JP2018169971A - Vehicle allocation management device, vehicle allocation management method, mobility system and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle allocation management device, vehicle allocation management method, mobility system and program, capable of achieving safe and complete running of a vehicle on a route, using an automatic operation technology.SOLUTION: A route notification unit 211 of a vehicle allocation management device 200 notifies a target vehicle of a running route. A position reception unit 212 receives positional information at a plurality of timings from each of a plurality of vehicles including the target vehicle. A range notification unit 213 notifies the target vehicle of an allowable range showing a range which permits the target vehicle to run at a plurality of timings on the basis of positional information of a plurality of vehicles.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a vehicle allocation management device, a vehicle allocation management method, a mobility system, and a program.

  Transporting means such as buses and taxis are used to transport personnel between two points that are separated from each other. Further, Patent Document 1 discloses a technique for allowing a scheduled operation service and a demand operation service to coexist using an automatically traveling vehicle.

Japanese Patent No. 4117964

In order to reduce the cost of the transportation means, it is desired to control the transportation means by automatic operation. On the other hand, a technology for safely and reliably transporting a transportation means to a destination using an automatic driving technology has not been established.
An object of the present invention is to provide a vehicle allocation management device, a vehicle allocation management method, a mobility system, and a program that allow a vehicle to travel a route safely and reliably using an automatic driving technique.

  According to the first aspect of the present invention, the vehicle allocation management device receives position information at a plurality of timings from a route notification unit that notifies the target vehicle of a route to be traveled and a plurality of vehicles including the target vehicle. And a range notifying unit for notifying the target vehicle of a permission range indicating a range in which the target vehicle can travel based on position information of the plurality of vehicles.

  According to the second aspect of the present invention, the vehicle allocation management device according to the first aspect includes a destination input unit that receives a destination input, and the target vehicle from among the plurality of vehicles based on the destination. A vehicle determination unit for determining the route, and the route notification unit may notify the target vehicle of a route to the destination.

  According to the third aspect of the present invention, the vehicle allocation management device according to the second aspect is based on the occupant number input unit that receives an input of the number of occupants to be transported to the destination, and based on the number of occupants A vehicle number determination unit that determines the number of target vehicles, wherein the vehicle determination unit determines the number of vehicles determined by the vehicle number determination unit so that all the target vehicles arrive at the destination within a predetermined time. The target vehicle may be determined.

  According to the fourth aspect of the present invention, the vehicle allocation management device according to the second or third aspect includes a waypoint determination unit that determines a waypoint based on the destination, and a passenger ride in the target vehicle A boarding determination unit that determines whether or not the vehicle has been completed, and the route notification unit notifies the target vehicle of a route to the waypoint when the vehicle determination unit determines the target vehicle, The route to the destination may be notified to the target vehicle when the rider of the target vehicle has completed.

  According to the fifth aspect of the present invention, the vehicle allocation management device according to the first aspect includes a waypoint determination unit that determines a route point where a vehicle should be dispatched from a plurality of route point candidates, And a vehicle determination unit that determines the target vehicle from the plurality of vehicles, and the route notification unit may notify the target vehicle of a route toward the waypoint.

  According to a sixth aspect of the present invention, the vehicle allocation management device according to the fifth aspect includes a destination input unit that receives an input of a destination to be taken off by a passenger who has boarded the target vehicle at the waypoint, A boarding determination unit that determines whether or not the passenger has boarded the target vehicle, and the route notification unit displays the route to the destination when the boarding of the passenger to the target vehicle is completed. You may notify a target vehicle.

  According to a seventh aspect of the present invention, in the vehicle allocation management device according to the fourth or sixth aspect, the boarding determination unit is configured such that the vehicle arrives at the waypoint and the door of the vehicle is closed. Sometimes, it may be determined that the occupant has successfully boarded the target vehicle.

  According to an eighth aspect of the present invention, a mobility system includes a plurality of vehicles and a vehicle allocation management device according to any one of the first to seventh aspects, and each of the plurality of vehicles includes the vehicle allocation management. Based on the route and the permission range received from the apparatus, the vehicle travels on the route and within the permission range.

  According to the ninth aspect of the present invention, the vehicle allocation management method notifies the target vehicle of a route to be traveled, and receives position information at a plurality of timings from each of the plurality of vehicles including the target vehicle. And notifying the target vehicle of a permission range indicating a range in which the target vehicle can travel based on position information of the plurality of vehicles.

  According to the tenth aspect of the present invention, the program notifies the computer of the route to be traveled to the target vehicle, and receives position information at a plurality of timings from each of the plurality of vehicles including the target vehicle. And notifying the target vehicle of a permission range indicating a range in which the target vehicle can travel based on position information of the plurality of vehicles at a plurality of timings.

  According to at least one of the above aspects, the vehicle allocation management device can cause the vehicle to travel on the route safely and reliably.

