JP2010186363A - Vehicular control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular control device for controlling a vehicle moving on a predetermined route, which can cause the vehicle to temporarily stop in any point in the course of the route without manual instruction operation for start or stop of the movement. <P>SOLUTION: When a portable machine 3 is located within a communicable range where polling signal from the vehicle 2 is arrival, shown by the dotted line, the vehicle 2 receives an identification signal returned from the portable machine 3, whereby the vehicle 2 gets into a stopped state (a). If the operator carrying the portable machine 3 gets out of the communicable range of the vehicle 2 (b), the vehicle 2 starts to move on the moving route 4 since the vehicle 2 cannot receive the identification signal from the portable machine 3. If the portable machine 3 gets in the communicable range of the vehicle 2 again (c), resulting from the movement of the vehicle 2, the vehicle 2 receives the identification signal from the portable machine 3 and gets into the stopped state. If the operator carrying the portable machine 3 gets out of the communicable range of the vehicle 2 again (d), the vehicle 2 starts to move on the moving route 4 since the vehicle 2 cannot receive the identification signal from the portable machine 3. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle control device.

  In factories and the like, vehicles for carrying various items are used. In golf courses, carts for moving golfers and golf clubs are used. Today, in these transport vehicles, various types of automation are achieved. For example, in the case of a transport vehicle in a factory, a vehicle that moves along a predetermined movement route without a person driving on the vehicle is introduced. In such a system, for example, when an operator commands the vehicle to start moving, the vehicle automatically moves to several predetermined stop positions along the movement path, and the stop position is detected by a sensor. Therefore, a system that automatically stops there has been introduced.

  Further, in Patent Document 1 below, when an autonomous vehicle is set at the start position by eye measurement, the normal position and direction are slightly deviated, but this shift is corrected to direct the autonomous vehicle to the correct position and direction. Is disclosed.

Japanese Patent Laid-Open No. 9-282036

  However, in the case of the transport vehicle system in the factory, the vehicle can be stopped only at a predetermined position, so that it is not flexible. Also, in the case of the autonomous vehicle of Patent Document 1, since a movement start or stop command must be given from a human to the vehicle, some button operation or the like is required. Therefore, it is desired to develop a transport vehicle that improves these points and improves convenience.

  Therefore, in view of the above problems, the problem to be solved by the present invention is a control device for controlling a vehicle that moves on a predetermined route, which can be temporarily stopped at any point along the route, It is an object of the present invention to provide a vehicle control device that does not require a command operation by a human to stop.

Means for Solving the Problems and Effects of the Invention

  In order to achieve the above object, a vehicle control device according to the present invention is a vehicle control device that moves along a predetermined movement route, and includes a communication device having a communication function with the vehicle, and the vehicle. First transmission means for repeatedly transmitting a request signal for requesting a reply of an identification signal for identifying the communication device from the communication device to the communication device at intervals of time, and the communication device reaches the request signal When the request signal is received when located within the possible range, a second transmission means for transmitting the identification signal from the communication device to the vehicle and a signal received by the vehicle are transmitted from the communication device. Determining means for determining whether or not the received identification signal is received, and during a period when the determination means determines that the vehicle has received the identification signal transmitted from the communication device, the vehicle is stopped. , Said size Control means for controlling the vehicle to move along the movement path during a period in which the vehicle determines that the vehicle has not received the identification signal transmitted from the communication device. Features.

  Thereby, in the vehicle control apparatus according to the present invention, when the vehicle receives the identification signal from the communication device, that is, when the communication device is within the reachable range of the request signal from the vehicle, the vehicle is stopped, When the communicator goes out of the reachable range, the vehicle is caused to travel on the moving route, so that the operator can move the communicator and move the vehicle accordingly. At that time, the operator does not need any key operation. In addition, the vehicle can be stopped at an arbitrary position. Therefore, the vehicle can be freely moved and stopped along the movement path only by an extremely simple operation of leading the vehicle with the communication device.

  In addition, when the vehicle receives the identification signal, a first detection unit that detects from which direction the received identification signal is transmitted; and the moving path has a branch point; When the vehicle is located at a point, the first detection means detects that the identification signal is transmitted during a period in which the determination means determines that the vehicle has received the identification signal transmitted from the communication device. A period in which the vehicle is determined not to receive the identification signal transmitted from the communication device by the determination means, and is within a predetermined angle range including the detection direction. And a first control unit that controls the vehicle so that the vehicle moves.

