worker of the process where the abnormality occurred of the abnormality and performs an emergency stop of the production line to stop the production of the vehicle 100.

In step S22, the control content change unit 216 checks whether or not there is a possibility that the worker will touch the operation unit 170 in the next process. Specifically, the control content change unit 216 refers to the control content change table 224 to check whether or not the next process is a process in which the worker will touch the operation unit 170. If the next process is a process in which there is no possibility that the worker will touch the operation unit 170 (S22: NO), the control content change unit 216 transitions the process to step S40. Note that steps S22 and S32 may be executed before step S50 after it is determined in step S40 that all steps have not been completed.

If there is a possibility that the worker will touch the operation unit 170 in the next process (S22: YES), the control content change unit 216 relaxes the threshold value 226. More specifically, the control content change unit 216 changes the threshold value 226 to a relaxed value in accordance with the control content change table 224.

As described above, according to the vehicle 100 of this embodiment, when the driving control by remote control and the driving control by the operation unit 170 are executed simultaneously, the threshold value 226 for determining whether or not the driving control by the operation unit 170 is prioritized over the driving control by remote control is stored in the storage device 220c of the ECU 200c. The processing completion detection unit 214 detects the completion of the processing by a process prior to the process in which the worker may touch the operation unit 170. When the processing completion detection unit 214 detects the completion of the processing by the previous process, the control content change unit 216 changes the content of the control of the vehicle 100 so that the threshold value 226 is relaxed to a value that makes it difficult for the driving control by the operation unit 170 to be prioritized. Therefore, it is possible to suppress or prevent a malfunction in which the self-driving transport of the vehicle 100 is unintentionally stopped due to an operator or the like accidentally touching the operation unit 170 during the self-driving transport of the vehicle 100 by remote control.

D. Fourth embodiment:
FIG. 13 is a block diagram showing an internal functional configuration of an ECU 200d provided in a vehicle 100 according to the fourth embodiment. FIG. 14 is a block diagram showing an internal functional configuration of a server 300d according to the fourth embodiment. As shown in FIG. 13 and FIG. 14, in this embodiment, the configuration of the ECU 200c and the server 300c shown in the third embodiment is different in that the control content change table 224 is not stored in the storage device 220d of the ECU 200d, but a control content change table 324 is stored in the storage device 320 of the server 300d. The configuration of the control content change table 324 is similar to that of the control content change table 224 shown in the third embodiment.

The CPU 210d of the ECU 200d differs from the CPU 210c of the ECU 200c shown in the third embodiment in that it does not function as a processing completion detection unit 214 and an abnormality detection unit 218. The CPU 310d of the server 300d further differs from the server 300c of the third embodiment in that it functions as a control content change instruction unit 316 and an abnormality detection unit 317.

In this embodiment, the manufacturing information acquisition unit 314 acquires manufacturing information and, by referring to the acquired manufacturing information, acquires the completion of processing by a process that precedes the process in which an operator may touch the operation unit 170 in the next process. The acquisition result by the manufacturing information acquisition unit 314 is output to the control content change instruction unit 316.

The control content change instruction unit 316 may refer to the control content change table 224 and use the manufacturing information acquired by the manufacturing information acquisition unit 314 to confirm whether the next process is a process in which an operator may touch the operation unit 170. If the next process is a process in which an operator may touch the operation unit 170, the control content change instruction unit 316 issues an instruction to the control content change unit 216 to change the threshold value 226 to the relaxed value according to the control content change table 224. As a result, the threshold value 226 stored in the storage device 220d of the ECU 200d is changed to the relaxed value.

The abnormality detection unit 317 sequentially acquires the amount of operation of the operation unit 170 acquired by the manual operation detection unit 217. Similar to the abnormality detection unit 218 shown in the third embodiment, the abnormality detection unit 317 detects that an unplanned operation of the operation unit 170 has occurred when the acquired amount of operation of the operation unit 170 exceeds the relaxed threshold value 226. The detection result by the abnormality detection unit 317 is output to the abnormality treatment unit 318. Similar to the abnormality treatment unit 318 shown in the third embodiment, the abnormality treatment unit 318 executes a predetermined abnormality treatment when an unplanned operation of the operation unit 170 is detected.

