JP2023180725A - Control device, roadside machine, travel control system, program, travel control method, and movable body - Google Patents

Abstract

To provide a control device, a roadside machine, a travel control system, a program, and a travel control method that can support safe travel of a movable body 3 with a simple configuration and processing.SOLUTION: A processing unit 10 comprises: a position information acquisition unit 112 that acquires position information indicating a position of a movable body 3; and a signal output processing unit 130 that compares the position information with permission section information indicating a permission section A where travel of the movable body 3 is permitted, and on the basis of a result of the comparison, outputs a permission signal P permitting the travel of the movable body 3 in the permission section A. The signal output processing unit 130 determines whether the movable body 3 is present in the permission section A on the basis of the result of the comparison, and when determining that the movable body 3 is present in the permission section A, outputs the permission signal P.SELECTED DRAWING: Figure 2

Description

The present invention relates to a control device, a roadside machine, a movement control system, a program, a movement control method, and a moving object.

2. Description of the Related Art Conventionally, devices for controlling the movement of moving bodies are known. For example, Patent Document 1 describes this type of technology. Patent Document 1 describes an acquisition means for acquiring automatic driving information, which is information about the state of the own vehicle and the surroundings of the own vehicle, and an automatic driving system that controls the traveling direction and speed of the own vehicle based on the automatic driving information and performs automatic driving. and a determination means for determining whether a problem related to automated driving information has occurred, and if a problem occurs, the driving state of the own vehicle or the driving state of another vehicle is determined depending on the content of the problem. A device is described comprising: changing means for changing a state.

Japanese Patent Application Publication No. 2016-181031

However, the device described in Patent Document 1 requires a high-performance and expensive device that can appropriately determine the abnormal state of a moving body. For this reason, if a high-performance control device cannot be installed on a moving object due to cost constraints, the abnormal state of the moving object cannot be appropriately determined due to lack of redundancy or calculation capacity of the control device, and the moving object cannot be moved safely. There is a possibility that you may not be able to do so.

In view of these circumstances, it is an object of the present invention to provide a control device, a roadside machine, a movement control system, a program, and a movement control method that can support the safe movement of moving objects with a simpler configuration and processing. Another object of the present invention is to provide a mobile body that is managed and controlled by the above-mentioned control device.

(1) The control device includes a position information acquisition unit that acquires position information indicating the position of the mobile object, and compares the position information with permissible section information indicating a permissible section in which movement of the mobile object is permitted, a signal output processing section that outputs a permission signal for permitting movement of the mobile object in the permissible section based on the comparison result; It is determined whether or not the mobile object exists within the permissible section, and when it is determined that the mobile object exists within the permissible section, the permission signal is output.

(2) In the control device according to (1), the permissible section information includes information indicating an alarm area set on a peripheral side within the permissible section, and the signal output processing section is configured to output the comparison result. It is determined whether or not the mobile object exists in the warning area based on the above, and when it is determined that the mobile object exists in the warning area, the mobile object is within the warning area. outputs an alarm signal indicating the presence of

(3) In the control device according to (1), the signal output processing unit outputs the permission signal to the mobile body that is capable of autonomous movement.

(4) A roadside device is a roadside device that includes each component of the control device described in any one of (1) to (3), and is installed on or beside a road on which a mobile object moves. .

(5) The mobile control system is capable of wireless communication with mobile objects, and includes a plurality of first control devices installed in different areas, and a second control device communicatively connected to the plurality of first control devices. A movement control system comprising: a control device, wherein the second control device generates permissible section information indicating a permissible section in which movement of the mobile object is permitted, and provides information to each of the plurality of first control devices. The first control device includes a position information acquisition unit that acquires position information indicating the position of the moving body, and a position information acquisition unit that acquires the position information indicating the position of the mobile object, and the first control device transmits the information received from the second control device. a signal output processing unit that compares the information with permissible compartment information and outputs a permission signal permitting movement of the mobile object in the permissible compartment based on the comparison result, the signal output processing unit Based on the result, it is determined whether or not the mobile object exists within the permissible section, and when it is determined that the mobile object exists within the permissible section, the permission signal is output.

(6) In the movement control system according to (5), the permissible section information includes information indicating an alarm area set on a peripheral side within the permissible section, and the signal output of the first control device The processing unit determines whether or not the mobile object exists in the warning area based on the comparison result, and when it is determined that the mobile object exists in the warning area, the processing unit A warning signal indicating that a moving object exists within the warning area is output.

(7) In the movement control system described in (6), the permissible section information management unit of the second control device generates the permissible section information that differs depending on the time zone.

(8) The program provides a computer included in the control device with a position information acquisition function that acquires position information indicating the position of the mobile object, and a permission indicating the permissible zone in which the mobile object is allowed to move. and a signal output processing function for outputting a permission signal for permitting movement of the mobile object in the permissible partition based on the comparison result, and in the signal output processing function, the comparison result is outputted. It is determined whether the mobile object exists within the permissible section based on the above, and when it is determined that the mobile object exists within the permissible section, the permission signal is outputted.

(9) The movement control method is a movement control method executed by a control device, which includes a position information acquisition step of acquiring position information indicating the position of a mobile object, and a step of acquiring position information indicating the position information and whether movement of the mobile object is permitted. and a signal output processing step of outputting a permission signal for permitting movement of the moving body in the permissible partition based on the comparison result, and outputting a permission signal for permitting movement of the mobile object in the permissible partition. Then, based on the comparison result, it is determined whether or not the mobile object exists within the permissible section, and when it is determined that the mobile object exists within the permissible section, the permission signal is output.

(10) The mobile body includes a wireless communication unit that communicates with the control device according to any one of (1) to (4), a self-position estimation unit that estimates its own position, a drive unit, and the a movement control section that controls a drive section, the self-position estimating section transmits the estimated self-position information to the control device using the wireless communication section, and the movement control section transmits the estimated self-position information to the control device using the wireless communication section; When the wireless communication unit receives a permission signal transmitted from the device, the drive unit is controlled to perform an operation corresponding to the permission signal.

(11) In the mobile body according to (10), the wireless communication unit receives a plurality of permission signals regarding movement within the same permitted section from different control devices.

(12) In the mobile body according to (11), when the movement control unit receives a predetermined number of permission signals from the wireless communication unit, the movement control unit controls the movement control unit to perform an operation corresponding to the permission signal. Control the drive unit.

According to the present invention, safe movement of a moving object can be supported with a simpler configuration and processing.

