Patent Description:
The present disclosure relates to an unmanned driving system, a control device, and an unmanned driving method.

There are known technologies for causing vehicles to run by automatic driving during vehicle production steps (for example, <CIT>).

Document <CIT> relates to a method for operating a vehicle that drives autonomously or is remotely controlled within a manufacturing system designed for vehicle production.

Document <CIT> relates to a method for the automatic control of one or more objects within a spatially confined area.

Document <CIT> relates to a method for the automated maneuvering of a motor vehicle during its production.

Document <CIT> relates to a method for autonomously navigating a vehicle among a plurality of vehicles in a specific environment.

In the production steps of moving objects such as vehicles, when a moving object is moved from a work place for a pre-step to a work place for a post-step by unmanned driving, a moving object having an abnormality may interfere with the post-step.

The present disclosure may be realized by the following aspects.

According to the unmanned driving system of this aspect, when the predetermined number or more of moving objects having an abnormality arrive at the second place within the predetermined period, the moving object under remote control can be moved to the third place instead of the second place because the moving object under remote control may also have an abnormality. Therefore, it is possible to prevent the second work at the second place from being interfered with by the moving object having an abnormality.

(<NUM>) In the unmanned driving system of the above aspect, the third place may be a place where a third work to resolve abnormality in the moving object that is configured to be movable by remote control and on which has not been started the second work, and the remote control unit may be configured to move the moving object that is configured to be movable by remote control and on which has been finished the third work to the second place.

The unmanned driving system of this aspect is capable of moving the moving object in which the abnormality has been addressed at the third place to the second place by remote control.

(<NUM>) In the unmanned driving system of the above aspect, when the information acquisition unit acquires information indicating that a cause of the abnormality may have been resolved, the remote control unit may be configured to move the moving object that is configured to be movable by remote control and on which has not been started the second work to the second place.

The unmanned driving system of this aspect is capable of moving the moving object to the second place by remote control when the cause of the abnormality has been addressed.

(<NUM>) In the unmanned driving system of the above aspect, when the moving object that is configured to be movable by remote control and on which has not been started the second work moves to the third place via the second place, the remote control unit may be configured to notify the second place not to perform the second work on the moving object that moves via the second place.

The unmanned driving system of this aspect is capable of preventing the second work from being performed on the moving object that moves to the third place via the second place.

(<NUM>) In the unmanned driving system of the above aspect, the third place may be a place where a third work to resolve abnormality in the moving object that is configured to be movable by remote control and on which has not been started the second work, and when the moving object that has moved to the third place is moved to the second place, the remote control unit may be configured to notify the second place to perform the second work on the moving object that has moved to the third place.

The unmanned driving system of this aspect is capable of allowing the second work to be performed on the moving object in which abnormality has been addressed.

(<NUM>) According to the second aspect of the present disclosure that is not claimed, a control device is provided. This control device comprises a remote control unit configured to perform remote control for a moving object, wherein the moving object is configured to be movable by remote control, wherein the remote control unit is configured to move the moving object that has been finished a first work at a first place in a factory to a second place in the factory by the remote control, wherein the moving object is produced in the factory, wherein the second place is a place for performing a second work on the moving object; and an information acquisition unit configured to acquire information indicating that a predetermined number or more of another moving objects of the same type as the moving object and having an abnormality arrive at the second place within a predetermined period, wherein when the information acquisition unit acquires the information, the remote control unit is configured to move the moving object that has not been started the second work to a third place in the factory, wherein the third place is different from both the first place and the second place.

According to the control device of this aspect, when the predetermined number or more of moving objects having an abnormality arrive at the second place within the predetermined period, the moving object under remote control can be moved to the third place instead of the second place because the moving object under remote control may also have an abnormality. Therefore, it is possible to prevent the second work at the second place from being interfered with by the moving object having an abnormality.

(<NUM>) According to the third aspect of the present disclosure, an unmanned driving method is provided in accordance with claim <NUM>.

According to the unmanned driving method of this aspect, when the predetermined number or more of moving objects having an abnormality arrive at the second place within the predetermined period, the moving object under unmanned driving can be moved to the third place instead of the second place because the moving object under unmanned driving may also have an abnormality. Therefore, it is possible to prevent the second work at the second place from being interfered with by the moving object having an abnormality.

