Control device, mobile object, mobile object control system, control method, and trailer

1 . A control device configured to control movement of a mobile object that is configured to travel by driverless driving and that is transported in a manufacture process of manufacturing the mobile object, the control device comprising a control command section configured to generate and output a control command to cause the mobile object to move,

wherein the control command section is configured to generate the control command by using vehicle state information that is information related to at least one of: magnitude of impact force applied to the mobile object; a direction in which the impact force acts; weight of the mobile object; weight of a trailer configured to carry a part and configured to be removably coupled to the mobile object and move, the part being configured to be attached to the mobile object; and a process in which the mobile object is positioned, and

wherein occurrence of the impact force stems from at least one of force acting when the part comes into contact with the mobile object, force acting when the part is fixed to the mobile object, and force acting when the trailer is coupled to the mobile object.

2 . The control device according to claim 1 , wherein the control command section is configured to generate the control command by using the vehicle state information in such a manner as to restrain a change in speed of the mobile object that changes due to at least one of the impact force, attachment of the part to the mobile object, coupling of the trailer to the mobile object, and release of the coupling between the trailer and the mobile object.

3 . The control device according to claim 1 , wherein the control command section is configured to generate the control command by using the vehicle state information in such a manner as to restrain a change in traveling direction of the mobile object that changes due to at least one of the impact force, attachment of the part to the mobile object, coupling of the trailer to the mobile object, and release of the coupling between the trailer and the mobile object.

4 . The control device according to claim 1 , further comprising an information acquisition section configured to acquire, as the vehicle state information, impact force information related to the impact force from a sensor configured to detect the impact force,

wherein the control command section is configured to generate the control command by using the acquired impact force information.

5 . The control device according to claim 1 , further comprising an information acquisition section configured to acquire, as the vehicle state information, coupling release information indicating whether or not a coupled state in which the trailer and the mobile object are coupled together is released, from a sensor configured to acquire the coupling release information,

wherein the control command section is configured to generate the control command by using the coupling release information.

6 . The control device according to claim 1 , further comprising an information acquisition section configured to acquire, as the vehicle state information, weight-related information that is information related to the weight of the mobile object,

wherein the control command section is configured to use the acquired weight-related information and, when the weight of the mobile object increases, generate the control command in such a manner as to decrease speed of the mobile object, compared to a speed before the weight of the mobile object increases.

7 . The control device according to claim 6 , wherein the control command section is configured to generate the control command in such a manner as to decrease the speed of the mobile object, compared to the speed before the weight of the mobile object increases, when the mobile object is positioned in a prior-to-bumper-attachment process and when the weight of the mobile object increases compared to the weight of the mobile object in a process prior to the prior-to-bumper-attachment process, and is configured not to generate such a control command as to decrease the speed of the mobile object, compared to the speed before the weight of the mobile object increases, when the mobile object is positioned in a subsequent-to-bumper-attachment process and when the weight of the mobile object increases compared to the weight of the mobile object in a process prior to the subsequent-to-bumper-attachment process, the prior-to-bumper-attachment process being a process prior to a bumper attachment process in which a bumper is attached to the mobile object in the manufacture process, the subsequent-to-bumper-attachment process being a process subsequent to the bumper attachment process.

8 . The control device according to claim 6 , wherein the control command section is configured to generate the control command in such a manner as to decrease the speed of the mobile object, compared to the speed before the weight of the mobile object increases, when the mobile object is positioned in a manned process in which a worker is present in the manufacture process and when the weight of the mobile object increases compared to the weight of the mobile object in a process prior to the manned process, and is configured not to generate such a control command as to decrease the speed of the mobile object, compared to the speed before the weight of the mobile object increases, when the mobile object is positioned in an unmanned process in which a worker is not present in the manufacture process and when the weight of the mobile object increases compared to the weight of the mobile object in a process prior to the unmanned process.

9 . The control device according to claim 6 , further comprising a weight estimation section configured to estimate a weight of the mobile object by using the weight-related information,

wherein the control command section is configured to use the estimated weight of the mobile object and, when the weight of the mobile object increases, generate the control command in such a manner as to decrease the speed of the mobile object, compared to the speed before the weight of the mobile object increases.