1 is a schematic diagram showing an example of a movement control system and a road to which the movement control system is applied according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of hardware and functional blocks of a roadside machine according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the positional relationship between a permissible section and a control target area in a movement control system according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the positional relationship between a permissible section and a control target area in a movement control system according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of hardware and functional blocks of a control server according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of hardware and functional blocks of a mobile object in a movement control system according to an embodiment of the present invention. 1 is a schematic diagram illustrating an example of a movement control system and a road to which the movement control system is applied according to an embodiment of the present invention, and is a diagram illustrating a state in which a mobile object is located outside a permissible section. It is a flowchart which shows an example of movement control performed by the roadside machine in one embodiment of the present invention. It is a flowchart which shows an example of movement control performed by the roadside machine in one embodiment of the present invention. 3 is a flowchart illustrating an example of movement control executed by the mobile object 3. FIG. 3 is a flowchart illustrating an example of movement control executed by the mobile object 3. FIG. It is a schematic diagram showing an example of a flight route of an unmanned flying object to which a movement control system and a movement control system are applied in a modification of the present invention. It is a schematic diagram showing an example of a movement control system in a modification of the present invention, and a road to which the movement control system is applied.

A movement control system S according to an embodiment of the present invention will be described below. Note that the present invention is not limited to the following embodiments. Furthermore, the figures referred to in the following description merely schematically illustrate the shape, size, and positional relationship to the extent that the content of the present disclosure can be understood. That is, the present invention is not limited to the shapes, sizes, and positional relationships illustrated in each figure.

<About the configuration and operation of the mobile control system S>
The overall configuration of a movement control system S according to an embodiment of the present invention will be described with reference to FIG. 1. FIG. 1 is a schematic diagram showing an example of a road 4 to which a movement control system S according to the present embodiment is applied.

The movement control system S is a system that controls the mobile body 3 so that the mobile body 3 moves in a predetermined section on the road 4. The movement control system S is installed around the road 4 such as on the road 4 or on the side of the road 4, and includes a plurality of roadside devices 1 capable of wirelessly communicating with a mobile object 3, which is a vehicle running on the road 4, and a plurality of roadside devices 1. The control server 2 includes a control server 2 that is communicably connected to each of the aircraft 1 via a communication network NW. Each of the plurality of roadside machines 1 includes a processing section 10 (control device, first control device) described later, and the control server 2 includes a processing section 20 (control device, second control device) described below. That is, the movement control system S includes a plurality of processing units 10 that are capable of wireless communication with a plurality of moving objects 3, and a processing unit 20 that is communicably connected to the plurality of processing units 10. As shown in FIG. 1, in this embodiment, a system for controlling automatic driving of a vehicle will be described as an example.

The mobile object 3 is, for example, an autonomous vehicle capable of autonomous movement. The mobile object 3 performs automatic driving based on the estimated own position information and map information around the mobile object 3. The mobile body 3 is configured to be able to communicate wirelessly with the roadside machine 1.

The communication network NW may be a wide area network (WAN) including a private network and the Internet. The former private network includes, for example, an OLT (optical line terminal), a PON access system formed by multiple ONUs (optical network units) connected to the OLT via optical lines, a layer 2 switch, a layer 3 switch, etc. It can be composed of On the other hand, an example of a WAN communication network is, for example, an MPLS (Multiprotocol Label Switching) network.

The roadside unit 1 is also called an RSU (roadside unit) or the like. The plurality of roadside devices 1 are installed in different areas around the road 4 (roadside) and the like. The term "area" refers to a range in which each roadside device 1 is in charge of communication with each mobile body 3, and indicates, for example, a geographical range set along a road 4. In the example shown in FIG. 1, the roadside machines 1A, 1B, and 1C, which are the plurality of roadside machines 1, are installed along the road 4 at a predetermined interval from each other.

The roadside device 1 provides a V2X (vehicle-to-everything) communication service by wirelessly communicating with a moving object 3 traveling on a road 4 and various devices existing in the vicinity. In addition, the roadside device 1 transmits data acquired through wireless communication with mobile objects 3 and various devices traveling within a wireless communication area (hereinafter referred to as a communication area) to the control server 2 via the communication network NW. Send. A processing unit 10 included in the roadside machine 1 executes movement control of the mobile body 3 by outputting various control signals to the mobile body 3. Various control signals are output based on the permissible section information stored in each roadside machine 1. The allowable section information is information regarding an allowable section A indicating a predetermined section on the road 4, as shown in FIG. Details of the allowable section information will be described later.

The control server 2 is communicatively connected to a plurality of roadside machines 1 via the communication network NW. The control server 2 in this embodiment generates and manages permissible section information stored in each of the plurality of roadside machines 1. Details of the configuration of the control server 2 and the permitted section information will be described later.

<About the configuration and operation of roadside unit 1>
Next, the functional configuration of the roadside machine 1 in movement control will be explained. FIG. 2 is a block diagram illustrating the configuration of hardware and functional blocks of the roadside device 1.

The roadside device 1 includes a processing section 10, a storage section 11, a communication I/F 12, and a wireless communication section 13, as shown in FIG.

The processing unit 10 is an arithmetic device constituted by a processor such as a CPU, and reads various programs and data from a storage unit 11, which will be described later, and executes them to realize a movement control function. In the present embodiment, the processing unit 10 executes data processing of each functional unit of the moving object information acquisition unit 110, the allowable section information acquisition unit 120, and the signal output processing unit 130. The operation of each functional section will be described later. Note that the movement control function of the processing unit 10 may be realized by hardware or software.

The storage unit 11 is a storage area for various programs and various data for making the hardware group function as the roadside device 1, and is a storage area for ROM, RAM, flash memory, semiconductor drive (SSD), hardware (HDD), etc. Can be configured. Specifically, the storage unit 11 stores a program for causing the processing unit 10 to execute each function of the present embodiment, a control program for the roadside machine 1, various parameters, data used for movement control of the mobile object 3, and a roadside machine. Identification information such as the IP address and MAC address of aircraft 1, information on geographical map information including the communication area, permissible division information (described later) within the communication area, and the location of the area subject to the control mode described later. Information is stored.

The communication I/F 12 is an interface for the roadside device 1 to communicate via the communication network NW. The roadside device 1 is communicably connected to the control server 2 via the communication I/F 12.

The wireless communication unit 13 executes processing for the roadside device 1 to wirelessly perform V2X communication with surrounding devices. The wireless communication unit 13 performs wireless communication with the mobile object 3 traveling within the communicable area of the roadside device 1 . The wireless communication unit 13 receives, for example, identification information for identifying the mobile body 3, position information indicating the position of the mobile body 3, traveling information of the mobile body 3, and the like.

Next, a functional configuration for the processing unit 10 to execute movement control of the mobile body 3 will be described.

The mobile object information acquisition unit 110 executes a process of acquiring information regarding the mobile object 3 traveling within the communicable area of the roadside device 1. The mobile object information acquisition section 110 includes an identification information acquisition section 111 , a position information acquisition section 112 , and a travel information acquisition section 113 .

The identification information acquisition unit 111 executes a process of acquiring the identification information of the mobile body 3 received via the wireless communication unit 13. The identification information acquired by the identification information acquisition unit 111 includes, for example, the size of the moving object 3, the identification ID of the in-vehicle device mounted on the moving object 3, and the MAC address and IPv6 address of the in-vehicle terminal device connected to the in-vehicle device. , license plate information, etc. may be included.

