JP7351790B2 - 自律走行車両の運行管理装置および自律走行車両 - Google Patents
自律走行車両の運行管理装置および自律走行車両 Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/40—Business processes related to the transportation industry
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects
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- Game Theory and Decision Science (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Traffic Control Systems (AREA)
Description
車両Cは、規定経路100を自律走行可能な車両であって、例えば、所定の停留所STから他の停留所STまで不特定多数の利用者を輸送する乗合車両として機能する。車両Cは、例えば乗合バスであってよい。
運行管理装置10は、規定経路100を自律走行する複数の車両Cの運行を管理する。運行管理装置10は、例えば車両Cの運行を管理する管理会社に設置される。運行管理装置10は例えばコンピュータから構成され、図2には、運行管理装置10のハードウェア構成が例示される。
運行スケジュール及びスケジュール変更の際に用いられる用語が図4、図5に例示される。図4に例示されるように、通常運行スケジュールでは、各停留所STにおける到着目標時刻Ta*と、当該停留所から出発する出発目標時刻Td*が車両Cごとに定められる。到着目標時刻Ta*から出発目標時刻Td*までの期間は、スケジュール上での車両Cの停車時間となり、計画停車時間Dwpと呼ばれる。
図6には、通常運行スケジュールに基づくダイヤグラムが例示される。ダイヤグラムについて横軸は時刻を示し、縦軸は規定経路100上の停留所ST1~ST3、運行スケジュール更新ポイントPu、回収ポイントPout、投入ポイントPinの各地点が示される。このような通常運行スケジュールは、運行スケジュール作成部62により作成される。
図7には、本実施形態に係る追越プロセスのフロー図が例示される。また、図8には追越実行時のダイヤグラムが例示される。
追越後の追越車両C4及び遅延車両C3は、通常運行スケジュールに変更を加えて、スケジュール更新ポイントPuまで走行する。概念的には、追越車両C4は、それまでの遅延車両C3の通常運行スケジュールを追いかけるような運行スケジュールに変更される。
図13には、本実施形態に係る追越プロセスの別例フロー図が示される。図7に例示される追越プロセスでは、運行管理装置10の主導により、追越が管理される。これに対して、図13に例示される追越プロセスでは、追越車両指定及び遅延車両指令を受けた後、遅延車両C3と追越車両C4とが相互に通信し合い、協働的に追越が進行する。
Claims (2)
- 規定経路を自律走行する自律走行車両であって、
運行管理装置から提供された自身の運行スケジュールが記憶される運行スケジュール記憶部と、
前記運行スケジュールに基づいた自律走行制御を実行するとともに、前記運行管理装置から追越指令を受信した際に、一台先行する自律走行車両である先行車両を追い越す追越走行制御を実行する、自律走行制御部と、
進行方向前方の周辺環境情報を取得するセンサと、
を備え、
前記自律走行制御部は、前記センサにより取得された前記周辺環境情報に基づいて認識された前記先行車両が停止しているときに前記運行管理装置に追越要求を送信する、
自律走行車両。 - 規定経路を自律走行する自律走行車両であって、
運行管理装置から提供された自身の運行スケジュールが記憶される運行スケジュール記憶部と、
前記運行スケジュールに基づいた自律走行制御を実行するとともに、前記運行管理装置から追越指令を受信した際に、一台先行する自律走行車両である先行車両を追い越す追越走行制御を実行する、自律走行制御部と、
前記先行車両の追越に伴い、前記運行スケジュール記憶部に記憶された前記運行スケジュールを前倒し変更するスケジュール変更部と、
を備え、
前記規定経路は循環路であり、
前記規定経路に設けられた運行スケジュール更新地点において前記規定経路の一周分の前記運行スケジュールが提供され前記運行スケジュール記憶部に記憶され、
前記運行スケジュールには、次に前記運行スケジュール更新地点を通過する更新地点通過目標時刻と前記規定経路を走行する自律車両間の運行間隔が含まれ、
前記スケジュール変更部は、前記先行車両の追越に伴い、前記運行スケジュールの前記更新地点通過目標時刻を、前記運行間隔分前倒し変更する、
自律走行車両。
Priority Applications (3)
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JP2020066659A JP7351790B2 (ja) | 2020-04-02 | 2020-04-02 | 自律走行車両の運行管理装置および自律走行車両 |
US17/194,570 US11524699B2 (en) | 2020-04-02 | 2021-03-08 | Operation management device for automatic running vehicle and automatic running vehicle |
CN202110348242.XA CN113496610B (zh) | 2020-04-02 | 2021-03-31 | 自主行驶车辆的运行管理装置以及自主行驶车辆 |