(<NUM>) According to the fourth aspect of the present disclosure, a method for producing a moving object is provided. This method for producing a moving object comprises performing a first work on a moving object at a first place in a factory, wherein the first work is a work using production equipment; moving the moving object by unmanned driving, wherein the moving the moving object that has been finished the first work to a second place in the factory, wherein the moving object is produced in the factory, wherein the second place is a place for performing a second work on the moving object; acquiring information indicating that a predetermined number or more of another moving objects of the same type as the moving object and having an abnormality arrive at the second place within a predetermined period; and performing the second work on the moving object at the second place, wherein when the acquiring acquires the information, the moving moves the moving object that has not been started the second work to a third place in the factory, wherein the third place is different from both the first place and the second place.

According to the method for producing a moving object of this aspect, when the predetermined number or more of moving objects having an abnormality arrive at the second place within the predetermined period, the moving object under unmanned driving can be moved to the third place instead of the second place because the moving object under unmanned driving may also have an abnormality. Therefore, it is possible to prevent the second work at the second place from being interfered with by the moving object having an abnormality.

(<NUM>) According to the fifth aspect of the present disclosure, a moving object is provided. This moving object comprises a control unit configured to perform unmanned driving for the moving object, wherein the control unit moves the moving object that has been finished a first work at a first place in a factory to a second place in the factory by the unmanned driving, wherein the moving object is produced in the factory, wherein the second place is a place for performing a second work on the moving object; and an information acquisition unit configured to acquire information indicating that a predetermined number or more of another moving objects of the same type as the moving object and having an abnormality arrive at the second place within a predetermined period, wherein when the information acquisition unit acquires the information, the control unit moves the moving object that has not been started the second work to a third place in the factory, wherein the third place is different from both the first place and the second place.

According to the moving object of this aspect, when the predetermined number or more of moving objects having an abnormality arrive at the second place within the predetermined period, the moving object under unmanned driving can be moved to the third place instead of the second place because the moving object under unmanned driving may also have an abnormality. Therefore, it is possible to prevent the second work at the second place from being interfered with by the moving object having an abnormality.

The present disclosure may also be realized in various aspects other than the unmanned driving system, the control device, the unmanned driving method, the method for producing a moving object, and the moving object. For example, the present disclosure may also be realized in aspects as a moving object production system, a computer program, a storage medium storing a computer program, and the like.

<FIG> is an explanatory view of a structure of an unmanned driving system <NUM> according to the first embodiment. The unmanned driving system <NUM> is used in factories for producing moving objects in order to move uncompleted moving objects, in other words, moving objects that are being manufactured, by unmanned driving.

In the present disclosure, the "moving object" means an object capable of moving, and is a vehicle or an electric vertical takeoff and landing aircraft (so-called flying-automobile), for example. The vehicle may be a vehicle to run with a wheel or may be a vehicle to run with a continuous track, and may be a passenger car, a track, a bus, a two-wheel vehicle, a four-wheel vehicle, a construction vehicle, or a combat vehicle, for example. The vehicle includes a battery electric vehicle (BEV), a gasoline automobile, a hybrid automobile, and a fuel cell automobile. When the moving object is other than a vehicle, the term "vehicle" or "car" in the present disclosure is replaceable with a "moving object" as appropriate, and the term "run" is replaceable with "move" as appropriate.

In the present specification, the "remote control" includes "complete remote control" by which all motions of the vehicle <NUM> are completely determined from outside the vehicle <NUM>, and "partial remote control" by which some of the motions of the vehicle <NUM> are determined from outside the vehicle <NUM>. The "autonomous control" includes "complete autonomous control" by which the vehicle <NUM> controls a motion of the vehicle <NUM> autonomously without receiving any information from a device outside the vehicle <NUM>, and "partial autonomous control" by which the vehicle <NUM> controls a motion of the vehicle <NUM> autonomously using information received from a device outside the vehicle <NUM>.

In the present embodiment, the unmanned driving system <NUM> includes a vehicle <NUM>, which is a moving object, a remote control device <NUM>, and a step management device <NUM>. In the present embodiment, the vehicle <NUM> is configured to enable itself to run by remote control. The vehicle <NUM> is configured as an electric vehicle. The vehicle <NUM> includes a driving device <NUM> for accelerating the vehicle <NUM>, a steering device <NUM> for changing the traveling direction of the vehicle <NUM>, a braking device <NUM> for decelerating the vehicle <NUM>, a communication device <NUM> for enabling communication with the remote control device <NUM> via wireless communication, and a vehicle control device <NUM> for controlling respective sections of the vehicle <NUM>. In the present embodiment, the driving device <NUM> includes a battery, a motor driven by electric power of the battery, and driving wheels rotated by the motor.