The position information acquisition unit 112 executes a process of acquiring the position information of the mobile body 3 received via the wireless communication unit 13. Examples of the location information include the latitude, longitude, altitude, etc. of the location where the mobile object 3 is located. In this embodiment, the location information acquisition unit 112 acquires at least latitude and longitude information as location information.

The traveling information acquisition unit 113 executes a process of acquiring the traveling information of the mobile object 3 received via the wireless communication unit 13. The traveling information includes, for example, information regarding the traveling speed, traveling direction, etc. of the moving body 3. The mobile object information acquisition unit 110 associates the acquired identification information, position information, and travel information of the mobile object 3 and stores them as mobile object information.

The permissible partition information acquisition unit 120 executes processing to obtain permissible partition information. The permissible section information is information indicating the position of the permissible section A provided within the communicable area of the roadside device 1 as shown in FIG. The permissible section A is a geographical range on the road 4 in which movement of the mobile object 3 in the control mode, the details of which will be described later, is permitted. The permissible division information is indicated by latitude, longitude, altitude, etc., for example. In FIG. 1, the allowable section A indicated by the allowable section information possessed by the roadside device 1A is shown by a dashed line, the allowable section A indicated by the allowable section information held by the roadside device 1B is indicated by a broken line, and the allowable section A indicated by the allowable section information possessed by the roadside device 1C is indicated by a dashed line. The allowable section A shown in FIG. In the example of FIG. 1, the position of the allowable section A of the roadside machine 1 is set to overlap with at least the allowable section A of another roadside machine 1. In FIG. 1, the allowable section A on the lower side of the page shows the positional relationship of the allowable section A on the road 4, and the allowable section A and the moving object 3 on the upper side of the page indicate the position of the moving object 3 determined by the processing unit 10, which will be described later. The contents of the comparison process between the information and the allowable section A are hypothetically shown.

The permissible section information also includes information indicating a warning area B set on the peripheral side of the permissible section A. That is, the warning area B is an area where there is a high possibility that the moving object 3 will move outside the allowable section A if it continues to move. In this embodiment, as shown in FIG. 1, the warning area B is provided on both edge sides of the allowable section A in a direction orthogonal to the moving direction of the moving body 3 in plan view.

The permissible compartment information acquisition unit 120 executes a process of acquiring permissible compartment information from the control server 2 or the storage unit 11. In this embodiment, upon receiving the permissible compartment information from the control server 2, the permissible compartment information acquisition unit 120 updates the permissible compartment information stored in the storage unit 11 to the received permissible compartment information.

The signal output processing unit 130 executes a process of outputting various signals for controlling the mobile body 3 based on the position information of the mobile body 3 and the like. The signal output processing section 130 includes a mode switching signal output processing section 131, a permission signal output processing section 132, and an alarm signal output processing section 133.

The mode switching signal output processing unit 131 executes a process of outputting a mode switching signal based on the position information of the moving object 3 and the allowable section information. The mode switching signal is a control signal that includes a command to execute mode switching to switch the mode in which the mobile object 3 moves to a controlled mode or a non-controlled mode. The control mode is a mode in which the operation of the mobile body 3 is controlled according to control signals such as a permission signal P and an alarm signal transmitted from the roadside device 1. The non-controlled mode is a mode in which the operation of the mobile body 3 is not controlled by control signals such as the permission signal P and the alarm signal transmitted from the roadside device 1.

Here, the relationship between the area to be controlled in the control mode (hereinafter referred to as control target area C) and the permissible section A will be explained. 3A and 3B are diagrams for explaining the relationship between the control target area C and the permissible section A. In addition, in FIG. 3A and FIG. 3B, the permissible section A is shown with a dashed-dotted line, and the control target area C is shown with a broken line. As shown in FIG. 3A, the control target area C is located inside the entrance and exit of the allowable section A in the traveling direction of the moving object 3 on the road 4, and is wider than the width of the allowable section A. It is set. Further, as shown in FIG. 3B, the control target area C is located at the same location as the entrance and exit of the permissible section A, and may be set to be wider than the width of the permissible section A.

For example, when it is determined based on the position information of the mobile object 3 that the mobile object 3 has entered the control target area C, the mode switching signal output processing unit 131 sends a mode switching signal that causes the mode to be switched from the non-control mode to the control mode. Output. In addition, when it is determined that the mobile object 3 has left the control target area C based on the position information of the mobile object 3, the mode switching signal output processing unit 131 sends a mode switching signal that causes the mode switching from the control mode to the non-control mode. Output.

The permission signal output processing unit 132 executes a process of outputting a permission signal P that allows movement of the mobile object 3 in the control mode. The permission signal output processing unit 132 compares the position information of the moving body 3 and the allowable section information, and outputs the permission signal P based on the comparison result. Specifically, the permission signal output processing unit 132 determines whether or not the mobile object 3 exists within the allowable section A based on the comparison result between the position information of the moving object 3 and the allowable section information, and prevents the moving object from moving. When it is determined that the body 3 exists within the allowable section A, a permit signal P is output. For example, the permission signal output processing unit 132 uses information regarding the size of the moving object 3, which is identification information, and determines that the moving object 3 exists within the allowed section A only when the entire moving object 3 is located within the allowed section A. You may. Alternatively, for example, the permission signal output processing unit 132 may determine that the moving object exists within the allowable section A when at least a portion of the moving object 3 is located within the allowable section A. Alternatively, when the center of the vehicle body of the moving object 3 is located within the allowable section A, it may be determined that the moving object exists within the allowable section A. For example, if the mobile object 3 receives the permission signal P in the control mode, it will be able to continue traveling, and if it has not received the permission signal P, it will be subject to control that restricts its continued travel.

The alarm signal output processing unit 133 executes a process of outputting an alarm signal based on the position information of the moving object 3 and the allowable section information. The alarm signal is a control signal that includes a command that causes the moving body 3 to execute a process of generating an alarm to alert the operator of the moving body 3. The alarm signal output processing unit 133 compares the position information with information indicating the alarm area B included in the allowable section information, and determines whether the mobile object 3 exists in the alarm area B based on the comparison result. . Then, when it is determined that the mobile body 3 exists within the warning area B, the alarm signal output processing unit 133 outputs an alarm signal to the mobile body 3 indicating that the mobile body 3 exists within the warning area B. do.

<About the configuration and operation of control server 2>
Next, the functional configuration of the control server 2 in movement control will be explained. FIG. 4 is a block diagram illustrating the configuration of hardware and functional blocks of the control server 2. As shown in FIG.

The control server 2 includes a processing section 20, a storage section 21, and a communication I/F 22, as shown in FIG.

The processing unit 20 is an arithmetic unit constituted by a processor such as a CPU, and reads various programs and data from a storage unit 21 (described later) and executes them to realize a movement control function. In this embodiment, the processing unit 20 executes data processing of each functional unit: a roadside machine information acquisition unit 210, a map information management unit 220, and an allowable section information management unit 230. The operation of each functional section will be described later. Note that the movement control function of the processing unit 20 may be realized by hardware or software.