As described above, according to the server 300d of this embodiment, the manufacturing information acquisition unit 314 acquires the completion of processing by a process that precedes a process that is predetermined as a process in which a worker may touch the operation unit 170. When the completion of processing by the previous process is acquired, the control content change instruction unit 316 instructs the vehicle 100 to change the content of the control of the vehicle 100 so as to relax the threshold value 226 to a value that makes it difficult for the driving control by the operation unit 170 to be prioritized. Therefore, in this embodiment as in the third embodiment, it is possible to suppress or prevent a malfunction in which the self-propelled transport of the vehicle 100 is unintentionally stopped due to a worker or the like accidentally touching the operation unit 170 during the self-propelled transport of the vehicle 100 by remote control.

According to the server 300d of this embodiment, when the driving control by the operation unit 170 is executed with priority after the threshold value 226 is relaxed by the control content change unit 216, abnormality measures such as stopping the production of the vehicle 100 and issuing an alert are executed. By executing the abnormality measures instead of overriding, it is possible to reduce or prevent the risks associated with relaxing the threshold value 226.

E. Fifth embodiment:
15 is an explanatory diagram showing a schematic configuration of a system 500e in the fifth embodiment. In this embodiment, the system 500e differs from the first embodiment in that it does not include a server 300. The other configurations of the system 500e are the same as those of the first embodiment unless otherwise specified.

16 is an explanatory diagram showing the internal functional configuration of the ECU 200e of the vehicle 100e in the fifth embodiment. As shown in FIG. 16, the ECU 200e includes a CPU 210e as a central processing unit, a storage device 220e such as a ROM or RAM, and a vehicle communication unit 190 connected to an interface circuit (not shown). These are connected to be able to communicate bidirectionally via an internal bus. In this embodiment, the CPU 210e executes various computer programs stored in the storage device 220e to realize various functions such as the driving control unit 212e, the processing completion detection unit 214, and the control content change unit 216. As will be described later, the driving control unit 212e in this embodiment is capable of driving the vehicle 100e by autonomous control of the vehicle 100e. Specifically, the driving control unit 212e acquires detection results by sensors, generates driving control signals using the detection results, and outputs the generated driving control signals to operate various actuators of the vehicle 100e, thereby allowing the vehicle 100e to drive by autonomous control.

Figure 17 is a flowchart showing the processing procedure of the driving control of the vehicle 100e in the fifth embodiment. In step S101, the vehicle 100e acquires vehicle position information using the detection result output from the camera 80, which is an external sensor. In step S102, the vehicle 100e determines a target position to which the vehicle 100e should next head. In step S103, the vehicle 100e generates a driving control signal for driving the vehicle 100e toward the determined target position. In step S104, the vehicle 100e controls the actuator of the vehicle 100e using the generated driving control signal, thereby driving the vehicle 100e according to the parameters represented in the driving control signal. The vehicle 100e repeats the acquisition of vehicle position information, the determination of the target position, the generation of the driving control signal, and the control of the actuator at a predetermined cycle. According to the system 500e in this embodiment, the vehicle 100e can be driven by the autonomous control of the vehicle 100e without remotely controlling the vehicle 100e by the server 300.

In this embodiment, a manufacturing method substantially similar to the manufacturing method of FIG. 6 is executed. In this embodiment, the completion of the process in step S18 is detected by the process completion detection unit 214. The process completion detection unit 214 may obtain the completion of the process for the vehicle in each process, for example, from a sensor or a camera provided in each process, or may obtain the information using the manufacturing information. The process completion detection unit 214 may obtain the manufacturing information, for example, from a process management device provided in each process or a production management device that manages the manufacturing status of each process. In addition, in step S50 in this embodiment, the driving control unit 212e of the vehicle 100e starts the vehicle 100e to drive the vehicle 100e toward the next process. In this case, the driving control of the vehicle 100e is executed based on the rewritten control program 222.

As described above, according to the system 500e of this embodiment, the control content of the vehicle 100e can be changed each time processing by a process is completed, and driving control of the vehicle 100e can be performed by autonomous control suitable for each process.