<FIG> is an explanatory view of a structure of the vehicle control device <NUM>. The vehicle control device <NUM> is constituted of a computer with a processor <NUM>, a memory <NUM>, an input/output interface <NUM>, and an internal bus <NUM>. The processor <NUM>, the memory <NUM>, and the input/output interface <NUM> are connected via the internal bus <NUM> to enable bidirectional communication. The input/output interface <NUM> is connected to the driving device <NUM>, the steering device <NUM>, the braking device <NUM>, and the communication device <NUM>. The processor <NUM> functions as a running control unit <NUM> that executes running control of the vehicle <NUM> by executing a computer program PG1 stored in advance in the memory <NUM>. The "running control" means, for example, such as adjusting the acceleration, speed, steering angle, and the like of the vehicle <NUM>. The running control unit <NUM> enables the vehicle <NUM> to run by executing running control, in other words, by controlling the driving device <NUM>, the steering device <NUM>, and the braking device <NUM>. When the vehicle <NUM> has a passenger, the running control unit <NUM> is capable of enabling the vehicle <NUM> to run by controlling the various devices <NUM> to <NUM> in response to operations by the passenger. In the present embodiment, the running control unit <NUM> is capable of enabling the vehicle <NUM> to run by controlling the various devices <NUM> to <NUM> in response to control commands received from the remote control device <NUM>, regardless of whether or not the vehicle <NUM> has a passenger. The vehicle control device <NUM> may simply be referred to as a control device, and the running control unit <NUM> may simply be referred to as a control unit.

The remote control device <NUM> shown in <FIG> is a control device for enabling remote control of the vehicle <NUM>. The remote control device <NUM> is constituted of a computer with a processor <NUM>, a memory <NUM>, an input/output interface <NUM>, and an internal bus <NUM>. The processor <NUM>, the memory <NUM>, and the input/output interface <NUM> are connected via the internal bus <NUM> to enable bidirectional communication. The input/output interface <NUM> is connected to a communication device <NUM> for enabling communication with the vehicle <NUM>, the step management device <NUM>, and cameras CM1 to CM5, which are described later, via wireless communication. The communication device <NUM> may communicate with the vehicle <NUM> by wireless communication and may communicate with the step management device <NUM> and the cameras CM1 to CM5 by wired communication. The memory <NUM> may also be referred to as a storage unit. A computer program PG2 is stored in the memory <NUM>. The processor <NUM> functions as the remote control unit <NUM>, the information acquisition unit <NUM>, and the estimation unit <NUM> by executing the computer program PG2. The remote control unit <NUM> enables the vehicle <NUM> to run by remote control of the vehicle <NUM>. The information acquisition unit <NUM> acquires abnormality information. In the present embodiment, the abnormality information includes information indicating that an abnormality was detected at a predetermined frequency or more in the inspection of the vehicle <NUM>. The estimation unit <NUM> estimates whether or not the vehicle <NUM> has an abnormality using the abnormality information. The remote control device <NUM> may also be simply referred to as a control device, and the remote control unit <NUM> may also be simply referred to as a control unit.

The step management device <NUM> is constituted of a computer with a processor <NUM>, a memory <NUM>, an input/output interface <NUM>, and an internal bus <NUM>. The processor <NUM>, the memory <NUM>, and the input/output interface <NUM> are connected via the internal bus <NUM> to enable bidirectional communication. The input/output interface <NUM> is connected to a communication device <NUM> for enabling communication with the remote control device <NUM> via wireless or wired communication. A computer program PG3 is stored in the memory <NUM>. The processor <NUM> functions as an equipment control unit <NUM> by executing the computer program PG3. The equipment control unit <NUM> controls the production equipment <NUM> used for the production of the vehicle <NUM>. The equipment control unit <NUM> acquires information from a sensor <NUM> for detecting abnormalities in the production equipment <NUM>.

<FIG> is an explanatory view that schematically shows a structure of a factory KJ. The factory KJ has a first place PL1 where a first work is performed, a second place PL2 where a second work is performed, and a plurality of third places PL3 where a third work is performed. The places PL1 to PL3 are connected to one another via a track SR on which the vehicle <NUM> can run. In the present embodiment, the first work is to assemble the vehicle <NUM>, and the first place PL1 has an assembly equipment 400A as the production equipment <NUM> for assembling the vehicle <NUM>. The second work is to inspect the vehicle <NUM>, and the second place PL2 has an inspection equipment 400B as the production equipment <NUM> for inspecting the vehicle <NUM>. The third work is to repair the vehicle <NUM>, i.e., to address abnormalities in the vehicle <NUM>, and each third place PL3 has a repair equipment 400C as the production equipment <NUM> for repairing the vehicle <NUM>. The places PL1 to PL3 may be located in the same building or in different buildings in the same property. The places PL1 to PL3 may be located outdoors instead of indoors. The places PL1 to PL3 may be distributed across multiple properties. For example, the places PL1 to PL3 may be provided by being distributed in the first and second factories, which are adjacent to each other with a public or private road between them. In this case, the first and second factories together are referred to as the factory KJ, and the track SR may partially include a public road or a private road.