The storage unit 21 is a storage area for various programs and various data for making the hardware group function as the control server 2, and is a storage area for ROM, RAM, flash memory, semiconductor drive (SSD), hardware (HDD), etc. Can be configured. Specifically, the storage unit 21 stores a program for causing the processing unit 20 to execute each function of the present embodiment, a control program for the control server 2, various parameters, data used for movement control of the mobile object 3, and control Identification information such as IP addresses and MAC addresses of the plurality of roadside devices 1 communicably connected to the server 2, geographical map information including communication areas of the plurality of roadside devices 1, and communication of each of the plurality of roadside devices 1. Permissible partition information within the possible area is stored.

The communication I/F 22 is an interface for the control server 2 to communicate via the communication network NW. The control server 2 is communicably connected to a plurality of roadside machines 1 and other communication devices via a communication I/F 22.

Next, a functional configuration for the processing unit 20 to execute movement control of the mobile body 3 will be described.

The roadside machine information acquisition unit 210 (position information acquisition unit) executes a process of acquiring roadside machine information transmitted from each of the plurality of roadside machines 1. Examples of the roadside machine information include moving body information acquired by each of the plurality of roadside machines and information regarding events occurring on the road 4. Information related to events includes, for example, traffic accidents, traffic jams, vehicle breakdowns, running of emergency vehicles, road abnormalities, fires, running of maintenance vehicles on the road 4, and the like. That is, the roadside device information acquisition unit 210 obtains information such as identification information, position information, and travel information of the mobile object 3 traveling in the communication area of each roadside device 1, information regarding the occurrence status of traffic accidents on the road 4, etc. get.

The map information management unit 220 generates map information based on information acquired from the outside and updates it as needed. The map information may be, for example, a dynamic map. Dynamic maps are a combination of static information such as road surface information, lane information, and structures, and dynamic information such as traffic regulations, construction, congestion, vehicles, pedestrians, and traffic lights. It is a three-dimensional digital map with high-level information. The map information management unit 220 updates the dynamic map as needed based on information acquired from the outside, and transmits it to each of the plurality of roadside machines 1. Note that the map information transmitted to each roadside machine 1 is transmitted from the roadside machine 1 to the moving body 3 that is running.

The permissible section information management unit 230 generates and manages permissible section information for each of the plurality of roadside machines 1. Specifically, the permissible compartment information management unit 230 generates permissible compartment information for each of the plurality of roadside machines 1 based on information acquired via the communication network NW and a predetermined program stored in the storage unit 21. do. Then, the permissible section information management unit 230 transmits the generated permissible section information to the corresponding roadside machine 1. The permissible section information management unit 230 may generate different permissible section information depending on the time zone, for example. For example, the permissible section information management unit 230 stores the permissible section information so that the size of the permissible section A becomes smaller and the position of the permissible section A is closer to the center of the road 4 during times such as mornings and evenings when children go to school. may be generated. Further, the permissible compartment information management unit 230 may generate different permissible compartment information based on information acquired from the outside. For example, the permissible section information management unit 230 may change the permissible section information based on the information regarding the event acquired from the roadside machine 1. More specifically, when obtaining information on the occurrence of a traffic accident on the road 4, the permissible section information management unit 230 may generate permissible section information that avoids the location where the accident occurred. For example, when the permitted section information management unit 230 obtains information that a maintenance vehicle is traveling on an expressway, it may generate permitted section information for movement of the maintenance vehicle.

<About the configuration and operation of the mobile body 3>
Next, the functional configuration of the moving body 3 will be explained. FIG. 5 is a block diagram illustrating the configuration of the hardware and functional blocks of the mobile object 3. As shown in FIG.

The mobile body 3 includes a processing section 30, a storage section 31, a wireless communication section 32, a sensor section 33, a GNSS section 34, and a drive section 35, as shown in FIG.

The processing unit 30 is an arithmetic device constituted by a processor such as a CPU, and reads various programs and data from a storage unit 31, which will be described later, and executes them to realize a movement control function. In the present embodiment, the processing unit 30 executes data processing of each functional unit: a self-position estimation unit 310, a signal acquisition unit 320, a mode switching unit 330, a movement control unit 340, and an alarm control unit 350. do. The operation of each functional section will be described later.

The storage unit 31 is a storage area for various programs and various data for making the hardware group function as the mobile body 3, and is a ROM, RAM, flash memory, semiconductor drive (SSD), hardware (HDD), etc. Can be configured. Specifically, the storage unit 31 stores a program for causing the processing unit 30 to execute each function of the present embodiment (control program for the mobile body 3), various parameters, data used for movement control of the mobile body 3, Identification information such as the identification ID and IP address of the mobile body 3, map information, etc. are stored. Examples of the map information include a dynamic map and the like.

The wireless communication unit 32 executes processing for the mobile body 3 to communicate with the roadside device 1 wirelessly. The wireless communication unit 32 transmits, for example, identification information for identifying the mobile body 3, position information indicating the position of the mobile body 3, traveling information of the mobile body 3, etc. to the roadside device 1, and sends a mode switching signal, a permission signal P, and an alarm. Various control signals such as traffic lights, map information generated by the control server 2, etc. are received from the roadside device 1. The wireless communication unit 32 communicates with the processing unit 10 via the wireless communication unit 13 of the roadside device 1.

The sensor unit 33 is a device for detecting information around the mobile body 3 itself. The sensor unit 33 may be, for example, a radar or the like that detects the distance, direction, relative speed, etc. to objects existing around the moving object 3 based on the transmitted waves transmitted around the moving object 3 and the reflected received waves. It may be LIDAR (light detection and ranging), a camera, or the like. In this embodiment, LIDAR is used as the sensor unit 33, which irradiates the area around the moving body 3 with laser light and detects surrounding objects as point cloud data. LIDAR can detect the position and shape of surrounding objects with high accuracy. The sensor unit 33 transmits the detected point cloud data to the processing unit 30.

The GNSS (Global Navigation Satellite System) unit 34 includes an antenna and receives GNSS signals and the like. The GNSS signal is transmitted from a navigation satellite, etc. that constitutes GNSS, such as a GPS (Global Positioning System) or a quasi-zenith satellite system. The GNSS section 34 transmits the received GNSS signal to the processing section 30.

The drive unit 35 is a part that is involved in driving the moving body 3, such as an engine, a motor, and a brake.

Next, a functional configuration for the processing unit 30 to execute movement control of the mobile body 3 will be described.

The self-position estimating unit 310 executes a process of estimating position information indicating the position of the mobile body 3 itself. For example, the self-position estimating unit 310 estimates the position of the mobile body 3 based on map information received from the control server 2, point cloud data around the mobile body 3 received from the sensor unit 33, GNSS signals received from the GNSS unit 34, etc. Location information may also be estimated. More specifically, the self-position estimating unit 310 may estimate the position information of the mobile body 3 by comparing point cloud data around the mobile body 3 with map information. The position information estimated by the self-position estimation unit 310 is transmitted to the roadside device 1 via the wireless communication unit 32.