In another embodiment in which the vehicle 100e travels by autonomous control as in this embodiment, for example, the CPU 210e may be provided with the manual operation detection unit 217, the abnormality detection unit 218, and the abnormality treatment unit 318, the threshold value 226 may be stored in the storage device 220e, and the manufacturing method shown in FIG. 12 may be executed. In this case, step S16 may be executed by the abnormality treatment unit 318 of the vehicle 100e in substantially the same manner as in the third embodiment. Specifically, the abnormality detection unit 218 outputs the detection result of the operation of the operation unit 170 that is not scheduled, and the abnormality treatment unit 318 acquires this detection result and executes the abnormality treatment. In this way, it is possible to suppress or prevent a malfunction in which the self-propelled transport of the vehicle 100e is unintentionally stopped due to an operator or the like accidentally touching the operation unit 170 during the self-propelled transport of the vehicle 100e by autonomous control.

In another embodiment in which the vehicle 100e runs under autonomous control, the system 500 may be provided with a server 300, for example. In this case, the CPU 310 of the server 300 may function as a manufacturing information acquisition unit 314, a control content change instruction unit 316, or an abnormality handling unit 318, for example, as in the above embodiments. In this case, the storage device 320 of the server 300 may store, for example, manufacturing information 322 and a control content change table 324, as in the above embodiments.

F. Other embodiments:
(F1) In the above second embodiment, an example has been shown in which the control content change instruction unit 316 is provided in the server 300b, and the control content change unit 216 is provided in the ECU 200b of the vehicle 100. In contrast, the server 300b may be provided with a control content change unit instead of the control content change instruction unit 316. By configuring in this manner, the server 300b can directly change the control content of the vehicle 100. In this case, the control content change unit 216 of the ECU 200b can be omitted, and the processing load of the ECU 200b can be reduced.

(F2) In each of the above embodiments, the vehicle 100 may have a configuration capable of moving by unmanned driving, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 100 may have at least a control device that controls the running of the vehicle 100 and an actuator of the vehicle 100e in order to perform the three functions of "running", "turning", and "stopping" by unmanned driving. When the vehicle 100 acquires information from the outside for unmanned driving, the vehicle 100 may further have a communication device. That is, the vehicle 100 that can move by unmanned driving may not have at least a part of the interior parts such as the driver's seat and the dashboard, may not have at least a part of the exterior parts such as the bumper and the fender, and may not have a body shell. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory, or the remaining parts such as the body shell may be attached to the vehicle 100 after the vehicle 100 is shipped from the factory in a state in which the remaining parts such as the body shell are not attached to the vehicle 100. Each part may be attached from any direction, such as the top, bottom, front, rear, right side, or left side of the vehicle 100, and may be attached from the same direction or from different directions. Note that the position can be determined for the platform configuration in the same way as for the vehicle 100 in the first embodiment.

(F3) In the above third embodiment, an example was shown in which the threshold 226 includes a lower limit value that is smaller by a predetermined amount of operation than the reference value of the operation amount of the operation unit 170 planned in remote control, and an upper limit value that is larger by a predetermined amount of operation than the reference value. In contrast, the threshold 226 may be set only by either the upper limit value or the lower limit value. The threshold 226 may be set using, for example, the difference between the operation amount of the operation unit 170 due to unmanned operation and the operation amount of the operation unit 170 due to manual operation. The threshold 226 may be set using the absolute value of the operation amount of the operation unit 170 due to manual operation. The threshold 226 may be set using the total value of the operation amount of the operation unit 170 due to unmanned operation and the operation amount of the operation unit 170 added by manual operation.

(F4) In the third embodiment, an example was shown in which the threshold 226 was relaxed to a value that makes it difficult for an override to be executed. In contrast, relaxing the threshold 226 may include turning off the override function.

(F5) In the third embodiment described above, when the amount of operation of the operation unit 170 exceeds the relaxed threshold value 226 in step S14, an example was shown in which an abnormality measure is executed by the abnormality measure unit 318 in step S16. In contrast, in step S16, instead of or in addition to the abnormality measure, an override may be used to prioritize driving control of the vehicle 100 by the operation unit 170 over driving control of the vehicle 100 by remote control. By configuring in this manner, it is possible to prevent the self-propelled transport of the vehicle 100 from being stopped due to an erroneous operation of the operation unit 170, and it is possible to execute manual operation of the operation unit 170 by an override.