<FIG> illustrates the vehicle <NUM> running on the track SR by remote control using the remote control unit <NUM>. Referring to <FIG>, the following provides a brief description of a method of causing the vehicle <NUM> to run by remote control using the remote control unit <NUM>. First, the remote control unit <NUM> determines a target route for allowing the vehicle <NUM> to run to its destination along the track SR. In the present embodiment, the target route corresponds to the reference route, which is described later. The factory KJ is equipped with a plurality of cameras CM1 to CM5 that capture images of the track SR, and the remote control unit <NUM> can acquire the position and orientation of the vehicle <NUM> relative to the target route in real time by analyzing the video images captured by each of the cameras CM1 to CM5. In the following description, when the cameras CM1 to CM5 are described without being distinguished from one another, the cameras CM1 to CM5 will be simply referred to as the camera CM. The remote control unit <NUM> generates control commands for causing the vehicle <NUM> to run along the target route, and transmits the control commands to the vehicle <NUM>. In the present embodiment, the control commands are running control signals, which are described later. The vehicle control device <NUM> mounted on the vehicle <NUM> controls the driving device <NUM>, the steering device <NUM>, and the braking device <NUM> according to the received control commands, thereby causing the vehicle <NUM> to run. In the present embodiment, the remote control unit <NUM> is capable of remote control of a plurality of vehicles <NUM> simultaneously and in parallel. In the case of performing remote control of a plurality of vehicles <NUM> simultaneously and in parallel, the remote control unit <NUM> transmits to each vehicle <NUM> a control command according to the target route and the current position and orientation of each vehicle <NUM>. The method of causing the vehicle <NUM> to run by remote control may also be referred to as a remote automatic driving method or an unmanned driving method.

<FIG> is a flowchart of procedures of running control for the vehicle <NUM> in the first embodiment. Referring to <FIG>, the following provides a detailed description of a method of causing the vehicle <NUM> to run by remote control using the remote control unit <NUM> of the remote control device <NUM>. In the step S1, the remote control unit <NUM> acquires vehicle position information of the vehicle <NUM> using detection results output from an external sensor, which is a sensor located outside the vehicle <NUM>. The vehicle position information is position information that serves as the basis for generating running control signals. In the present embodiment, the vehicle position information includes the position and orientation of the vehicle <NUM> in the reference coordinate system of the factory KJ. In the present embodiment, the reference coordinate system of the factory KJ is a global coordinate system, and any location in the factory KJ is expressed with X, Y, and Z coordinates in the global coordinate system. In the present embodiment, the external sensor is the camera CM, and the external sensor outputs a captured image as a detection result. That is, in the step S1, the remote control unit <NUM> acquires the vehicle position information using captured images acquired from the camera CM, which is an external sensor.

More specifically, in step S1, the remote control unit <NUM> for example, determines the outer shape of the vehicle <NUM> from the captured image, calculates the coordinates of a positioning point of the vehicle <NUM> in a coordinate system of the captured image, namely, in a local coordinate system, and converts the calculated coordinates to coordinates in the global coordinate system, thereby acquiring the location of the vehicle <NUM>. The outer shape of the vehicle <NUM> in the captured image may be detected by inputting the captured image to a detection model using artificial intelligence, for example. The detection model is prepared in the unmanned driving system <NUM> or outside the unmanned driving system <NUM>. The detection model is stored in advance in a memory <NUM> of the remote control device <NUM>, for example. An example of the detection model is a learned machine learning model that was learned so as to realize either semantic segmentation or instance segmentation. For example, a convolution neural network (CNN) learned through supervised learning using a learning dataset is applicable as this machine learning model. The learning dataset contains a plurality of training images including the vehicle <NUM>, and a label showing whether each region in the training image is a region indicating the vehicle <NUM> or a region indicating a subject other than the vehicle <NUM>, for example. In training the CNN, a parameter for the CNN is preferably updated through backpropagation in such a manner as to reduce error between output result obtained by the detection model and the label. The remote control unit <NUM> can acquire the orientation of the vehicle <NUM> through estimation based on the direction of a motion vector of the vehicle <NUM> detected from change in location of a feature point of the vehicle <NUM> between frames of the captured images using optical flow process, for example.