The signal acquisition unit 320 executes a process of acquiring various control signals such as a mode switching signal, a permission signal P, and an alarm signal from the roadside device 1 via the wireless communication unit 32.

The mode switching unit 330 switches the movement mode of the moving object 3 when the signal acquisition unit 320 acquires the mode switching signal. Specifically, when the mode switching unit 330 receives a mode switching signal that causes the mode switching from the non-control mode to the control mode while the movement mode of the mobile object 3 is the non-control mode, the mode switching unit 330 switches the movement mode to the control mode. Switch to control mode. On the other hand, when the mode switching unit 330 receives a mode switching signal for switching the mode from the controlled mode to the non-controlled mode while the moving mode of the mobile object 3 is the controlled mode, the mode switching unit 330 changes the moving mode from the controlled mode. Switch to uncontrolled mode.

The movement control unit 340 executes processing for controlling the movement of the mobile body 3 based on the position information etc. estimated by the self-position estimating unit 310. Specifically, the movement control unit 340 controls the driving of the drive unit 35 based on the position information and travel information of the mobile object 3, the map information stored in the storage unit 31, etc. to the set destination. control the movement of

Furthermore, when the movement mode of the mobile body 3 is the control mode, the movement control unit 340 executes processing for controlling the drive of the mobile body 3 based on the acquisition status of the permission signal P by the signal acquisition unit 320. The movement control unit 340 controls the drive unit 35 to perform an operation corresponding to the permission signal P when the wireless communication unit 32 receives the permission signal P transmitted from the processing unit 10 of the roadside device 1. For example, when the movement control unit 340 receives the permission signal P, the movement control unit 340 may control the drive unit 35 so that the movement of the mobile body 3 within the allowable section A is continued. For example, the movement control unit 340 may execute control to stop the moving body 3 when the signal acquisition unit 320 does not acquire the permission signal P within the determination period. The movement of the mobile body 3 may be controlled so that the mobile body 3 returns to the allowable section A. The length of the determination period is not particularly limited, and may be determined to be an appropriate determination period depending on the system, for example, depending on the type of mobile object 3, the design of the control target area C, or the area requirements that require greater safety. You can set the length. For example, when it is assumed that the mobile body 3, which is a vehicle, moves at a speed of 36 km/h (10 m/s), it is necessary for the round trip of information and signals between the mobile body 3 and the processing unit 10, which is the control device of the roadside device 1. If the time is 80 milliseconds (40 milliseconds one way) and the length of the determination period in the processing unit 10 is 20 milliseconds, the total value of these will be 100 milliseconds. In this case, the total value of 100 milliseconds (0.1 seconds) is the time from when the mobile body 3 transmits its position information until it receives the permission signal P, and the total value is the time from when the mobile body 3 transmits its position information to when the mobile body 3 moves 1 m. corresponds to time. In this way, the length of the determination period between the processing units 10 of the mobile body 3 and the roadside machine 1 and within the processing unit 10 can be designed to be suitable for the control service of the mobile control system S. Note that the interval at which the mobile unit 3 and the roadside device 1 transmit signals can be designed depending on the structure of the mobile unit 3 and the control target area C, and may be, for example, every 100 milliseconds or less. In addition, when vehicle congestion occurs near the roadside unit 1 and communications from many vehicles are concentrated, the communication algorithm gives priority to the mobile unit 3 that is subject to the control service (the mobile unit 3 that requires permission signal P). It is also conceivable that the roadside device 1 transmits the information to the mobile object 3 at short intervals, and the roadside device 1 also preferentially transmits the information to the mobile object 3 at short intervals. At this time, it is conceivable that the mobile unit 3 that is not subject to the control service is determined to have a low priority, and the permission signal P from the roadside unit 1 is transmitted at an interval longer than 100 milliseconds. Further, the control for stopping the moving body 3 may be, for example, control for decelerating the moving body 3 to a predetermined speed and then stopping the moving body 3. For example, if the permission signal P from a predetermined number or more of the roadside devices 1 is not acquired within the determination period, the movement control unit 340 controls to stop the mobile object 3 or to return it to the allowable section A. control may be performed.

When the movement mode of the mobile body 3 is the control mode, the alarm control unit 350 executes processing for generating an alarm when the signal acquisition unit 320 acquires the alarm signal. The warning may be audio information, text information, etc. for notifying the operator of the mobile body 3 of a situation in which there is a possibility that the mobile body 3 may deviate from the permissible zone A. For example, the alarm control unit 350 may display an alarm on a liquid crystal display, a mirror, or the like disposed in the movable body 3, or may generate audio information from a speaker disposed within the movable body 3.

Next, an example of movement control on the road 4 by the movement control system S will be described with reference to FIGS. 1 and 6. FIG. 6 is a schematic diagram showing an example of the movement control system S and a road 4 to which the movement control system S is applied, and is a diagram showing a situation where the mobile object 3 is located outside the allowable section A.

The roadside devices 1A to 1C shown in FIG. 1 compare the position information of the mobile object 3 and the allowable section information. As shown in FIG. 1, the permission signal output processing units 132 of the roadside machine 1A and the roadside machine 1B transmit the permission signal P to the mobile body 3 because the mobile body 3 is located within the allowable section A. On the other hand, the roadside device 1C does not transmit the permission signal P because the mobile body 3 is outside the communicable area and cannot perform the process of comparing the positions of the mobile body 3 and the allowable section A.

In the state shown in FIG. 6, the center of the vehicle body of the mobile object 3 is outside the allowable section A within the communication area of the roadside device 1A and the roadside device 1B. Therefore, the permission signal output processing unit 132 of the roadside device 1A and the roadside device 1B determines that the mobile object 3 does not exist within the allowable section A, and does not output the permission signal P. As a result, the moving body 3 decelerates and stops as shown in FIG.

Next, a flow of movement control of the mobile body 3 by the movement control system S according to the present embodiment will be explained. Note that the contents of the processing in the following operation description are merely examples, and various processing that can obtain similar results can be used as appropriate.

First, the flow of the movement control process executed by the roadside machine 1 will be described with reference to FIGS. 7 and 8. FIG. 7 is a flowchart showing an example of the process up to the output of the mode switching signal in the movement control executed by the processing unit 10 of the roadside device 1, and FIG. 8 is a flowchart showing an example of the process for controlling the mobile object 3 in the control mode. It is a flowchart. The processing unit 10 executes the processes shown in FIGS. 7 and 8 based on a program stored in the storage unit 11 or the like, for example. The process flow illustrated in FIGS. 7 and 8 starts the process when the installed roadside machine 1 starts up, and then continues the process while the roadside machine 1 is in operation.

As shown in FIG. 7, in step S11, the position information acquisition unit 112 acquires the position information of the mobile object 3 received via the wireless communication unit 13.

In step S12, the mode switching signal output processing unit 131 compares the position information acquired in step S11 with information indicating the position of the control target area C stored in the storage unit 11, and determines whether the mobile object 3 is in the control target area C. Determine whether the vehicle has entered the interior of the vehicle. When the mode switching signal output processing unit 131 determines that the mobile object 3 has entered the control target area C (step S12; YES), the process proceeds to step S13. On the other hand, when the mode switching signal output processing unit 131 determines that the mobile object 3 is outside the control target area C (step S12; NO), it repeats the process of step S11.