(F6) In each of the above embodiments, the external sensor is a camera 80. In contrast, the external sensor does not have to be a camera 80, and may be, for example, a LiDAR. In this case, the detection result output by the external sensor may be three-dimensional point cloud data representing the vehicle 100. In this case, the server 300 and the vehicle 100 may acquire vehicle position information by template matching using the three-dimensional point cloud data as the detection result and reference point cloud data prepared in advance.

(F7) In the above first to fourth embodiments, the server 300 executes the processes from acquiring the vehicle position information to generating the driving control signal. In contrast, at least a part of the processes from acquiring the vehicle position information to generating the driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be used.

(1) The server 300 may acquire vehicle position information, determine a target position to which the vehicle 100 should next head, and generate a route from the current location of the vehicle 100 represented in the acquired vehicle position information to the target position. The server 300 may generate a route to a target position between the current location and the destination, or may generate a route to the destination. The server 300 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a driving control signal so that the vehicle 100 drives on the route received from the server 300, and may control the actuators of the vehicle 100 using the generated driving control signal.

(2) Server 300 may acquire vehicle position information and transmit the acquired vehicle position information to vehicle 100. Vehicle 100 may determine a target position to which vehicle 100 should next head, generate a route from the current location of vehicle 100 represented in the received vehicle position information to the target position, generate a driving control signal so that vehicle 100 travels along the generated route, and control the actuators of vehicle 100 using the generated driving control signal.

(3) In the above embodiments (1) and (2), the vehicle 100 may be equipped with an internal sensor, and the detection result output from the internal sensor may be used for at least one of generating the route and generating the driving control signal. The internal sensor is a sensor equipped in the vehicle 100. Specifically, the internal sensor may include, for example, a camera, LiDAR, a millimeter wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyro sensor, and the like. For example, in the above embodiment (1), the server 300 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the route when generating the route. In the above embodiment (1), the vehicle 100 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal. In the above embodiment (2), the vehicle 100 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the route when generating the route. In the above embodiment (2), the vehicle 100 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the route when generating the route.

(F8) In the above fifth embodiment, the vehicle 100e may be equipped with an internal sensor, and the detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. For example, the vehicle 100e may acquire the detection results of the internal sensor, and when generating a route, may reflect the detection results of the internal sensor in the route. The vehicle 100e may acquire the detection results of the internal sensor, and when generating a driving control signal, may reflect the detection results of the internal sensor in the driving control signal.

(F9) In the above fifth embodiment, the vehicle 100e acquires vehicle position information using the detection results of the external sensor. In contrast, the vehicle 100e may be equipped with an internal sensor, and the vehicle 100e may acquire vehicle position information using the detection results of the internal sensor, determine a target position to which the vehicle 100e should next head, generate a route from the current location of the vehicle 100e represented in the acquired vehicle position information to the target position, generate a driving control signal for traveling along the generated route, and control the actuator of the vehicle 100e using the generated driving control signal. In this case, the vehicle 100e can travel without using any detection results of the external sensor. The vehicle 100e may acquire a target arrival time or traffic congestion information from outside the vehicle 100e, and reflect the target arrival time or traffic congestion information in at least one of the route and the driving control signal. In addition, all of the functional configurations of the system 500 may be provided in the vehicle 100. In other words, the processing realized by the system 500 in this disclosure may be realized by the vehicle 100 alone.

(F10) In the first to fourth embodiments, the server 300 automatically generates a driving control signal to be transmitted to the vehicle 100. In contrast, the server 300 may generate a driving control signal to be transmitted to the vehicle 100 according to the operation of an external operator located outside the vehicle 100. For example, an external operator may operate a steering device including a display for displaying an image output from an external sensor, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 300 by wired or wireless communication, and the server 300 may generate a driving control signal according to the operation applied to the steering device. Hereinafter, driving the vehicle 100 under such control is also referred to as "remote manual driving". Even in this form, for example, when the processing completion detection unit 214 or the manufacturing information acquisition unit 314 detects the completion of processing by at least one process included in the manufacturing process, the control content change unit 216 can change the content of the control of the vehicle 100. Specifically, when the completion of the process is detected, the control content change unit 216 may change the content of the control of the remote manual driving so that the control uses the elements added or changed to the vehicle 100 upon the completion of the process, or may stop the remote manual driving and start unmanned driving using the elements added or changed. When the completion of the process is detected, the control content change unit 216 may change the content of the control of the remote manual driving so as to relax the threshold value 226 to a value at which the driving control by the operation unit 170 is less likely to be prioritized. When the completion of the process is detected, the control content change instruction unit 316 may instruct the vehicle 100 to change the content of each of the above controls, for example.