It is a figure which shows the external appearance of the facility provided with the mobility system which concerns on 1st Embodiment. It is the schematic which shows the structure of the mobility system which concerns on 1st Embodiment. 1 is a schematic block diagram illustrating a configuration of a vehicle according to a first embodiment. It is a schematic block diagram which shows the structure of the vehicle allocation management apparatus which concerns on 1st Embodiment. It is a flowchart which shows operation | movement of the vehicle which concerns on 1st Embodiment. It is a flowchart which shows the dispatch process of the large transport vehicle by the dispatch management apparatus which concerns on 1st Embodiment. It is a flowchart which shows the dispatch process of the small transport vehicle by the dispatch management apparatus which concerns on 1st Embodiment. It is a flowchart which shows the notification process of the permission range of the vehicle by the vehicle allocation management apparatus which concerns on 1st Embodiment. It is a schematic block diagram which shows the structure of the computer which concerns on at least 1 embodiment.

<First Embodiment>
Hereinafter, embodiments will be described in detail with reference to the drawings.
FIG. 1 is a diagram illustrating an appearance of a facility including a mobility system according to the first embodiment.
The mobility system 2 according to the first embodiment is provided in the waiting facility 1. That is, the waiting facility 1 according to the first embodiment is an example of a facility including the mobility system 2. The waiting facility 1 is provided with a terminal building 11, a waiting area 12, and a road 13 provided between the terminal building 11 and the waiting area 12. The terminal building 11 is a facility where passengers boarding the transport machine A perform procedures. The terminal building 11 is provided with a plurality of gates 111 facing the road 13. Each gate 111 identifies a passenger's name and flight number by authenticating a ticket or the like owned by the passenger. The waiting area 12 is a space where the transport machine A waits. Examples of the transport machine A include ships and airplanes. Examples of the waiting facility 1 include a harbor and an airport.
In the waiting facility 1, passengers are transported between the terminal building 11 and the waiting area 12 by the large transport vehicle L1 and the small transport vehicle L2 provided in the mobility system 2. The mobility system 2 controls traveling of the large transport vehicle L1 and the small transport vehicle L2. The terminal building 11 is provided with a gate 111 for the large transport vehicle L1 and a gate 111 for the small transport vehicle L2.

FIG. 2 is a schematic diagram illustrating a configuration of the mobility system according to the first embodiment.
The mobility system 2 includes a plurality of large transport vehicles L1, a plurality of small transport vehicles L2, and a vehicle allocation management device 200. Hereinafter, the large transport vehicle L1 and the small transport vehicle L2 are collectively referred to as a vehicle L. The mobility system 2 is connected via a network to a boarding management system (not shown) that manages the operation of the airport and a gate system (not shown) that manages passengers passing through the gate 111 of the terminal building 11.

  The large transport vehicle L1 and the small transport vehicle L2 automatically travel based on the route to be traveled and the permitted travel range transmitted from the vehicle allocation management device 200. The permitted range is a range in which the vehicle can travel without contacting another vehicle L within a certain time. The large transport vehicle L <b> 1 rides passengers at the gate 111 determined for each waiting place 12 from the dispatch management device 200 in the gate 111 of the terminal building 11, and moves to a predetermined waiting place 12. The small transport vehicle L2 gets a passenger on the gate 111 designated by the dispatch management device 200 among the gates 111 of the terminal building 11, and moves to the waiting area 12 designated by the passenger. Only small passengers such as priority passengers may be able to board the small transport vehicle L2. Whether or not the passenger can ride on the small transport vehicle L2 can be identified by reading a ticket at the gate 111, for example.

FIG. 3 is a schematic block diagram illustrating the configuration of the vehicle according to the first embodiment.
The vehicle L (large transport vehicle L1 and small transport vehicle L2) includes an information receiving unit L01, a position measuring unit L02, an open / close detecting unit L03, an information transmitting unit L04, and a travel control unit L05.
The information receiving unit L01 receives information indicating a route and a permitted range from the vehicle allocation management device 200.
The position measuring unit L02 measures the position of the vehicle L. Specifically, the position measurement unit L02 reads position information by reading an identifier that can read position information installed in the passage, autonomous navigation using axle rotation speed, etc., use of GNSS (Global Navigation Satellite System), etc. Measure.
The opening / closing detection unit L03 detects opening / closing of the door of the vehicle L.
The information transmission unit L04 transmits the position information measured by the position measurement unit L02 and the opening / closing information detected by the opening / closing detection unit L03 to the vehicle allocation management device 200.
The traveling control unit L05 controls the vehicle L to travel on the route and within the permitted range based on the route and permitted range received by the information receiving unit L01 and the position information measured by the position measuring unit L02. For example, the traveling control unit L05 controls the steering and the traveling speed so that the vehicle L travels on the route based on the route. The traveling control unit L05 controls the acceleration / deceleration of the traveling speed so that the position of the vehicle L does not exceed the permitted range based on the current position and the speed. The traveling control unit L05 stops the vehicle L when the position of the vehicle L exceeds the permitted range.

The vehicle allocation management device 200 notifies the vehicle L of the route and the permitted range.
FIG. 4 is a schematic block diagram illustrating a configuration of the vehicle allocation management device according to the first embodiment.
The vehicle allocation management device 200 includes a transport machine database 201, a vehicle database 202, a vehicle allocation instruction reception unit 203, a vehicle number determination unit 204, a first waypoint determination unit 205, a first vehicle determination unit 206, and a second waypoint determination unit 207. A second vehicle determination unit 208, a gate information reception unit 209, a boarding / alight determination unit 210, a route notification unit 211, a position reception unit 212, and a range notification unit 213 are provided.