In step S13, the mode switching signal output processing unit 131 outputs a mode switching signal for switching the mobile object 3 to the control mode. The mode switching signal is then transmitted to the mobile body 3 by the wireless communication unit 13.

As shown in FIG. 8, in step S21, the allowable section information acquisition unit 120 extracts allowable section information from the storage section 11.

In step S22, the position information acquisition unit 112 acquires the position information of the mobile body 3 received via the wireless communication unit 13.

In step S23, the permission signal output processing unit 132 compares the permissible section information acquired in step S21 with the position information acquired in step S22, and determines whether the mobile object 3 is within the permissible section A. When the permission signal output processing unit 132 determines that the moving body 3 is within the allowable section A (step S23; YES), the process proceeds to step S24. On the other hand, when the permission signal output processing unit 132 determines that the mobile object 3 is outside the allowable section A (step S23; NO), the permission signal output processing unit 132 repeats the process of step S22.

In step S24, the permission signal output processing unit 132 outputs a permission signal P that allows the moving object 3 to move. The permission signal P is then transmitted to the mobile body 3 by the wireless communication unit 13. After that, the processing unit 10 returns the process to step S22.

Next, the flow of movement control processing executed by the mobile object 3 will be described with reference to FIGS. 9 and 10. FIG. 9 is a flowchart illustrating an example of a process executed by the mobile body 3 until switching the movement mode to the control mode, and FIG. 10 is a flowchart illustrating an example of the process executed by the mobile body 3 in the control mode.

As shown in FIG. 9, in step S31, the self-position estimating unit 310 estimates position information indicating the position of the mobile body 3 itself. The self-position estimating unit 310 estimates the position information of the mobile body 3 itself, based on map information received from the control server 2 via the roadside device 1 and point cloud data received from the sensor unit 33, for example.

In step S32, the wireless communication unit 32 transmits the position information of the mobile object 3 estimated in step S31 to the roadside device 1.

In step S33, the mode switching unit 330 determines whether a mode switching signal from the roadside device 1 has been received. When the mode switching unit 330 determines that the mode switching signal has been acquired by the signal acquisition unit 320 (step S33; YES), the mode switching unit 330 moves the process to step S34. On the other hand, if the mode switching unit 330 determines that the signal acquisition unit 320 has not acquired the mode switching signal (step S33; NO), the mode switching unit 330 returns the process to step S31.

In step S34, the mode switching unit 330 switches the movement mode of the mobile object 3 to the control mode.

As shown in FIG. 10, in step S41, the self-position estimating unit 310 estimates position information indicating the position of the mobile object 3 itself. The self-position estimating unit 310 estimates the position information of the mobile body 3 itself, based on map information received from the control server 2 via the roadside device 1 and point cloud data received from the sensor unit 33, for example.

In step S42, the wireless communication unit 32 transmits the position information of the mobile object 3 estimated in step S41 to the roadside device 1.

In step S43, the movement control unit 340 determines whether the signal acquisition unit 320 has received the permission signal P within the determination period. When the movement control unit 340 determines that the permission signal P has been acquired within the determination period by the signal acquisition unit 320 (step S43; YES), the movement control unit 340 returns the process to step S41. On the other hand, when the movement control unit 340 determines that the signal acquisition unit 320 has not acquired the permission signal P within the determination period (step S43; NO), the movement control unit 340 moves the process to step S44.

In step S44, the movement control unit 340 controls the drive unit 35 to stop the movement of the moving body 3.

According to the embodiment described above, the following effects are achieved.

The processing unit 10 according to the present embodiment includes a position information acquisition unit 112 that acquires position information indicating the position of the mobile object 3, and permissible section information indicating the permissible section A in which the moving object 3 is allowed to move. and a signal output processing unit 130 that outputs a permission signal P that permits movement of the mobile object 3 in the permitted section A based on the comparison result. It is determined whether or not the moving body 3 exists within the allowable section A, and when it is determined that the moving object 3 exists within the allowable section A, a permit signal P is output. This makes it possible for the moving object 3 to move within a predetermined area through a simple process of comparing the position of the moving object 3 with the allowable section A. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.

Furthermore, in the processing unit 10 according to the present embodiment, the permissible section information includes information indicating a warning area B set on the peripheral side within the permissible section A, and the signal output processing section 130, based on the comparison result, It is determined whether or not the moving object 3 exists in the alarm area B, and when it is determined that the moving object 3 exists in the alarm area B, the moving object 3 exists in the alarm area B with respect to the moving object 3. Outputs an alarm signal to indicate this. Thereby, it is possible to grasp that there is a possibility that the operator of the moving body 3 or the like moves outside the allowable section A.

Further, in the processing unit 10 according to the present embodiment, the signal output processing unit 130 outputs the permission signal P to the mobile body 3, which is the mobile body 3 capable of autonomous movement. This makes it possible for an autonomous vehicle or the like to more reliably travel a predetermined travel route.

Further, the roadside device 1 according to the present embodiment is a roadside device 1 including each component of the processing unit 10, and is installed on or beside the road 4 on which the mobile body 3 moves. Thereby, safe movement of the moving body 3 traveling on the road 4 can be supported with a simple configuration and processing.

The movement control system S according to the present embodiment is capable of wireless communication with the mobile body 3, and includes a plurality of processing units 10 installed in different areas, and a processing unit communicatively connected to the plurality of roadside machines 1. 20, the processing unit 20 generates permissible section information indicating a permissible section A in which movement of the mobile object 3 is permitted, and transmits it to each of the plurality of roadside machines 1. The processing unit 10 includes a permissible compartment information management unit 230, and the processing unit 10 compares the position information with the permissible compartment information received from the processing unit 20 with a position information acquisition unit 112 that acquires position information indicating the position of the mobile object 3. and a signal output processing unit 130 that outputs a permission signal P that allows the movement of the mobile object 3 in the permissible section A based on the comparison result, and the signal output processing unit 130 It is determined whether the moving body 3 exists within the allowable section A, and when it is determined that the moving object 3 exists within the allowable section A, a permit signal P is output. This makes it possible for the moving object 3 to move within a predetermined area through a simple process of comparing the position of the moving object 3 with the allowable section A. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.

Further, in the movement control system S according to the present embodiment, the permissible section information includes information indicating an alarm area B set on the peripheral side within the permissible section A, and the signal output processing section 130 of the processing section 10 Based on the comparison result, it is determined whether or not the moving object 3 exists in the warning area B, and when it is determined that the moving object 3 exists in the warning area B, the moving object 3 is located in the warning area with respect to the moving object 3. It outputs an alarm signal indicating that it exists within B. Thereby, it is possible to grasp that there is a possibility that the operator of the moving body 3 or the like moves outside the allowable section A.