(F11) The vehicle 100 may be manufactured by combining multiple modules. A module means a unit composed of multiple parts grouped according to the part or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that configures the front part of the platform, a central module that configures the central part of the platform, and a rear module that configures the rear part of the platform. The number of modules that configure the platform is not limited to three, and may be two or less or four or more. In addition to or instead of the parts that configure the platform, parts that configure parts of the vehicle 100 that are different from the platform may be modularized. The various modules may also include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. In addition, not limited to the vehicle 100, any type of moving body may be manufactured by combining multiple modules. Such a module may be manufactured, for example, by joining multiple parts by welding or fasteners, or by integrally molding at least a part of the parts that configure the module as a single part by casting. The molding method of integrally molding a single part, particularly a relatively large part, is also called gigacast or megacast. For example, the front module, center module, and rear module described above may be manufactured using gigacast.

(F12) Transporting the vehicle 100 using the unmanned driving of the vehicle 100 is also called "self-propelled transport". The configuration for realizing self-propelled transport is also called a "vehicle remote-controlled autonomous driving transport system". A production method for producing the vehicle 100 using self-propelled transport is also called "self-propelled production". In self-propelled production, for example, at a factory where the vehicle 100 is manufactured, at least a portion of the transport of the vehicle 100 is realized by self-propelled transport.

The control and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may be realized by one or more dedicated computers configured by combining a processor and a memory programmed to execute one or more functions with a processor configured with one or more hardware logic circuits. In addition, the computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by the computer.

The present disclosure is not limited to the above-described embodiments, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each form described in the Summary of the Invention column can be replaced or combined as appropriate 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.

50...pre-process, 50p...radar device installation process, 50q...vehicle-mounted camera installation process, 50r...wheel speed sensor installation process, 60...post-process, 70...access point, 72...network, 80...camera, 100, 100e, 100p, 100q, 100r...vehicle, 120...battery, 130...PCU, 140...motor, 150...power receiving device, 170...operation unit , 180 ... detection devices, 190 ... vehicle communication unit, 200, 200b, 200c, 200d, 200e ... ECU, 210, 210c, 210d, 210e ... CPU, 212, 212e ... driving control unit, 214 ... processing completion detection unit, 216 ... control content change unit, 217 ... manual operation detection unit, 218 ... abnormality detection unit, 220, 220c, 220d, 220e ... memory device 222...control program, 224...control content change table, 226...threshold, 280...interface circuit, 300, 300b, 300c, 300d...server, 310, 310c, 310d...CPU, 312...remote control unit, 314...manufacturing information acquisition unit, 316...control content change instruction unit, 317...abnormality detection unit, 318...abnormality handling unit, 320...storage device, 322...manufacturing information, 324...control content change table, 390...remote communication unit, 500, 500e...system, 801, 802, 803, 804...camera, C1, C2, C3...transportation section, FC...factory, P2...parking position, PA...parking lot, PG...loading position, RT...path, RT1...first path, RT2...second path, RT3...third path, RT4...fourth path

Claims (13)