The transport machine database 201 stores the flight name of the transport machine A, the identification information of the waiting area 12 on which the airplane is waiting, and the gate 111 of the terminal building 11 on which the passenger boarding the transport machine A is waiting. .
The vehicle database 202 stores the identification information of the vehicle L, the position information of the vehicle L, and the state of the vehicle L (standby, being picked up, and being transported).

  The dispatch instruction receiving unit 203 receives a dispatch instruction from the boarding management system. The dispatch instruction includes a flight number and a list of passengers. The flight name is an example of information indicating the destination. That is, the dispatch instruction receiving unit 203 is an example of a destination input unit. The list of passengers is an example of information indicating the number of passengers. That is, the dispatch instruction receiving unit 203 is also an example of a passenger number input unit.

The vehicle number determination unit 204 specifies the number of passengers of the vehicle L from the passenger list included in the dispatch instruction, and determines the number of large transport vehicles L1 to be dispatched based on the number of passengers. For example, the vehicle number determination unit 204 can calculate the number of large transport vehicles L1 by dividing the number of occupants by the capacity of the large transport vehicles L1 and raising the number after the decimal point.
The first waypoint determination unit 205 reads the gate 111 associated with the flight name included in the dispatch instruction from the transport machine database 201 and determines this as the waypoint of the large transport vehicle L1.
The first vehicle determination unit 206 refers to the vehicle database 202, and is the number of large transport vehicles L1 determined by the vehicle number determination unit 204 that are on standby and closest to the position of the gate 111 determined by the first waypoint determination unit 205. Is determined as the large transport vehicle L1 (target vehicle) to be dispatched. At this time, in addition to the position of the large transport vehicle L1, the first vehicle determination unit 206 determines the travelable distance calculated from the remaining fuel amount (or charge amount) of the large transport vehicle L1, the number of uses of the large transport vehicle L1, and the like. Based on this, the large transport vehicle L1 to be dispatched may be determined.

The second waypoint determination unit 207 refers to the vehicle database 202, and among the plurality of small transport vehicle L2 gates 111 (route point candidates), the gate for the small transport vehicle L2 to which the small transport vehicle L2 is not assigned. 111 is determined as a transit point of the small transport vehicle L2.
The second vehicle determination unit 208 refers to the vehicle database 202 and selects the small transport vehicle L2 that is the target of dispatching the small transport vehicle L2 closest to the position of the gate 111 that is waiting and determined by the second waypoint determination unit 207. Vehicle). At this time, in addition to the position of the small transport vehicle L2, the second vehicle determination unit 208 determines the travelable distance calculated from the remaining fuel amount (or charge amount) of the small transport vehicle L2, the number of times the small transport vehicle L2 is used, and the like. Based on this, the small transport vehicle L2 to be dispatched may be determined.

The gate information receiving unit 209 receives a name and a flight number obtained by authenticating a ticket or the like at the gate 111 from the gate system. The flight name is an example of information indicating the destination. That is, the gate information receiving unit 209 is an example of a destination input unit.
The boarding / alighting determination unit 210 receives a signal indicating the opening / closing of the door from the vehicle L, and determines whether the passenger boarding the vehicle L or the passenger getting off from the vehicle L is completed based on the signal. Specifically, when the vehicle L arrives at the gate 111 and receives a signal indicating that the door is closed from the vehicle L, the boarding / alighting determination unit 210 determines that the passenger has been boarded. . Further, when the vehicle L has arrived at the waiting area 12 and receives a signal indicating that the door is closed from the vehicle L, the boarding / alighting determination unit 210 determines that the passenger has got off the vehicle.

  The route notification unit 211 notifies the vehicle L of the route to be traveled. Specifically, when the first vehicle determination unit 206 determines the large transport vehicle L1 for the vehicle body handling, the route notification unit 211 sends the first transit point from the current position of the large transport vehicle L1 to the large transport vehicle L1. The route to the gate 111 determined by the determination unit 205 is notified. In addition, the route notification unit 211, when the passenger boarding the large transport vehicle L1 is completed, waits for the large transport vehicle L1 from the current position of the large transport vehicle L1 by the flight name included in the dispatching instruction. The route to 12 is notified. In addition, when the second vehicle determination unit 208 determines the small transport vehicle L2 for body allocation, the route notification unit 211 sends the second transit point determination unit 207 from the current position of the small transport vehicle L2 to the small transport vehicle L2. Is notified of the route to the gate 111 determined. Further, when the passenger boarding of the small transport vehicle L2 is completed, the route notification unit 211 is authenticated by the gate 111 where the small transport vehicle L2 is allocated to the gate information receiving unit 209 in the small transport vehicle L2. The route to the waiting area 12 specified by the flight name included in the information is notified.