Furthermore, in the movement control system S according to the present embodiment, the permissible section information management section 230 of the processing section 20 generates different permissible section information depending on the time zone. As a result, the position, size, etc. of the permissible section A can be changed taking into account traffic conditions that change depending on the time of day, so the moving body 3 can be moved more safely.

The program according to the present embodiment provides a computer included in the processing unit 10 with a position information acquisition function for acquiring position information indicating the position of the mobile body 3, the position information, and an allowable zone in which movement of the mobile body 3 is allowed. A, and a signal output processing function for outputting a permission signal P for permitting movement of the mobile object 3 in the permissible section A based on the comparison result, and in the signal output function, Based on the comparison result, it is determined whether or not the moving object 3 exists within the allowable section A, and when it is determined that the moving object 3 exists within the allowable section A, a permit signal P is output. This makes it possible for the moving object 3 to move within a predetermined area through a simple process of comparing the position of the moving object 3 with the allowable section A. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.

The movement control method according to the present embodiment is a movement control method executed by the processing unit 10, which includes a position information acquisition step of acquiring position information indicating the position of the mobile body 3, position information, and movement of the mobile body 3. a signal output processing step of comparing the permissible section information indicating the permissible section A in which the mobile object is permitted, and outputting a permission signal P that permits movement of the mobile object 3 in the permissible section A based on the comparison result, In the signal output processing step, it is determined whether or not the moving object 3 exists within the allowable section A based on the comparison result, and when it is determined that the moving object 3 exists within the allowable section A, a permit signal P is output. do. This makes it possible for the moving object 3 to move within a predetermined area through a simple process of comparing the position of the moving object 3 with the allowable section A. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.

The mobile object 3 according to the present embodiment includes a wireless communication section 32 that communicates with the processing section 10, a self-position estimation section 310 that estimates its own position, a drive section 35, and a movement control section that controls the drive section 35. 340, the self-position estimating section 310 transmits the estimated self-position information to the processing section 10 using the wireless communication section 32, and the movement control section 340 receives permission transmitted from the processing section 10. When the signal P is received by the wireless communication unit 32, the driving unit 35 is controlled to perform an operation corresponding to the permission signal P. Thereby, it is possible to provide a mobile body 3 managed and controlled by the roadside machine 1 including the processing unit 10. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be modified as appropriate.

Although the mobile object 3 in the above embodiment is an automatic driving vehicle, it may be a vehicle that does not have an automatic driving function. Further, the vehicle may be a four-wheeled motor vehicle or a two-wheeled motor vehicle. Furthermore, the mobile object 3 is not limited to a vehicle, and may be an unmanned flying object such as a drone, for example. Particularly in the case of unmanned flying vehicles, 3D map information mainly using latitude, longitude, and altitude information is used.

Here, the configuration of the movement control system S in the case where the mobile object 3 is an unmanned flying object will be explained. FIG. 11 is a schematic diagram showing an example of a flight path of an unmanned flying vehicle to which a movement control system S according to a modification of the present embodiment is applied.

The unmanned aerial vehicle inspects the condition of electric wires 51 suspended on steel towers 50, inspects the condition of roads and walls in tunnels, inspects the condition of structures that extend over rivers, canals, railroad tracks, roads, etc., and inspects the condition of buildings. It is used for inspections of rivers, cliffs, the sea, etc. during disasters. In the example shown in FIG. 11, the state of the electric wire 51 of the steel tower 50 is inspected using an autonomously movable unmanned flying object.

The permissible zone A in which the unmanned aerial vehicle can fly is defined by latitude, longitude, and altitude. Further, although the shape of the allowable section A is a prismatic shape in the example shown in FIG. 11, it is not limited to this shape, and various shapes such as a cylindrical shape can be considered. In the example shown in FIG. 11, the allowable section A is set at a distance of several meters from the electric wire 51.

In the example shown in FIG. 11, the roadside machines 1D, 1E, and 1F manage the permitted section A. The roadside aircraft 1D, 1E, and 1F acquire position information from the unmanned aircraft, compare the permissible compartment information indicating the permissible compartment A that they have stored with the position information of the unmanned aircraft, and determine whether the unmanned aircraft is located in the permissible compartment A. If the aircraft is flying within the area, a permission signal P is transmitted to the unmanned aircraft. Further, if the unmanned flying object deviates from the allowable zone A, an autonomous drone evacuation program may be activated to land on a safe route, or an emergency landing may be made on the opposite side of the steel tower 50.

Moreover, the moving body 3 may be a working robot. In this case, 3D map information using latitude, longitude, and altitude information may be used to set a permitted section in a location other than the prohibited area. This makes it possible to support safety by, for example, stopping the operation of the robot if it deviates from the permissible zone. The mobile object 3 can also be a V2X communication terminal, also called V2P (Vehicle-to-Pedestrian), owned by a pedestrian or a worker. In this case, for example, if a worker is set in a location other than a dangerous area and leaves a permissible section that is a safe area, a warning can be issued to the worker from the V2X communication terminal.

In the above embodiment, the roadside device 1 has the signal output processing unit 130, but the control server 2 acquires the position information of the mobile object 3 via the roadside device 1, and compares the position information with the section information. A mode switching signal, a permission signal P, or a warning signal may be output based on this.

For example, if the permission signal P is not output from the roadside machine 1 within the determination period, the control server 2, based on the location information and map information of the mobile object 3 acquired by the roadside machine information acquisition unit 210, The moving body 3 may be provided with a remote control unit that remotely controls the moving body 3 to move within the permissible section.

Further, the movement control system S is not limited to the above-mentioned configuration, and may have other configurations. FIG. 12 is a schematic diagram showing an example of a movement control system S according to a modification of the present embodiment and a road 4 to which the movement control system S is applied. The movement control system S is installed around the road 4 such as on the road 4 or on the side of the road 4, and has a plurality of roadside devices including roadside devices 1G and 1H capable of wirelessly communicating with a mobile object 3, which is a vehicle traveling on the road 4. and a control server 2 that is communicably connected to each of the plurality of roadside machines 1 via a communication network NW. The roadside machine 1G and the roadside machine 1H have the same configuration. The plurality of roadside machines 1G are arranged along the road 4 at predetermined intervals. The roadside machine 1H is arranged at a position facing the roadside machine 1G across the road 4. In addition, the roadside unit 1G and the roadside unit 1H may be configured such that a plurality of units are arranged along the road 4 so as to cover the entire length of the allowable section A, or one unit is arranged along the road 4 only at a specific location. Alternatively, a plurality of units may be arranged. The specific location is a location arbitrarily designated by the operator, such as a construction site. In addition, although it was explained above that the allowable section A is set by overlapping all of the allowable sections A of each of the plurality of roadside units 1, the present invention is not limited to this, and part of the allowable section A of each of the plurality of roadside machines 1 The allowable section A may be set to overlap. The mobile body 3 will receive a plurality of permission signals P in the overlapping permission sections A.