A moving object manufactured in a factory,
A communication unit for receiving a control command for remote control;
an operation control unit that executes operation control of the moving body in accordance with the received control command during a manufacturing process of the moving body in the factory;
a processing completion detection unit that detects the completion of processing by at least one process included in the manufacturing process;
and a control content change unit that changes a content of control of the moving object when the completion of the process is detected.
Mobile body. The moving body according to claim 1 ,
the processing completion detection unit detects the completion of a process of adding an element to the moving body or a process of changing an element provided to the moving body in the at least one step;
the control content change unit changes, when the completion of the process is detected, the content of the control of the moving body so that the control is performed using an element that is added or changed to the moving body upon the completion of the process.
Mobile body. The moving body according to claim 2,
The process includes an object detection device installation process for performing a process of adding an object detection device including at least one of a radar device and a camera, the object detection device being capable of detecting objects around the moving body, to the moving body as the element,
the control content change unit changes content of the control of the moving body so as to execute collision prevention control using the added object detection device when completion of the object detection device mounting process is detected.
Mobile body. The moving body according to claim 3,
The control content change unit further changes the content of the control of the moving body so that the moving body travels by the driving control of the moving body utilizing the collision prevention control, instead of the driving control by the remote control.
Mobile body. The moving body according to claim 2,
The process includes a speed detection device mounting process for performing a process of adding a speed detection device including at least one of a vehicle speed sensor, a wheel speed sensor, an acceleration sensor, and a yaw rate sensor, which is capable of acquiring speed information related to the speed of a vehicle serving as the moving body, to the moving body as the element;
the control content change unit changes the content of the control of the moving body so as to execute driving control using the speed information detected by the added speed detection device when the completion of the speed detection device mounting process is detected.
Mobile body. The moving body according to claim 2,
The steps include an adjustment step including at least one of a wheel alignment adjustment step of performing a process of changing a wheel alignment of a vehicle as the moving body as the element, and a suspension adjustment step of performing a process of changing a suspension of the vehicle as the element,
the control content change unit changes content of the control of the vehicle so as to increase an upper limit value of a traveling speed of the vehicle when completion of the adjustment process is detected.
Mobile body. The moving body according to claim 1 ,
Further, an operation unit for manually operating the moving body;
a storage device for storing a threshold value that is set in advance using an operation amount of the operation unit, and that is used to determine whether or not to prioritize the operation control by the operation unit over the operation control by the remote control when the operation control by the remote control and the operation control by the operation unit are simultaneously performed;
the process completion detection unit detects the completion of a process prior to a predetermined process in which an operator may touch the operation unit, among the at least one process;
the control content change unit changes the content of the control of the moving object so as to relax the threshold value to a value at which the driving control by the operation unit is less likely to be prioritized when the completion of the process by the previous step is detected.
Mobile body. A server,
a remote control unit that causes a moving body to travel by remote control, the moving body being manufactured in a factory, the remote control unit including a communication unit for receiving a control command for remote control and a driving control unit that executes driving control of the moving body in accordance with the received control command during a manufacturing process in the factory where the moving body is manufactured;
a manufacturing information acquisition unit that acquires manufacturing information including a progress status of at least one process included in the manufacturing process;
and a control content change instruction unit that instructs the moving body to change the content of control of the moving body when the completion of the process is detected.
server. 9. The server according to claim 8,
the manufacturing information acquisition unit acquires completion of a process of adding an element to the moving body or a process of changing an element provided to the moving body in the at least one process;
the control content change instruction unit, when the completion of the process is acquired, instructs the moving body to change the content of the control of the moving body so that the control is performed using an element that is added or changed to the moving body upon completion of the process;
server. 9. The server according to claim 8,
the manufacturing information acquisition unit acquires, among the at least one process, information indicating completion of a process that is prior to a process in which an operator may come into contact with an operation unit for manually operating the moving body;
The control content change instruction unit is
When the completion of the process by the previous step is obtained,
instructing the moving body to change the content of the control of the moving body so that, when the driving control by the operation unit and the driving control by the remote control are executed simultaneously, a threshold value for determining whether or not the driving control by the operation unit is prioritized over the driving control by the remote control is relaxed to a value at which the driving control by the operation unit is less likely to be prioritized;
server. The server according to claim 10 further comprises an abnormality handling unit that, when the operation control by the operation unit is preferentially executed after the threshold is relaxed, executes at least one of the abnormality handling measures of stopping the production of the moving body and issuing an alert. A method for manufacturing a moving body, comprising the steps of:
During a manufacturing process in a factory where a moving body is manufactured, the moving body is driven by unmanned operation;
acquiring manufacturing information including a progress status of at least one process included in the manufacturing process;
when the completion of the process is detected, instructing the mobile body to change the content of control of the mobile body;
A method for manufacturing a moving object. A moving object manufactured in a factory,
an operation control unit that generates a control signal for moving the moving body by unmanned operation in a manufacturing process of the moving body in the factory and executes operation control of the moving body in accordance with the control signal;
a processing completion detection unit that detects the completion of processing by at least one process included in the manufacturing process;
and a control content change unit that changes a content of control of the moving object when the completion of the process is detected.
Mobile body.

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