In step S2, the remote control unit <NUM> determines a target location to which the vehicle <NUM> is to move next. In the present embodiment, the target location is expressed by X, Y, and Z coordinates in the global coordinate system. The memory <NUM> of the remote control device <NUM> contains a reference route stored in advance as a route along which the vehicle <NUM> is to run. The route is expressed by a node indicating a departure place, a node indicating a way point, a node indicating a destination, and a link connecting nodes to each other. The remote control unit <NUM> determines the target location to which the vehicle <NUM> is to move next using the vehicle location information and the reference route. The remote control unit <NUM> determines the target location on the reference route ahead of a current location of the vehicle <NUM>.

In step S3, the remote control unit <NUM> generates a running control signal for causing the vehicle <NUM> to run toward the determined target location. In the present embodiment, the running control signal includes an acceleration and a steering angle of the vehicle <NUM> as parameters. The remote control unit <NUM> calculates a running speed of the vehicle <NUM> from transition of the location of the vehicle <NUM> and makes comparison between the calculated running speed and a target speed of the vehicle <NUM> determined in advance. If the running speed is lower than the target speed, the remote control unit <NUM> generally determines an acceleration in such a manner as to accelerate the vehicle <NUM>. If the running speed is higher than the target speed as, the remote control unit <NUM> generally determines an acceleration in such a manner as to decelerate the vehicle <NUM>. If the vehicle <NUM> is on the reference route, remote control unit <NUM> determines a steering angle and an acceleration in such a manner as to prevent the vehicle <NUM> from deviating from the reference route. If the vehicle <NUM> is not on the reference route, in other words, if the vehicle <NUM> deviates from the reference route, the remote control unit <NUM> determines a steering angle and an acceleration in such a manner as to return the vehicle <NUM> to the reference route. In other embodiments, the running control signal may include the speed of the vehicle <NUM> as a parameter instead of or in addition to the acceleration of the vehicle <NUM>.

In step S4, the remote control unit <NUM> transmits the generated running control signal to the vehicle <NUM>. The remote control unit <NUM> repeats the acquisition of vehicle location information, the determination of a target location, the generation of a running control signal, the transmission of the running control signal, and others in a predetermined cycle.

In step S5, the running control unit <NUM> of the vehicle <NUM> receives the running control signal transmitted from the remote control device <NUM>. In step S6, the running control unit <NUM> controls the driving device <NUM>, the steering device <NUM>, and the braking device <NUM> using the received running control signal, thereby causing the vehicle <NUM> to run at the acceleration and the steering angle indicated by the running control signal. The running control unit <NUM> repeats the reception of a running control signal and the control over the various devices <NUM> to <NUM> in a predetermined cycle.

<FIG> is a first flowchart showing contents of a method for producing the vehicle <NUM>, and <FIG> is a second flowchart showing contents of a method for producing the vehicle <NUM>. As the method for producing the vehicle <NUM> is started, at first, a first work is performed on the vehicle <NUM> at the first place PL1 as the step S110 in <FIG>. In the present embodiment, the first work is a work for assembling the vehicle <NUM> using the assembly equipment 400A. The vehicle <NUM> having undergone the first work is ready to move by remote control. The state in which the vehicle <NUM> is capable of moving under remote control refers to a state in which the vehicle <NUM> is equipped with the driving device <NUM>, the steering device <NUM>, the braking device <NUM>, the communication device <NUM>, and the vehicle control device <NUM>, so that the vehicle <NUM> is capable of exhibiting the three functions: running, turning, and stopping, by remote control. Therefore, at this point, at least some of the interior components, such as the driver's seat and dashboard, may not be installed in the vehicle <NUM>, at least some of the exterior components, such as bumpers and fenders, may not be attached to the vehicle <NUM>, and the vehicle <NUM> may not be equipped with a body shell.

In the step S120, the remote control unit <NUM> performs remote control of the vehicle <NUM> assembled by the first work, thereby initiating the movement of the vehicle <NUM> from the first place PL1 to the second place PL2. Prior to starting the remote control, the remote control unit <NUM> acquires an identification number of the vehicle <NUM> in which the remote control is to start, from the step management device <NUM>.