10 . The control device according to claim 9 , further comprising an information keeping section configured to keep position-weight correspondence information that is information in which a position of the mobile object and a weight of the mobile object are associated with each other, wherein

the information acquisition section is configured to acquire a position of the mobile object as the weight-related information, and

the weight estimation section is configured to estimate a weight of the mobile object at the position of the mobile object, by using the position-weight correspondence information and the acquired position of the mobile object.

11 . The control device according to claim 9 , wherein

the information acquisition section is configured to acquire, as the weight-related information, displacement information indicating a displacement of a suspension device that supports a wheel included in the mobile object, and

the weight estimation section is configured to estimate a weight of the mobile object by using the displacement information.

12 . The control device according to claim 1 , further comprising a position estimation section configured to estimate a position of the mobile object, wherein

the control command section is configured to generate the control command by using a database and the estimated position of the mobile object, the database keeping information related to the control command and position information on the mobile object in association with each other, and

the information related to the control command in the database is specified beforehand based on the vehicle state information corresponding to the position of the mobile object.

13 . A trailer configured to carry a part configured to be attached to a mobile object configured to travel by driverless driving in a manufacture process of manufacturing the mobile object, the trailer comprising:

a coupling part configured to be coupled to the mobile object;

a trailer drive part configured to cause the trailer to move dependently on movement of the mobile object in a coupled state in which the mobile object and the trailer are coupled together by the coupling part;

a coupling detection section configured to detect whether or not the coupling part is in the coupled state; and

a communication device configured to transmit a result of the detection by the coupling detection section to the control device according to claim 1 .

14 . The trailer according to claim 13 , further comprising a drive control section configured to control driving of the trailer drive part,

wherein the drive control section is configured to increase braking force of the trailer drive part when it is detected by the coupling detection section that the coupling part changes from the coupled state to a non-coupled state in which the mobile object and the trailer are not coupled together by the coupling part.

15 . The trailer according to claim 14 , wherein the drive control section is configured to, after increasing the braking force, control the trailer drive part in such a manner as to move the trailer to a process prior to a process in which the trailer is positioned in the manufacture process.

16 . The trailer according to claim 13 , further comprising:

a process information acquisition section configured to acquire information indicating whether or not the mobile object has completed a coupled-state process predetermined as a process that is executed in the coupled state in the manufacture process; and

a coupling control section configured to, when the mobile object has completed the coupled-state process, control the coupling part in such a manner as to bring about a non-coupled state in which the mobile object and the trailer are not coupled together.

17 . A mobile object comprising a driving control section configured to acquire a control command to cause the mobile object to move and configured to perform driving control of the mobile object by using the acquired control command,

wherein the driving control section is configured to execute

correcting the acquired control command by using information related to at least one of magnitude of impact force applied to the mobile object, a direction in which the impact force acts, weight of the mobile object, weight of a trailer configured to carry a part to be attached to the mobile object and configured to be removably coupled to the mobile object and move, and a process in which the mobile object is positioned, and

performing the driving control, according to the corrected control command, and

wherein occurrence of the impact force stems from at least one of force acting when the part comes into contact with the mobile object, force acting when the part is fixed to the mobile object, and force acting when the trailer is coupled to the mobile object-object.

18 . A mobile object control system comprising:

a server device configured to generate and output a control command to cause a mobile object to move, the mobile object being configured to travel by driverless driving; and

the mobile object according to claim 17 .

19 . A control method of controlling movement of a mobile object that is configured to travel by driverless driving and that is transported in a manufacture process of manufacturing the mobile object, the control method comprising generating a control command to cause the mobile object to move, by using vehicle state information that is information related to at least one of magnitude of impact force applied to the mobile object, a direction in which the impact force acts, weight of the mobile object, weight of a trailer configured to carry a part to be attached to the mobile object and configured to be coupled to the mobile object and move, and a process in which the mobile object is positioned,

wherein occurrence of the impact force stems from at least one of force acting when the part comes into contact with the mobile object, force acting when the part is fixed to the mobile object, and force acting when the trailer is coupled to the mobile object.