The position receiving unit 212 receives position information indicating the current position from each vehicle L, and updates the vehicle database 202.
The range notification unit 213 notifies each vehicle L of a permission range indicating a range in which the vehicle can travel without contacting the other vehicle L. Specifically, the range notification unit 213 calculates the permitted range of each vehicle L in the following procedure. First, the range notification unit 213 refers to the vehicle database 202 and calculates the travel range when the vehicle L travels at the maximum speed from the current position. And the range notification part 213 calculates a permission range about each vehicle L by removing the overlap part with the travel range of the other vehicle L from the travel range of the said vehicle L. FIG.

An operation of the vehicle L according to the first embodiment will be described.
FIG. 5 is a flowchart showing the operation of the vehicle according to the first embodiment.
When the vehicle L receives the route from the vehicle allocation management device 200, the vehicle L executes the operation of the flowchart shown in FIG. The information receiving unit L01 of the vehicle L receives the permission range from the vehicle allocation management device 200 (step S001). Next, the position measuring unit L02 measures the position, speed, and traveling direction of the vehicle L (step S002). The information transmission unit L04 transmits the measured position, speed, and traveling direction to the vehicle allocation management device 200 (step S003).

In addition, the travel control unit L05 controls the speed and steering of the vehicle L so that the vehicle L travels on the route without leaving the permitted range based on the position, speed, and traveling direction measured by the vehicle L ( Step S004). For example, the traveling control unit L05 controls speed and steering in the following procedure.
First, based on the position, speed, and traveling direction of the vehicle L, the traveling control unit L05 determines when to start decelerating in order for the vehicle L to stop at the boundary of the permitted range in the traveling direction (in-range deceleration timing). ) Is calculated. When the in-range deceleration timing is before the current time, the vehicle L is decelerated to a speed that can be stopped at the boundary of the permitted range. On the other hand, when the in-range deceleration timing is later than the current time, the traveling control unit L05 determines whether the vehicle L should start deceleration in order to turn left or right on the route or stop at the end of the route (route). (Deceleration timing) is calculated. When the route deceleration timing is before the current time, the vehicle L is decelerated so that the left or right turn can be performed or the vehicle can stop. On the other hand, when the route deceleration timing is after the current time, the traveling control unit L05 accelerates the speed of the vehicle L to the maximum speed or maintains the speed.
Further, when the position of the vehicle L approaches the left or right turn point of the route, the traveling control unit L05 determines whether or not the speed of the vehicle L is a speed at which the left or right turn is possible. When the speed is such that a left turn or a right turn is possible, the traveling control unit L05 controls the steering according to the route. On the other hand, if the speed is not such that a left turn or a right turn is possible, the traveling control unit L05 controls the speed and steering of the vehicle L so as to stop within the permitted range.
At this time, the traveling control unit L05 may control traveling so as to avoid a crisis by a separate function installed in the vehicle L as well as determination as to whether or not the vehicle is within the permitted range. Even in this case, the vehicle L controls traveling so as not to leave the permitted range. In the unlikely event that the vehicle L goes out of the permitted range, the traveling control unit L05 stops the vehicle L.

  Based on the position of the vehicle L, the traveling control unit L05 determines whether or not it has arrived at the end of the route (gate 111 or waiting area 12) (step S005). If the vehicle L has not arrived at the end of the route (step S005: NO), the information receiving unit L01 determines whether or not a new permitted range has been received from the vehicle allocation management device 200 (step S006). When the information receiving unit L01 has not received a new permission range from the vehicle allocation management device 200 (step S006: NO), the vehicle L returns the process to step S002 and continues control of traveling. When the information receiving unit L01 receives a new permission range from the vehicle allocation management device 200 (step S006: YES), the information receiving unit L01 updates the permission range used for controlling the traveling of the vehicle L to a new one (step S006). S007). And the vehicle L returns a process to step S002, and continues control of driving | running | working.

On the other hand, when the vehicle L has arrived at the end of the route (step S005: YES), the information transmitting unit L04 transmits arrival information indicating that it has arrived at the end of the route to the vehicle allocation management device 200 (step S008). Exit.
As a result, the vehicle L can travel on the route without leaving the permitted range. Then, the vehicle allocation management device 200 can recognize whether or not the vehicle L has arrived at the end of the route.

FIG. 6 is a flowchart illustrating a dispatch process for a large transport vehicle by the dispatch management apparatus according to the first embodiment.
When the preparation of the transport machine A is completed, the boarding management system transmits a dispatch instruction that instructs the dispatch of the vehicle L for transporting passengers to the transport machine A to the dispatch management apparatus 200.
When the dispatch instruction receiving unit 203 of the dispatch management device 200 receives the dispatch instruction from the boarding management system (step S101), the vehicle number determining unit 204 calculates the number of passengers from the list of passengers included in the received dispatch instruction, Based on this, the number of large transport vehicles L1 to be dispatched is determined (step S102).