  As a result, the direction of the communication device viewed from the vehicle is detected, and when a certain communication device goes out of the reachable range of the request signal, the vehicle is moved along the movement route close to the direction of the communication device. Even when the vehicle is branched from the middle, the vehicle can be advanced in the desired traveling direction after the branching point only by leading the vehicle in the direction in which the vehicle is desired to travel. Therefore, even if there is a branch point, the vehicle can be moved in a desired direction by a simple operation.

  In addition, the movement route has a branch point, and the plurality of communication devices are individually associated with the movement route after branching, and the vehicle receives the identification signal when the vehicle receives the identification signal. A second detection means for detecting from which communication device the identification signal is transmitted; and the identification signal transmitted from any of the communication devices by the determination means when the vehicle is located at the branch point. The vehicle moves along the movement route associated with a communication device that is not a communication device that is detected to have received the identification signal by the second detection means during a period in which it is determined that the vehicle has not been received. And a second control means for controlling.

  By using a plurality of communicators and associating each communicator with a travel path after branching, if a communicator in a desired traveling direction is taken out of the reach range of the request signal at the branch point of the travel path, The vehicle can be moved along a movement route associated with the communication device. Therefore, even if there is a branch point, the vehicle can be moved in a desired direction by a simple operation.

The block diagram of the Example of the control apparatus in this invention. 3 is a flowchart of control processing according to the first embodiment. FIG. 3 is a diagram illustrating an example of vehicle movement in the first embodiment. 5 is a flowchart of control processing at a branch point in the first embodiment. FIG. 3 is a diagram illustrating an example of vehicle movement at a branch point in the first embodiment. 10 is a flowchart of control processing according to the second embodiment. FIG. 6 is a diagram illustrating an example of vehicle movement in the second embodiment. 10 is a flowchart of control processing in Embodiment 3. FIG. 10 is a diagram illustrating an example of vehicle movement in the third embodiment.

  Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 1 is a schematic diagram of a device configuration in a first embodiment of a vehicle control device 1 according to the present invention. The control device 1 shown in FIG. 1 includes a vehicle 2 and a portable device 3 (communication device). A plurality of portable devices 3 may be used in the third embodiment described later, and one portable device 3 may be used in the first and second embodiments.

  The vehicle 2 may be a transport vehicle used in a factory or the like, or a golf course cart, for example. Further, the portable device 3 has a size that can be carried by a human, and in this embodiment, it may be carried by a factory worker, a golfer, or the like. Hereinafter, a worker or a golfer is referred to as an operator or a worker.

  The vehicle 2 includes a start / stop switch (SW) 21, a right drive motor 22, a left drive motor 23, a guide sensor 24, a display unit 25, a polling signal transmission unit 26, and an identification signal reception unit 27. 28.

  The start / stop SW 21 (switch) is started or ended when the operator operates this switch, for example. The right drive motor 22 (motor) supplies a driving force to the right wheel 22a according to a command from the control unit 28, and rotates or stops it. Similarly, the left drive motor 23 (motor) supplies a driving force to the left wheel 23a according to a command from the control unit 28, and rotates or stops it.

  In this system, when the vehicle is moved by rotating the right wheel 22a and the left wheel 23, the vehicle may be moved at a constant speed. The guide sensor 24 has a function of detecting a guide tape (described later) indicating a moving path of the vehicle, and thus the vehicle can move on the guide tape. The display unit 25 includes, for example, a liquid crystal display, and can display various information. In addition, the display part 25 is good also as an alerting | reporting part which alert | reports an error (after-mentioned) using the light emission of a lamp | ramp and the sound of a buzzer.

  The polling signal transmission unit 26 wirelessly transmits a polling signal (request signal) for requesting a reply of the identification signal toward the portable device 3 located (may be) in the space around the vehicle 2. The identification signal receiving unit 27 receives the identification signal returned from the portable device 3 that has received the polling signal. The control unit 28 is assumed to have a normal computer structure, and includes a CPU for performing various calculations and a memory 29 for storing various information. The memory 29 stores a master signal 29a (master ID, reference signal) for collation with the identification signal transmitted from the portable device 3. The polling signal may be, for example, a signal obtained by modulating the LF carrier signal with a baseband signal reflecting that it is transmitted from the vehicle 2.