In the step S130, the information acquisition unit <NUM> receives abnormality information from the step management device <NUM>. The abnormality information indicates whether or not such an event that a predetermined number or more of other vehicles of the same type as the vehicle <NUM> and having an abnormality arrive at the second place PL2 within a predetermined period has occurred. In the present embodiment, the step management device <NUM> acquires inspection results from the inspection equipment 400B, and generates abnormality information using the inspection results. For example, if, in the inspection at the second place PL2, the same type of abnormality is not detected in two or more vehicles out of <NUM> vehicles that were most recently inspected, the step management device <NUM> transmits the abnormality information indicating that the above event has not occurred to the remote control device <NUM>. If the same type of abnormality is detected in two or more vehicles out of <NUM> vehicles that were most recently inspected, the step management device <NUM> transmits the abnormality information indicating that the above event has occurred to the remote control device <NUM>. The step management device <NUM> transmits the abnormality information indicating that the above event has occurred to the remote control device <NUM> until it receives information indicating that the cause of the abnormality has been addressed. In the present embodiment, the cause of the abnormality is investigated by workers. For example, an abnormality in the assembly equipment 400A may result in an abnormality in the vehicle <NUM> that has undergone the first work using the assembly equipment 400A. After the worker addresses the abnormality in the assembly equipment 400A, he/she transmits information indicating that the abnormality has been addressed to the step management device <NUM> via a tablet terminal or a similar device.

In the step S140, the estimation unit <NUM> estimates whether or not the vehicle <NUM> moving to the second place PL2 has an abnormality using the abnormality information acquired by the information acquisition unit <NUM>. In the present embodiment, the estimation unit <NUM> estimates that the vehicle <NUM> moving to the second place PL2 has an abnormality when the abnormality information indicates occurrence of the above event, and estimates that the vehicle <NUM> moving to the second place PL2 has no abnormality when the abnormality information does not indicate occurrence of the above event.

When the estimation in the step S140 reports no occurrence of abnormality in the vehicle <NUM>, the remote control unit <NUM> determines in the step S150 whether the vehicle <NUM> has arrived at the second place PL2. When the determination in the step S150 did not confirm the arrival of the vehicle <NUM> at the second place PL2, the remote control unit <NUM> continues to move the vehicle <NUM>, and the process returns to the step S130 to acquire the latest abnormality information. When it is determined in the step S150 that the vehicle <NUM> has arrived at the second place PL2, the movement of the vehicle <NUM> by the remote control unit <NUM> is terminated, and the second work is performed on the vehicle <NUM> in the second place PL2 in the step S160. In the present embodiment, the second work is an inspection of the vehicle <NUM>. The vehicle <NUM> that has passed the inspection becomes ready for shipment. In other words, in the present embodiment, the vehicle <NUM> is completed when it passes the inspection.

When it is estimated that the vehicle <NUM> has an abnormality in the step S140, the remote control unit <NUM> changes the transfer destination of the vehicle <NUM> from the second place PL2 to the third place PL3 in the step S210 in <FIG>, determines a new target route from the current location to the third place PL3, and initiates the movement of the vehicle <NUM> from the current location to the third place PL3. In the present embodiment, a plurality of reference routes are stored in the memory <NUM>. The remote control unit <NUM> determines a reference route, which is used as a new target route for the vehicle <NUM>, according to the current location and the transfer destination of the vehicle <NUM>. In the present embodiment, the remote control unit <NUM> determines a third place PL3 as the transfer destination from among the plurality of third places PL3 using a database DB stored in the memory <NUM>. More specifically, the database DB stores information in which each type of the abnormality in the assembly equipment 400A is associated with a third place PL3 suitable for addressing the abnormality in the vehicle <NUM> caused by the abnormality in the assembly equipment 400A, and information in which the type of the abnormality in the vehicle <NUM> is associated with a third place PL3 suitable for addressing the abnormality in the vehicle, and the remote control unit <NUM> determines a third place PL3 suitable for addressing the abnormality in the vehicle <NUM> as the transfer destination from among the plurality of third places PL3. In the following description, the vehicle <NUM> that is estimated to have an abnormality is referred to as an estimated vehicle <NUM> or an estimated moving object.

In the step S220, the remote control unit <NUM> determines whether or not the estimated vehicle <NUM> moves to the third place PL3 via the second place PL2. The remote control unit <NUM> is capable of determining whether or not the estimated vehicle <NUM> moves to the third place PL3 via the second place PL2 by using the new target route. For example, if the estimated vehicle <NUM> has already passed the last intersection before the second place PL2, or if the estimated vehicle <NUM> has already entered into the building of the second place PL2, a new target route via the second place PL2 may be determined. If it is determined in the step S220 that the estimated vehicle <NUM> moves to the third place PL3 via the second place PL2, in the step S230, the remote control unit <NUM> notifies the second place PL2 via the equipment control unit <NUM> not to perform the second work on the estimated vehicle <NUM>. The remote control unit <NUM> notifies workers in the second place PL2 not to perform the second work on the estimated vehicle <NUM>, for example, via the equipment control unit <NUM>, by displaying a text message on a display of the inspection equipment 400B or by outputting a voice message from a speaker of the inspection equipment 400B. If the second work is to be automatically performed by the inspection equipment 400B, the remote control unit <NUM> transmits a control command to the inspection equipment 400B via the equipment control unit <NUM> so as to notify the inspection equipment 400B not to perform the second work on the estimated vehicle <NUM>. If it is not determined in the step S220 that the estimated vehicle <NUM> moves to the third place PL3 via the second place PL2, the step S230 is skipped and the process moves to the step S240.