Next, the first waypoint determination unit 205 reads the gate 111 associated with the flight name included in the received dispatch instruction from the transport machine database 201 and determines this as a waypoint (step S103). The first vehicle determination unit 206 refers to the vehicle database 202 and specifies the position of each large transport vehicle L1 (step S104). The first vehicle determination unit 206 determines the large transport vehicle L1 closest to the gate 111 that is in the “standby” state and read by the first waypoint determination unit 205 as a dispatch target (step S105). At this time, when a plurality of large transport vehicles L1 are waiting in series, the first vehicle determination unit 206 extracts the number of large transport vehicles L1 to be dispatched from the plurality of large transport vehicles L1 and sets them as a dispatch target. It is good to decide. Thereby, the dispersion | variation in the time when the some large transport vehicle L1 arrives at the gate 111 can be suppressed. When determining the large transport vehicle L1 to be dispatched, the first vehicle determination unit 206 rewrites the state of the large transport vehicle L1 determined as the dispatch target in the vehicle database 202 to “busy”.
The dispatch instruction receiving unit 203 notifies the boarding management system of the identification information of the large transport vehicle L1 determined by the first vehicle determination unit 206 as a response to the dispatch instruction received in step S101 (step S106). The boarding management system can prevent the boarding leakage to the transport machine A by determining whether all of the notified large transport vehicles L1 have arrived at the waiting area 12.

  Next, the route notifying unit 211 calculates a route from the current position of each large transport vehicle L1 to be dispatched to the waypoint gate 111 determined in step S103 (step S107). The route calculation is realized by an algorithm such as the Dijkstra method. The route notification unit 211 notifies the calculated route to each large transport vehicle L1 to be dispatched (step S108). Thereby, each large transport vehicle L1 to be dispatched starts traveling toward the gate 111.

  Thereafter, the vehicle allocation management device 200 executes the following processing in parallel for each large transport vehicle L1 to be allocated.

  The boarding / alighting determination unit 210 determines whether arrival information has been received from the large transport vehicle L1 (step S109). If arrival information has not been received (step S109: NO), the boarding / alighting determination unit 210 continues to wait for arrival information to be received in step S109. On the other hand, when arrival information is received (step S109: YES), the boarding / alighting determination unit 210 determines whether or not opening / closing information indicating that the door has been closed is received from the large transport vehicle L1 (step S110). When the opening / closing information indicating that the door has been closed is not received (step S110: NO), the boarding / alighting determination unit 210 continues to wait for the reception of the opening / closing information in step S110. On the other hand, when the opening / closing information indicating that the door is closed is received (step S110: YES), the boarding / alighting determination unit 210 determines that the boarding of the large transport vehicle L1 is completed (step S111). At this time, the boarding / alighting determination unit 210 changes the state of the large transport vehicle L1 in the vehicle database 202 to “in transit”.

  When the boarding of the large transport vehicle L1 is completed, the route notification unit 211 reads the waiting area 12 associated with the flight name included in the dispatch instruction from the transport machine database 201 (step S112). Next, the route notifying unit 211 calculates a route from the current position of the large transport vehicle L1 to the waiting place 12 read out (step S113). The route notification unit 211 notifies the calculated route to the large transport vehicle L1 (step S114). As a result, the large transport vehicle L <b> 1 that has completed the passenger boarding starts to travel toward the waiting area 12.

Next, the boarding / alight determining unit 210 determines whether arrival information has been received from the large transport vehicle L1 (step S115). If arrival information has not been received (step S115: NO), the boarding / alighting determination unit 210 continues to wait for arrival information to be received in step S115. On the other hand, when arrival information is received (step S115: YES), the boarding / alighting determination unit 210 determines whether or not opening / closing information indicating that the door has been closed is received from the large transport vehicle L1 (step S116). When the opening / closing information indicating that the door has been closed has not been received (step S116: NO), the boarding / alighting determination unit 210 continues to wait for the reception of the opening / closing information in step S116. On the other hand, when the opening / closing information indicating that the door is closed is received (step S116: YES), the boarding / alighting determination unit 210 determines that the getting off from the large transport vehicle L1 is completed (step S117). At this time, the boarding / alighting determination unit 210 changes the state of the large transport vehicle L1 in the vehicle database 202 to “standby”.
As a result, the vehicle allocation management device 200 can control the travel of the large transport vehicle L1 so that the passenger gets on the gate 111 and gets off at the waiting area 12 based on the allocation instruction.

FIG. 7 is a flowchart showing a dispatching process for a small transport vehicle by the dispatching management apparatus according to the first embodiment.
The vehicle allocation management device 200 periodically executes a vehicle allocation process to the gate 111 of the small transport vehicle L2 shown in FIG. The second waypoint determination unit 207 of the vehicle allocation management device 200 refers to the vehicle database 202 and determines whether or not there is an empty gate 111 where the small transport vehicle L2 is not allocated among the small transport vehicle L2 gates 111 ( Step S201). When there is no empty gate 111, that is, when the small transport vehicle L2 is dispatched to all the small transport vehicle L2 gates 111 (step S201: NO), the dispatch management device 200 goes to the gate 111 of the small transport vehicle L2. The vehicle allocation process is terminated. Note that the dispatching management device 200 executes the dispatching process shown in FIG. 7 again after a predetermined time has elapsed.