  The portable device 3 includes a polling signal receiving unit 31 and an identification signal transmitting unit 32, which are controlled by the control unit 33. The polling signal receiver 31 receives a polling signal transmitted from the vehicle 2. Upon receiving the polling signal, the identification signal transmission unit 32 wirelessly returns the identification signal 34a to the vehicle 2 in response to an instruction from the control unit 33. It is assumed that the control unit 33 has a normal computer structure and includes a CPU that performs various calculations and a memory 34 that stores various types of information. The memory 34 stores an identification signal 34a (ID code) unique to the portable device 3. The identification signal may be a signal obtained by modulating the LF carrier signal with a baseband signal reflecting the identification information of the portable device 3, for example.

  The polling signal transmission unit 26, the identification signal reception unit 27, the polling signal reception unit 31, and the identification signal transmission unit 32 use a so-called smart key system that is spreading today in the field of automobiles (therefore, the portable device 3 is used). Smart key). As a result, an existing smart key system may be used, and the development cost of this system can be reduced.

  In the first embodiment, movement control of the vehicle 2 using the portable device 3 is performed based on the above configuration. FIG. 2 shows a flowchart thereof. The flowchart of FIG. 2 (and FIGS. 4, 6, and 8 to be described later) may be programmed and stored in the memory 29, and the control unit 28 may execute this automatically and sequentially.

  In the process of FIG. 2, first, the operator performs a start operation with the switch 21 in step S <b> 10. This activates the system. Next, the vehicle 2 transmits a polling signal from the polling signal transmitter 26 in S20. The polling signal may be transmitted periodically and repeatedly.

  When the portable device 3 is present within the communicable range of the vehicle 2, the portable device 3 receives the polling signal at the polling signal receiving unit 31, and the control unit 33 receives the polling signal from the identification signal transmitting unit 32 to the memory 34. The stored identification signal 34 a is transmitted to the vehicle 2. If the portable device 3 does not exist within the communicable range of the vehicle 2, the portable device 3 cannot receive the polling signal, and therefore does not transmit the identification signal 34 a to the vehicle 2.

  In S30, it is determined whether or not the identification signal receiving unit 27 has received any signal. When the signal is received (S30: YES), the process proceeds to S40, and when the signal is not received (S30: NO), the process proceeds to S60. In S40, the signal received by the vehicle 2 is collated with the master signal 29a stored in the vehicle 2. If the received signal matches the master signal 29a (S40: YES), the process proceeds to S50, and if not (S40: NO), the process proceeds to S60.

  If the received signal matches the master signal 29a, the control unit 28 recognizes that the received signal is the identification signal 34a transmitted from the portable device 3. As described above, the case where the identification signal 34a is received is the case where the portable device 3 exists within the communicable range of the vehicle 2, and the case where the identification signal 34a is not received refers to the portable device within the communicable range of the vehicle 2. This corresponds to the case where 3 does not exist.

  In S50, the motor 22 or 23 is stopped. In S60, the motor 22 or 23 is driven. That is, in the present invention, when the vehicle 2 receives the identification signal 34a, that is, when the portable device 3 exists within the communicable range of the vehicle 2, the vehicle 2 is stopped. When the vehicle 2 does not receive the identification signal 34a, that is, when the portable device 3 does not exist within the communicable range of the vehicle 2, the vehicle 2 is advanced along the movement path.

  Next, in S70, it is determined whether or not there has been a stop operation by the switch 21 by the operator. If there is a stop operation (S70: YES), the process of FIG. 2 is terminated. If there is no stop operation (S70: NO), the process returns to S20 and repeats the above procedure. Therefore, unless there is a stop operation by the operator, the vehicle 2 continues to periodically transmit a polling signal, receives the identification signal 34a, and when it matches the master signal 29a, stops the vehicle 2 and sends the identification signal 34a. When not receiving, the process which advances the vehicle 2 is continued. The above is the processing of FIG.

  FIG. 3 shows an example of movement of the vehicle 2 when the processing of FIG. 2 is executed. FIG. 3A shows a state where the vehicle 2 is located at the start point of the movement route 4 (route). The moving path 4 may be formed by, for example, a magnetic guide tape (tape) embedded or stuck on the floor or the ground.