After the estimated vehicle <NUM> arrives at the third place PL3, the third work is performed on the estimated vehicle <NUM> at the third place PL3 in the step S240. In the present embodiment, the third work is to repair the estimated vehicle <NUM>. The work to repair the estimated vehicle <NUM> includes confirming whether or not there is an abnormality and addressing the abnormality. If there is an abnormality, the work to address the abnormality is performed; if no abnormality is detected, the work to address the abnormality is not performed. In the step S250, the remote control unit <NUM> initiates the movement of the estimated vehicle <NUM> from the third place PL3 to the second place PL2. At this time, the remote control unit <NUM> notifies the second place PL2 via the equipment control unit <NUM> to perform the second work on the vehicle <NUM> moving to the third place PL3. Then, the process moves to the step S160 in <FIG>, and the second work is performed on the estimated vehicle <NUM>. The estimated vehicle <NUM> that has passed the inspection becomes ready for shipment. Thereafter, the method for producing the vehicle <NUM> is completed. The step of performing the first work on the vehicle <NUM> at the first place PL1 may be referred to as a first work step, and the step of performing the second work on the vehicle <NUM> at the second place PL2 may be referred to as a second work step. Further, the step of moving the vehicle <NUM> by unmanned driving such as remote control may be referred to as an unmanned driving step, and the step of acquiring the abnormality information may be referred to as an information acquisition step.

<FIG> is a first explanatory view of a state in which the vehicle <NUM> runs by remote control, <FIG> is a second explanatory view of a state in which the vehicle <NUM> runs by remote control, and <FIG> is a third explanatory view of a state in which the vehicle <NUM> moves by remote control. <FIG> show simultaneous and parallel remote control of three vehicles 100A to 100C. As shown in <FIG>, if the event in which an abnormality is detected during the inspection of the vehicle <NUM> at the second place PL2 does not occur frequently, each of the vehicles 100A to 100C runs from the first place PL1 to the second place PL2 under remote control. As shown in <FIG>, if the event in which an abnormality is detected during the inspection of the vehicle <NUM> at the second place PL2 occurs frequently, each of the vehicles 100A to 100C under remote control may also have an abnormality. Therefore, it is estimated that each of the vehicles 100A to 100C has an abnormality. Each of the vehicles 100A to 100C, which are estimated to have an abnormality, runs from its current location to the third place PL3 by remote control. As shown in <FIG>, each of the vehicles 100A to 100C, which have been repaired at the third place PL3, runs from the third place PL3 to the second place PL2 by remote control.

According to the unmanned driving system <NUM> in the present embodiment described above, the vehicle <NUM> assembled at the first place PL1 can be moved by remote control to the second place PL2 where inspections are conducted, without using any transport device such as a crane or a conveyor. In particular, the present embodiment can move, among the vehicles <NUM> that have not undergone the inspection at the second place PL2, the vehicle <NUM> that is estimated to have an abnormality, to the third place PL3 instead of the second place PL2 by remote control. Therefore, it is possible to avoid performing unnecessary steps of conducting inspections on the vehicle <NUM> in which the possibility of an abnormality has already been found in advance.

Further, in the present embodiment, the vehicle <NUM> in which abnormalities have been addressed in the third place PL3 or no abnormalities have been detected can be moved to the second place PL2 without using any transport device such as a crane or a conveyor.

Further, in the present embodiment, since the third place PL3 as the transfer destination is determined from among a plurality of third places PL3 by using the database DB in which the type of the abnormality is associated with the third place PL3, the vehicle <NUM> can be moved to a third place PL3 suitable for addressing the abnormality from among the plurality of third places PL3. Therefore, the abnormality in the vehicle <NUM> can be addressed smoothly.

Further, in the present embodiment, in the case where the vehicle <NUM> that is estimated to have an abnormality moves to the third place PL3 via the second place PL2, the second place PL2 is notified not to perform the second work on the vehicle <NUM> that moves via the second place PL2. Therefore, it is possible to prevent the second work from being performed on the vehicle <NUM> with the abnormality of the vehicle <NUM> unaddressed.