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JP2020066659A JP7351790B2 (ja) | 2020-04-02 | 2020-04-02 | 自律走行車両の運行管理装置および自律走行車両 |
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JP7351790B2 true JP7351790B2 (ja) | 2023-09-27 |
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Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2013177022A (ja) | 2012-02-28 | 2013-09-09 | Hitachi Ltd | 運行管理システムおよび運行管理方法 |
JP2019144668A (ja) | 2018-02-16 | 2019-08-29 | トヨタ自動車株式会社 | 自律走行車両の走行制御システム、サーバ装置、及び自律走行車両 |
Family Cites Families (13)
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JP2003006785A (ja) * | 2001-06-22 | 2003-01-10 | Nissan Motor Co Ltd | 車両運行管理装置 |
JP2005222144A (ja) | 2004-02-03 | 2005-08-18 | Hitachi Software Eng Co Ltd | バスの自動運行支援システム及び運行情報センタ |
JP4840871B2 (ja) * | 2006-05-22 | 2011-12-21 | 勇人 須藤 | 鉄道車両運行管理システムおよび鉄道車両運行管理プログラム |
CN102568221A (zh) * | 2011-12-23 | 2012-07-11 | 北京易华录信息技术股份有限公司 | 一种基于时刻表的公交优先控制系统及其方法 |
CN103426301B (zh) * | 2012-05-18 | 2015-09-09 | 李志恒 | 一种能够精确到秒的快速公交调度系统及方法 |
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WO2015019432A1 (ja) * | 2013-08-07 | 2015-02-12 | 株式会社日立製作所 | 運行管理システム |
US10053122B2 (en) * | 2014-02-07 | 2018-08-21 | Mitsubishi Electric Corporation | Train-running management device |
US20150294430A1 (en) | 2014-04-15 | 2015-10-15 | Tomorrow's Transportation Today | Dynamic dispatching and schedule management methods for an intelligent transit system with electronic guided buses |
KR101841802B1 (ko) * | 2014-09-15 | 2018-03-23 | 엘에스산전 주식회사 | 철도 차량에서의 자동 열차 운행장치 |
US10405215B2 (en) * | 2017-06-27 | 2019-09-03 | Veniam, Inc. | Self-organized fleets of autonomous vehicles to optimize future mobility and city services |
JP7035531B2 (ja) * | 2017-12-28 | 2022-03-15 | トヨタ自動車株式会社 | 車両運行管理システム |
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2021
- 2021-03-08 US US17/194,570 patent/US11524699B2/en active Active
- 2021-03-31 CN CN202110348242.XA patent/CN113496610B/zh active Active
Patent Citations (2)
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JP2013177022A (ja) | 2012-02-28 | 2013-09-09 | Hitachi Ltd | 運行管理システムおよび運行管理方法 |
JP2019144668A (ja) | 2018-02-16 | 2019-08-29 | トヨタ自動車株式会社 | 自律走行車両の走行制御システム、サーバ装置、及び自律走行車両 |
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US11524699B2 (en) | 2022-12-13 |
CN113496610B (zh) | 2023-09-05 |
CN113496610A (zh) | 2021-10-12 |
JP2021163366A (ja) | 2021-10-11 |
US20210309249A1 (en) | 2021-10-07 |
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