  For example, it is assumed that the guide sensor 24 has a rectangular shape having a long side in a direction orthogonal to the traveling direction of the vehicle, and has a function of determining at which position of the guide sensor 24 the magnetism of the magnetic guide tape is detected. The information detected by the guide sensor 24 is sent to the control unit 28. The control unit 28 advances the vehicle 2 so that the center of the vehicle moves on the tape, that is, the tape is detected at the center of the guide sensor 24. It is assumed that the direction is controlled.

  In FIG. 3 and the drawings to be described later, the communicable range from the vehicle 2 is indicated by a dotted line. In FIG. 3A, since the portable device 3 is located within the communicable range, the motors 22 and 23 are stopped by executing S50 in FIG. 2, and the vehicle 2 is thereby stopped. The communicable range may be a range in which the polling signal transmitted from the vehicle 2 is reachable.

  Next, in FIG. 3B, the operator carrying the portable device 3 goes out of the communication range of the vehicle 2. As a result, the vehicle 2 does not receive the identification signal 34a from the portable device 3, so S70 of FIG. 2 is executed and the vehicle 2 starts to move on the movement path 4. In S <b> 70, the vehicle 2 is controlled to travel on the movement path 4 by appropriately driving the motors 22 and 23.

  As the vehicle 2 moves, the portable device 3 enters the communicable range of the vehicle 2 again in FIG. Thereby, the vehicle 2 receives the identification signal 34a from the portable device 3 again, and the vehicle 2 is stopped by executing S50 of FIG.

  In FIG. 3D, the operator carrying the portable device 3 again goes out of the communication range of the vehicle 2. As a result, the vehicle 2 does not receive the identification signal 34a from the portable device 3, so S70 of FIG. 2 is executed and the vehicle 2 starts to move on the movement path 4. As described above, in the first embodiment, when the operator carrying the portable device 3 moves along the movement route, the vehicle 2 moves accordingly. The stop position of the vehicle 2 may be any position on the movement path 4. Further, the input operation in S10 is for starting up the entire system, and in the subsequent movement control of the vehicle 2, the operator does not need to perform an input operation on the portable device 3 or the like.

  Up to this point, the case where there is one movement route, that is, the case where the movement route does not branch has been described, but the case where the movement route branches will be described below.

  Even when the vehicle 2 reaches the branch point, the basic principle is that the vehicle 2 is stopped when the portable device 3 is within the communication range of the vehicle 2 and is moved when the portable device 3 is outside the communication range. . However, when the movement route branches, the route along which the vehicle 2 travels must be determined. Therefore, in the first embodiment, it is determined in advance whether the subsequent movement route is to be performed depending on whether or not to stop at the branch point.

  A flowchart in this case is shown in FIG. 4, and an example of vehicle movement is shown in FIG. In the example of FIG. 5, the moving route is branched into moving routes 4 a and 4 b. In this example, it is assumed that the moving route 4a is advanced when the vehicle 2 is not temporarily stopped at the branch point, and the moving route 4b is advanced when the vehicle 2 is temporarily stopped.

  In the processing of FIG. 4, the processing from S20 to S40 is the same as the processing of the same sign in FIG. In FIG. 4, it is detected in step S5 that the vehicle 2 has arrived at the branch point of the movement route. For this purpose, a marker indicating a branch point may be arranged near the branch point, and the vehicle 2 may be equipped with a sensor that detects the marker.

  If S40 is affirmative, the process proceeds to S45. If S30 or S40 is negative, the process proceeds to S46. The process proceeds to S45 when the portable device 3 is within the communication range when the vehicle 2 is located at the branch point. Therefore, as described above, in S45, the subsequent travel route is specified as the travel route 4b, and in S50, the vehicle 2 stops at the branch point. This case is shown in FIG. 4 (b-1).

  If the portable device 3 goes out of the communication range in FIG. 4B-2, S30 is negative and the process proceeds to S60. In S60, the motor is driven to advance the vehicle 2 to the movement path 4b. In addition, if a movement path | route is specified by S45, S46 should just be skipped after that.

  Further, when the vehicle proceeds to S46 immediately after arrival at the branch point, the portable device 3 is out of the communication range when the vehicle 2 arrives at the branch point. Therefore, as described above, in S47, the travel path to be followed is specified as the travel path 4a. In S60, the vehicle 2 does not stop at the branch point and travels on the travel path 4a. This case is shown in FIG.