<FIG> is an explanatory view that schematically shows a structure of an unmanned driving system 10b according to the second embodiment. <FIG> is an explanatory view of a structure of a vehicle control device <NUM> according to the second embodiment. As shown in <FIG>, the second embodiment differs from the first embodiment in that the unmanned driving system 10b does not have the remote control device <NUM>, and that the vehicle <NUM> runs by autonomous control instead of remote control. Other structures are the same as those in the first embodiment, unless otherwise specified. The method of causing the vehicle <NUM> to run by autonomous control may also be referred to as an autonomous automatic driving method or an unmanned driving method.

In the present embodiment, the vehicle <NUM> is configured to be capable of running by autonomous control. The vehicle <NUM> is capable of communication with the step management device <NUM> and the camera CM by wireless communication using the communication device <NUM>. As shown in <FIG>, in the present embodiment, the processor <NUM> of the vehicle control device <NUM> functions as the running control unit 155b, the information acquisition unit <NUM>, and the estimation unit <NUM> by executing the computer program PG1 stored in advance in the memory <NUM>. In the present embodiment, the running control unit 155b generates the running control signals by itself, and controls the driving device <NUM>, the steering device <NUM>, and the braking device <NUM> to cause the vehicle <NUM> to run by using the generated running control signals. The information acquisition unit <NUM> acquires the abnormality information, for example, from the step management device <NUM>, in the same manner as in the information acquisition unit <NUM> of the remote control device <NUM> shown in <FIG>. The abnormality information includes information indicating that an abnormality was detected at a predetermined frequency or more in the inspection of other vehicles of the same type as the own vehicle. In the present embodiment, the abnormality information indicates whether or not such an event that a predetermined number or more of other vehicles of the same type as the own vehicle and having an abnormality arrive at the second place PL2 within a predetermined period has occurred. The estimation unit <NUM> estimates whether or not there is an abnormality in the own vehicle using the abnormality information in the same manner as in the estimation unit <NUM> of the remote control device <NUM> shown in <FIG>. The memory <NUM> stores the database DB, the reference route, the detection model, and the like, in advance. The running control unit 155b may be referred to simply as a control unit.

<FIG> is a flowchart of procedures of running control for the vehicle <NUM> in the second embodiment. In the step S11, the running control unit 155b of the vehicle control device <NUM> acquires vehicle position information using the detection results output from the camera CM, which is an external sensor. In the step S21, the running control unit 155b determines the target location to which the vehicle <NUM> should go next. In the step S31, the running control unit 155b generates a running control signal for causing the vehicle <NUM> to run toward the determined target location. In the step S41, the running control unit 155b controls the driving device <NUM>, the steering device <NUM>, and the braking device <NUM> using the generated running control signal, thereby causing the vehicle <NUM> to run according to the parameters indicated by the running control signal. The running control unit 155b repeats the acquisition of the vehicle position information, the determination of the target location, the generation of the running control signal, and the control of the devices <NUM> to <NUM>, in a predetermined cycle.

According to the unmanned driving system 10b in the present embodiment described above, the vehicle <NUM> that is estimated to have an abnormality can be moved to the third place PL3 instead of the second place PL2 by autonomous control. Therefore, it is possible to avoid performing unnecessary steps of conducting inspections on the vehicle <NUM> in which the possibility of an abnormality has already been found in advance.

Claim 1:
An unmanned driving system (<NUM>), comprising:
a moving object (<NUM>) configured to be movable by remote control; and
a remote control unit (<NUM>) configured to perform remote control for the moving object, wherein the remote control unit (<NUM>) is configured to move the moving object on which has been finished a first work at a first place (PL1) in a factory (KJ) to a second place (PL2) in the factory by the remote control, wherein the moving object (<NUM>) configured to be movable by remote control is produced in the factory (KJ), wherein the second place (PL2) is a place for performing a second work on the moving object (<NUM>) configured to be movable by remote control;
the unmanned driving system (<NUM>) being characterized in that it comprises an information acquisition unit (<NUM>) configured to acquire abnormality information from an inspection equipment located at the second place (PL2), the abnormality information indicating that a predetermined number or more of abnormal moving objects, other than the moving object (<NUM>) configured to be movable by remote control, but of the same type and having an abnormality, arrive at the second place (PL2) within a predetermined period,
wherein when the information acquisition unit (<NUM>) acquires the abnormality information, the remote control unit (<NUM>) is configured to move the moving object (<NUM>) that is configured to be movable by remote control and on which has not been started the second work to a third place (PL3) in the factory (KJ), wherein the third place (PL3) is different from both the first place (PL1) and the second place (PL2).