  On the other hand, when there is an empty gate 111 (step S201: YES), the second waypoint determination unit 207 determines the gate 111 as a waypoint (step S202). The second vehicle determination unit 208 refers to the vehicle database 202 and specifies the position of each small transport vehicle L2 (step S203). The second vehicle determination unit 208 determines the small transport vehicle L2 that is in the “waiting” state and is closest to the gate 111 read by the second waypoint determination unit 207, as a dispatch target (step S204). When the second vehicle determination unit 208 determines the small transport vehicle L2 to be dispatched, the second vehicle determination unit 208 rewrites the state of the small transport vehicle L2 determined as the dispatch target in the vehicle database 202 to “busy”.

  Next, the route notifying unit 211 calculates a route from the current position of the small transport vehicle L2 to be dispatched to the gate 111 at the waypoint determined in step S202 (step S205). The route notification unit 211 notifies the calculated route to the small transport vehicle L2 to be dispatched (step S206). Thus, the small transport vehicle L2 to be dispatched starts traveling toward the gate 111.

  Next, the boarding / alight determining unit 210 determines whether arrival information has been received from the small transport vehicle L2 (step S207). When arrival information has not been received (step S207: NO), the boarding / alighting determination unit 210 continues waiting for reception of arrival information at step S207. On the other hand, when arrival information is received (step S207: YES), the boarding / alighting determination unit 210 determines whether opening / closing information indicating that the door has been closed is received from the small transport vehicle L2 (step S208). When opening / closing information indicating that the door has been closed has not been received (step S208: NO), the boarding / alighting determination unit 210 continues to wait for reception of the opening / closing information in step S208. On the other hand, when the opening / closing information indicating that the door is closed is received (step S208: YES), the boarding / alighting determination unit 210 determines that the boarding of the small transport vehicle L2 is completed (step S209). At this time, the boarding / alighting determination unit 210 changes the state of the small transport vehicle L2 in the vehicle database 202 to “in transit”. Next, the gate information receiving unit 209 receives the name of the passenger and the flight name authenticated at the gate 111 to which the small transport vehicle L2 has been delivered from the gate system (step S210). The small transport vehicle L2 may be boarded by one passenger or a plurality of passengers, but each passenger is assumed to board the same transport machine A. That is, when a plurality of passengers get on, the flight name of the transport machine A on which each passenger gets is the same.

  Next, the route notification unit 211 reads the waiting area 12 associated with the flight name received in step S210 from the transport machine database 201 (step S211). Next, the route notification unit 211 calculates a route from the current position of the small transport vehicle L2 to the read waiting area 12 (step S212). The route notification unit 211 notifies the small transport vehicle L2 of the calculated route (step S213). Thereby, the small transport vehicle L <b> 2 that has completed the passenger boarding starts to travel toward the waiting area 12.

Next, the boarding / alighting determination unit 210 determines whether arrival information has been received from the small transport vehicle L2 (step S214). When arrival information has not been received (step S214: NO), the boarding / alighting determination unit 210 continues to wait for arrival information received at step S214. On the other hand, when arrival information is received (step S214: YES), the boarding / alighting determination unit 210 determines whether or not opening / closing information indicating that the door has been closed is received from the small transport vehicle L2 (step S215). When the opening / closing information indicating that the door has been closed has not been received (step S215: NO), the boarding / alighting determination unit 210 continues to wait for the reception of the opening / closing information in step S116. On the other hand, when the opening / closing information indicating that the door is closed is received (step S215: YES), the boarding / alighting determination unit 210 determines that the getting off from the small transport vehicle L2 is completed (step S216). At this time, the boarding / alighting determination unit 210 changes the state of the small transport vehicle L2 in the vehicle database 202 to “standby”.
As a result, the dispatch management device 200 can dispatch the small transport vehicle L2 to the gate 111 where the small transport vehicle L2 is not dispatched, and cause the small transport vehicle L2 to transport the passenger to the waiting area 12 corresponding to the passenger. it can.

  The vehicle allocation control according to FIGS. 6 and 7 is a vehicle allocation control when the passenger gets on the vehicle L at the gate 111 and gets off at the waiting area 12, that is, the vehicle allocation control at the time of departure of the transport machine A. The vehicle allocation management device 200 performs the same vehicle allocation control when the transport machine A arrives. In this case, the vehicle allocation management device 200 sets the waiting area 12 as a waypoint and sets the gate 111 as a destination.

FIG. 8 is a flowchart showing the notification process of the permitted range of the vehicle by the vehicle allocation management device according to the first embodiment.
The vehicle allocation management device 200 updates and notifies the permission range of each vehicle L at regular time intervals (for example, every 10 seconds). The position receiving unit 212 of the vehicle allocation management device 200 receives the position, speed, and traveling direction from each vehicle L (step S301). Next, the range notification unit 213 calculates a travel range when the vehicle L travels at a maximum speed from the current position for a predetermined time (step S302). Next, the range notification unit 213 selects the vehicles L one by one from the plurality of vehicles L, and executes the processes of steps S304 and S305 described below for each vehicle L (step S303). For the selected vehicle L, the range notification unit 213 calculates a range obtained by removing an overlapping portion with the travel range of another vehicle L from the travel range of the vehicle L. The range notification unit 213 determines the range as the permitted range of the selected vehicle L (step S304). And the range notification part 213 notifies the said permission range to the vehicle L (step S305).
Thereby, it is possible to notify the vehicle L of the permitted range in which the vehicle L can travel without contacting the other vehicle L at regular intervals.