  Next, Example 2 will be described. In the second embodiment, when the moving path 4 branches in the middle, it is possible to detect in which direction the portable device 3 is located when viewed from the vehicle 2 on the assumption that the identification signal receiving unit 27 includes an antenna having directivity. And In the second embodiment, the configuration of FIG. 1 is used as in the first embodiment, but FIG. 2 is changed to FIG. FIG. 4 may be omitted. An example of vehicle movement is shown in FIG. Below, the changed part from Example 1 is demonstrated.

  The only change from FIG. 2 in FIG. 6 is that the procedure of S47 is added. When the process proceeds to step S47, it is a case where both the determination processes of S30 and S40 are affirmative. That is, this is a case where the portable device 3 is within a communicable range from the vehicle 2.

  In S47, the direction of the portable device 3 viewed from the vehicle 2 is detected by using the directivity of the identification signal receiving unit 27 in this situation. It is assumed that the worker carrying the portable device 3 leads the vehicle by moving in the vicinity of the movement route. Therefore, even when the moving route branches from the middle, the moving route that the vehicle 2 should proceed to can be identified by detecting the direction of the portable device 3 viewed from the vehicle.

  As described above, in the process of FIG. 6, when the portable device 3 is within the communicable range from the vehicle 2, the travel route on which the vehicle 2 should proceed is specified. This is shown in FIG. 7 (a). In the case of the figure, the moving route branches into 4a and 4b from the middle, and the vehicle 2 that has reached the branching point detects that the portable device 3 is located in the vicinity of the moving route 4a in step S47. . As a result, the vehicle 2 recognizes that the route ahead is the moving route 4a.

  Next, as shown in FIG. 7B, the worker carrying the portable device 3 moves along the movement route 4 a and leads the vehicle 2. Thereby, the portable device 3 goes out of the communication range of the vehicle 2. When the portable device 3 goes out of the communication range of the vehicle 2, a negative determination is made in S30, and the process proceeds to S60. In S60, the vehicle 2 is moved along the movement route specified in S47, that is, the movement route 4a.

  Note that the route that the vehicle 2 recognizes as moving forward in the above may be a moving route that falls within a predetermined range of right and left angles in the direction of the portable device 3. If there is no movement path within the predetermined angle range, an error display (similar to S80 described later) may be displayed. Alternatively, a system may be used in which 360 degrees around the branch point is divided into the same number of angle ranges as the number of travel paths after branching. In this case, it is only necessary to store the correspondence relationship between the angle range and the movement path in the memory 29 so that the movement path after branching is included in each angle range one by one. And the movement path | route which exists in the angle range to which the direction which was located before the portable device 3 went out of the communication range belongs should just be recognized as the path | route which the vehicle 2 advances ahead. The above is the second embodiment.

  Next, Example 3 will be described. In the third embodiment as well, the vehicle 2 is controlled so as to handle the case where the moving route 4 branches in the middle as in the second embodiment. In the third embodiment, the configuration of FIG. 1 is used as in the first embodiment, but FIG. 4 is changed to FIG. An example of the movement of the vehicle is shown in FIG. Below, the changed part from Example 1 is demonstrated.

  In the third embodiment, a plurality of portable devices 3 are used in association with individual movement routes after branching. Assume that the memory 29 stores the association between each movement path and the portable device 3. A plurality of workers may carry each portable device 3 one by one. When the vehicle 2 reaches the branch point, the vehicle 2 determines that the route corresponding to the single portable device 3 that has gone out of the communicable range is the route to be followed. Naturally, the identification signal 34 a of each portable device 3 is different, and each master signal 29 a is stored in the memory 29. In the third embodiment, the identification signal receiving unit 27 does not need to have directivity.

  The processes of S5, S20, S30, S50, and S60 in FIG. 8 are the same as the processes with the same symbols in FIG. FIG. 9 shows an example of movement when the vehicle 2 arrives at the branch point of the movement path in the movement control of the vehicle 2.

  In S35 of FIG. 8, all received signals are collated with a plurality of stored master signals 29a. In S41 and S42, the number of signals that have a matching master signal 29a among the received signals is determined. If the number of signals with the matched master signal 29a matches the number of branches (S41: YES), the process proceeds to S50, and if it is less than the number of branches (S41: NO and S42: YES), the process proceeds to S48. If so, proceed to S80.