The wireless communication unit 32 of the mobile body 3 receives a plurality of permission signals P regarding movement within the same permitted section A from different roadside devices 1. In the example shown in FIG. 12, the mobile body 3 transmits position information to the roadside machine 1G and the roadside machine 1H. The roadside machine 1G transmits the position information received from the mobile object 3 to the control server 2. Furthermore, the roadside device 1H transmits the position information received from the mobile object 3 to the control server 2.

The control server 2 generates a permission signal PG if the mobile object 3 exists in the permissible section A based on the position information received from the roadside device 1G, and transmits the generated permission signal PG to the roadside device 1G. The roadside machine 1G then transmits a permission signal PG to the mobile body 3. Furthermore, the control server 2 generates a permission signal PH if the mobile object 3 exists in the allowable section A based on the position information received from the roadside device 1H, and transmits the generated permission signal PH to the roadside device 1H. . The roadside device 1H then transmits the permission signal PH to the mobile body 3.

The wireless communication unit 32 of the mobile body 3 receives a plurality of permission signals P regarding movement within the same permitted section A from different processing units 10. In the example shown in FIG. 12, the wireless communication unit 32 receives permission signals P regarding movement within the same permitted section A from the roadside device 1G and the roadside device 1H. Note that the permission signal P may be generated by the roadside device 1. In this configuration, the control server 2 transmits to each roadside machine 1 at a predetermined timing information on the latest permitted section A that is suitable for the location where each roadside machine 1 is located. Based on the position information received from the mobile unit 3, the roadside unit 1G and the roadside unit 1H generate a permission signal P if the mobile unit 3 exists in the allowable section A, and transmit the generated permission signal P to the mobile unit 3. Send to.

The movement control unit 340 of the mobile body 3 may control the drive unit 35 to perform an operation corresponding to the permission signal P when a predetermined number of permission signals P are received by the wireless communication unit 32. . Specifically, when the predetermined number is "1", the movement control unit 340 of the moving body 3 controls the drive unit 35 to be driven when the permission signal PG or the permission signal PH is received. do. Further, when the predetermined number is "2", the movement control unit 340 of the moving body 3 controls the drive unit 35 to be driven when the permission signal PG and the permission signal PH are received. Good too. In this way, the movement control system S arranges the roadside devices 1 at positions facing each other across the road 4, so that, for example, when the roadside devices 1 are running parallel to a large moving object (such as a truck), etc. However, the position information of the target moving body 3 can be reliably acquired by the roadside machine 1 disposed on one side, and blind spot countermeasures can be taken. In addition, in the mobile control system S, since multiple roadside units 1 are arranged at different positions for the same allowable section A, even if one of the roadside units 1 breaks down, other roadside units 1 will be able to control the target. It is possible to reliably acquire the position information of the moving body 3, and it is possible to take measures against equipment failure.

1 Roadside machine 2 Control server 3 Mobile body 10 Processing unit (control device, first control device)
20 Processing unit (control device, second control device)
32 Wireless communication section 35 Drive section 112 Position information acquisition section 130 Signal output processing section 230 Permissible section information management section 310 Self-position estimating section 340 Movement control section A Permissible section P Permission signal S Movement control system

Claims (12)

a position information acquisition unit that acquires position information indicating the position of the mobile object;
A signal that compares the position information with permissible section information indicating a permissible section in which movement of the mobile object is permitted, and outputs a permission signal that permits movement of the mobile object in the permissible section based on the comparison result. An output processing unit;
The signal output processing unit determines whether or not the mobile object exists within the permissible section based on the comparison result, and when determining that the mobile object exists within the permissible section, outputs the permission signal. A control device that outputs. The permissible section information includes information indicating an alarm area set on the peripheral side within the permissible section,
The signal output processing unit determines whether or not the mobile object is present in the warning area based on the comparison result, and when it is determined that the mobile body is present in the warning area, the signal output processing unit The control device according to claim 1, wherein the control device outputs an alarm signal indicating that the moving body exists within the alarm area. The control device according to claim 1, wherein the signal output processing unit outputs the permission signal to the mobile body that is capable of autonomous movement. A roadside machine comprising each component of the control device according to any one of claims 1 to 3, the roadside machine being installed on or beside a road on which the moving body moves. A mobile control device that includes a plurality of first control devices that are capable of wireless communication with mobile objects and are installed in different areas, and a second control device that is communicably connected to the plurality of first control devices. A system,
The second control device includes a permission zone information management unit that generates permission zone information indicating a zone in which movement of the mobile object is permitted, and transmits the generated zone information to each of the plurality of first control devices,
The first control device includes a position information acquisition unit that acquires position information indicating the position of the mobile object;
a signal output processing unit that compares the position information and the permissible section information received from the second control device, and outputs a permission signal permitting movement of the mobile object in the permissible section based on the comparison result; , has
The signal output processing unit determines whether or not the mobile object exists within the permissible section based on the comparison result, and when determining that the mobile object exists within the permissible section, outputs the permission signal. A movement control system that outputs. The permissible section information includes information indicating an alarm area set on the peripheral side within the permissible section,
The signal output processing unit of the first control device determines whether or not the mobile object exists in the warning area based on the comparison result, and if it is determined that the mobile object exists in the warning area. 6. The movement control system according to claim 5, wherein an alarm signal is output to the moving object to indicate that the moving object exists within the warning area. The movement control system according to claim 6, wherein the permissible section information management unit of the second control device generates the permissible section information that differs depending on the time zone. In the computer included in the control device,
a location information acquisition function that obtains location information indicating the location of a moving object;
A signal that compares the position information with permissible section information indicating a permissible section in which movement of the mobile object is permitted, and outputs a permission signal that permits movement of the mobile object in the permissible section based on the comparison result. Execute the output processing function,
The signal output processing function determines whether or not the mobile object exists within the permissible section based on the comparison result, and when it is determined that the mobile object exists within the permissible section, outputs the permission signal. A program that outputs . A movement control method executed by a control device, the method comprising:
a position information acquisition step of acquiring position information indicating the position of the mobile object;
A signal that compares the position information with permissible section information indicating a permissible section in which movement of the mobile object is permitted, and outputs a permission signal that permits movement of the mobile object in the permissible section based on the comparison result. an output processing step;
In the signal output processing step, it is determined whether the mobile object exists within the permissible section based on the comparison result, and when it is determined that the mobile object exists within the permissible section, the permission signal is output. A movement control method that outputs a wireless communication unit that communicates with the control device according to claim 1;
a self-position estimating unit that estimates the self-position;
A drive unit;
A movement control unit that controls the drive unit,
The self-position estimating unit transmits the estimated self-position information to the control device using the wireless communication unit,
The movement control unit controls the drive unit to perform an operation corresponding to the permission signal when the radio communication unit receives the permission signal transmitted from the control device. The mobile object according to claim 10, wherein the wireless communication unit receives a plurality of permission signals regarding movement within the same permitted section from different control devices. The mobile body according to claim 11, wherein the movement control unit controls the drive unit to perform an operation corresponding to the permission signal when a predetermined number of permission signals are received by the wireless communication unit. .

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