As described above, according to the first embodiment, the vehicle allocation management device 200 notifies a route to be traveled to the vehicle L to be allocated, receives position information from each of the plurality of vehicles L at regular intervals, and Based on the received position information, at least the vehicle L to be dispatched is notified of the permitted range indicating the range in which the vehicle L can travel. As a result, the vehicle L can travel while preventing contact with other vehicles L by traveling based on the permitted range, and reliably traveling toward the destination by traveling based on the route. You can travel. That is, the vehicle allocation management device 200 according to the first embodiment can safely and reliably travel the route that the vehicle L should travel. In the first embodiment, the vehicle allocation management device 200 notifies the permission range shown in FIG. 8 for all the vehicles L, but is not limited thereto. For example, when a vehicle L that is not a dispatch target in other embodiments (standby vehicle L) is always stopped, the dispatch management device 200 is a vehicle L that is a dispatch target among a plurality of vehicles L. (Vehicle L that is not on standby) may be specified and the permitted range may be notified only for this.
In other embodiments, the permission range may not necessarily be notified at regular intervals. That is, the notification of the permission range may not necessarily be periodic as long as it is made at a plurality of timings. Further, in another embodiment, the position information of the vehicle L does not necessarily have to be notified at regular intervals. That is, the notification of the position information is not necessarily periodic as long as it is made at a plurality of timings.

  In addition, according to the first embodiment, the vehicle allocation management device 200 receives an input of the flight name of the transport machine A on which the passenger is boarded from the boarding management system, and based on the input, the object is selected from the plurality of large transport vehicles L1. Determine the vehicle. Thereby, the vehicle allocation management apparatus 200 can allocate the large transport vehicle L1 in association with the transport machine A. The vehicle allocation management device 200 determines the number of large transport vehicles L1 to be allocated based on the number of passengers to be transported to the destination. Thereby, the vehicle allocation management apparatus 200 can allocate the large number of large transport vehicles L1 with respect to the number of passengers of the transport machine A. Further, the vehicle allocation management device 200 notifies the route to the transit point when the large transport vehicle L1 to be dispatched is determined to the large transport vehicle L1, and returns to the destination when the boarding of the large transport vehicle L1 is completed. The route to go is notified to the large transport vehicle L1. Accordingly, the vehicle allocation management device 200 can cause the passenger to get on the gate 111 and get off at the waiting area 12 when the transport machine A departs. Further, the vehicle allocation management device 200 can get passengers on board the waiting area 12 and get off at the gate 111 when the transport machine A arrives.

Further, according to the first embodiment, the vehicle allocation management device 200 determines the gate 111 to which the small transport vehicle L2 should be allocated from among the plurality of gates 111 for the small transport vehicle L2, and based on the gate 111 The small transport vehicle L2 to be dispatched is determined from the plurality of small transport vehicles L2. Thereby, the dispatch management apparatus 200 can dispatch the small transport vehicle L2 to the vacant gate 111. The vehicle allocation management device 200 receives the flight name of the transport machine A on which the passenger who has boarded the small transport vehicle L2 boarded at the gate 111, and associates the flight name with the flight name when the boarding of the small transport vehicle L2 is completed. The route to the waiting area 12 is notified to the small transport vehicle L2. Thereby, the vehicle allocation management apparatus 200 can transport a passenger to the waiting area 12 of the transport machine A on which the passenger is boarded by the small transport vehicle L2.

  Further, according to the first embodiment, the vehicle allocation management device 200 determines that the boarding of the vehicle L is completed when the vehicle L arrives at the waypoint and the door of the vehicle L is closed. . Thereby, the passenger of the vehicle L can notify the vehicle allocation management device 200 of the completion of boarding without executing a special process. In another embodiment, the present invention is not limited to this. For example, when all passengers get on the vehicle, the rider may press the button (not shown) to notify the dispatch management device 200 that the boarding is completed.

As described above, the embodiment has been described in detail with reference to the drawings. However, the specific configuration is not limited to that described above, and various design changes and the like can be made.
For example, according to the first embodiment, the mobility system 2 includes both the large transport vehicle L1 and the small transport vehicle L2, but the mobility system 2 according to other embodiments does not include the large transport vehicle L1. It may be. In this case, the mobility system 2 transports all passengers between the gate 111 and the waiting area 12 by the small transport vehicle L2.
Further, for example, the mobility system 2 according to another embodiment may not include the small transport vehicle L2. In this case, the mobility system 2 transports all passengers between the gate 111 and the waiting area 12 by the large transport vehicle L1.

  Moreover, according to 1st Embodiment, although the mobility system 2 is applied to the passenger transport of the waiting facility 1, it is not restricted to this. For example, in another embodiment, the mobility system 2 may be applied to an urban transportation system using a bus or a taxi, a transportation system in a factory, or the like. In other words, in other embodiments, the destination and waypoint may not be the waiting area 12 and the gate 111, and the passenger who gets on the vehicle L may not be the passenger of the transport machine A.