  If the process proceeds to S80, the number of signals with the matched master signal 29a is 2 or less than the number of branches, or the reply signal cannot be received, so two or more workers accidentally go out of the communication range. This is a case where a communication error occurs. Accordingly, since a route to be taken in the future cannot be determined, an error is displayed on the display unit 25 in S80.

  When the process proceeds to S50, the number of received identification signals is the same as the number of branches, and therefore, all workers corresponding to the branched route are within the communicable range of the vehicle 2. This situation is shown in FIG. In the figure, the portable device 3a is associated with the movement route 4a, and the portable device 3b is associated with the movement route 4b and stored in the memory 29. All (two in this case) portable devices 3 a and 3 b are within the communicable range of the vehicle 2. In this case, in S50, the motor is stopped and the vehicle 2 is stopped.

  FIG. 9B shows a situation where one portable device 3b has moved out of the communicable range from the state of FIG. 9A. This corresponds to the case of proceeding to S48 in FIG. In S48, the control unit 28 recognizes that the portable device 3b has moved out of the communicable range, and thereby specifies that the movement route 4b associated with the portable device 3b is the route to be followed next. In response to this, in S60, the motor is driven to advance the vehicle 2 along the movement path 4b.

  In the third embodiment, at a position other than the branch point, the control unit 28 drives the motor to move on the movement path if all the portable devices 3 are outside the communicable range, so that at least one portable device 3 is moved. If it is within the communicable range, the vehicle 2 may be controlled to stop the motor. If such control is performed, it is possible to perform control such that a certain portable device 3 leads to the branch point, and another portable device 3 takes over from the branch point.

  In the second and third embodiments, the case where the number of branches is two is shown, but obviously the number of branches may be any number. In the third embodiment, the same number of portable devices 3 as the number of paths after branching may be used.

  The polling signal transmitter 26 in the above embodiment constitutes a first transmitter. The identification signal transmitter 32 constitutes a second transmitter. The procedure of S40 constitutes a determination unit. The procedures of S50 and S60 constitute control means (first control means and second control means). The procedure of S47 constitutes the first detection means. The procedure of S48 constitutes the second detection means.

DESCRIPTION OF SYMBOLS 1 Control apparatus 2 Vehicle 3 Portable machine 26 Polling signal transmission part 27 Identification signal reception part 28 Control part 31 Polling signal reception part 32 Identification signal transmission part 33 Control part

Claims (3)

A control device for a vehicle that moves along a predetermined movement route,
A communication device having a communication function with the vehicle;
A first transmission means for repeatedly transmitting a request signal for requesting a reply of an identification signal for identifying the communication device from the vehicle to the communication device at a time interval;
A second transmission unit configured to transmit the identification signal from the communication device to the vehicle when the communication device is located within a reachable range of the request signal;
Determining means for determining whether a signal received by the vehicle is the identification signal transmitted from the communication device;
During the period when it is determined that the vehicle has received the identification signal transmitted from the communication device by the determination means, the vehicle is stopped, and the vehicle is transmitted from the communication device by the determination means. Control means for controlling the vehicle to move on the moving path during a period in which it is determined that no signal is received;
A vehicle control apparatus comprising: First detection means for detecting from which direction the received identification signal is transmitted when the vehicle receives the identification signal;
When the movement route has a branch point and the vehicle is located at the branch point, a period in which the determination unit determines that the vehicle has received the identification signal transmitted from the communication device is: The direction in which the identification signal is transmitted by the first detection means is stored as a detection direction, and the determination means determines that the vehicle has not received the identification signal transmitted from the communication device. A first control means for controlling the vehicle to move on the moving route within a predetermined angle range including the detection direction;
The vehicle control device according to claim 1, comprising: The travel path has a branch point;
A plurality of the communication devices are individually associated with the travel route after branching,
When the vehicle receives the identification signal, a second detecting means for detecting from which communication device the received identification signal is transmitted;
During a period in which the vehicle is located at the branch point and the determination unit determines that the vehicle has not received the identification signal transmitted from any of the communication devices, the second detection unit Second control means for controlling the vehicle to move along the movement route associated with a communication device that is not a communication device detected to have received the identification signal;
The vehicle control device according to claim 1, comprising:

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