FIG. 9 is a schematic block diagram illustrating a configuration of a computer according to at least one embodiment.
The computer 9 includes a CPU 91, a main storage device 92, an auxiliary storage device 93, and an interface 94.
The vehicle allocation management device 200 and the vehicle L described above include a computer 9. The operation of each processing unit described above is stored in the auxiliary storage device 93 in the form of a program. The CPU 91 reads out the program from the auxiliary storage device 93 and develops it in the main storage device 92, and executes the above processing according to the program. Further, the CPU 91 secures a storage area corresponding to each database described above in the main storage device 92 or the auxiliary storage device 93 according to the program.

  Examples of the auxiliary storage device 93 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only). Memory), semiconductor memory, and the like. The auxiliary storage device 93 may be an internal medium directly connected to the bus of the computer 9 or an external medium connected to the computer 9 via the interface 94 or a communication line. When this program is distributed to the computer 9 through a communication line, the computer 9 that has received the distribution may develop the program in the main storage device 92 and execute the above processing. In at least one embodiment, the auxiliary storage device 93 is a tangible storage medium that is not temporary.

  Further, the program may be for realizing a part of the functions described above. Further, the program may be a so-called difference file (difference program) that realizes the above-described function in combination with another program already stored in the auxiliary storage device 93.

2 Mobility System 200 Vehicle Allocation Management Device 201 Transport Machine Database 202 Vehicle Database 203 Vehicle Allocation Instruction Receiving Unit 204 Number of Vehicles Determination Unit 205 First Route Determination Unit 206 First Vehicle Determination Unit 207 Second Route Determination Unit 208 Second Vehicle Determination Unit 209 Gate information reception unit 210 Entry / exit determination unit 211 Route notification unit 212 Position reception unit 213 Range notification unit L Vehicle L1 Large transport vehicle L2 Small transport vehicle L01 Information reception unit L02 Position measurement unit L03 Opening / closing detection unit L04 Information transmission unit L05 Travel control Part

Claims (10)

A route notification unit for notifying the target vehicle of a route to be traveled;
A position receiving unit that receives position information at a plurality of timings from each of a plurality of vehicles including the target vehicle;
A vehicle allocation management device comprising: a range notification unit that notifies the target vehicle of a permission range indicating a range in which the target vehicle can travel based on position information of the plurality of vehicles at a plurality of timings. A destination input unit for receiving a destination input;
A vehicle determining unit that determines the target vehicle from the plurality of vehicles based on the destination;
The vehicle allocation management device according to claim 1, wherein the route notification unit notifies the target vehicle of a route toward the destination. An occupant number input unit for receiving an input of the number of occupants to be transported to the destination;
A vehicle number determination unit that determines the number of the target vehicles based on the number of passengers,
The vehicle allocation management device according to claim 2, wherein the vehicle determination unit determines the number of target vehicles determined by the vehicle number determination unit so that all the target vehicles arrive at the destination within a predetermined time. A waypoint determination unit for determining a waypoint based on the destination;
A boarding determination unit that determines whether or not the passenger has boarded the target vehicle, and
The route notification unit notifies the target vehicle of a route to the waypoint when the vehicle determination unit determines the target vehicle, and returns to the destination when a rider on the target vehicle is completed. The vehicle allocation management device according to claim 2 or 3, wherein a route to be directed is notified to the target vehicle. A waypoint determination unit that determines a waypoint where a vehicle should be dispatched from a plurality of waypoint candidates,
A vehicle determination unit that determines the target vehicle from the plurality of vehicles based on the waypoint,
The vehicle allocation management device according to claim 1, wherein the route notification unit notifies the target vehicle of a route toward the waypoint. A destination input unit that receives an input of a destination at which a passenger who has boarded the target vehicle at the waypoint should get off;
A boarding determination unit that determines whether or not the passenger has boarded the target vehicle, and
The vehicle allocation management device according to claim 5, wherein the route notification unit notifies the target vehicle of a route toward the destination when a passenger has boarded the target vehicle. The boarding determination unit determines that the boarding of an occupant on the target vehicle is completed when the vehicle arrives at the waypoint and the door of the vehicle is closed. The vehicle allocation management device described. Multiple vehicles,
A vehicle allocation management device according to any one of claims 1 to 7,
Each of the plurality of vehicles is
A mobility system that travels on the route and within the permitted range based on the route and the permitted range received from the vehicle allocation management device. Notifying the target vehicle of the route to travel;
Receiving position information at a plurality of timings from each of a plurality of vehicles including the target vehicle;
A vehicle allocation management method comprising: notifying the target vehicle of a permission range indicating a range in which the target vehicle can travel based on position information of the plurality of vehicles at a plurality of timings. On the computer,
Notifying the target vehicle of the route to travel;
Receiving position information at a plurality of timings from each of a plurality of vehicles including the target vehicle;
A program for causing the target vehicle to be notified at a plurality of timings of a permission range indicating a range in which the target vehicle can travel based on position information of the plurality of vehicles.

Images