WO2022113761A1 - 交通制御方法、交通制御システム、制御装置およびプログラム - Google Patents
交通制御方法、交通制御システム、制御装置およびプログラム Download PDFInfo
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- WO2022113761A1 WO2022113761A1 PCT/JP2021/041620 JP2021041620W WO2022113761A1 WO 2022113761 A1 WO2022113761 A1 WO 2022113761A1 JP 2021041620 W JP2021041620 W JP 2021041620W WO 2022113761 A1 WO2022113761 A1 WO 2022113761A1
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- driving vehicle
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- traffic control
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Classifications
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- 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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
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- G—PHYSICS
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
Definitions
- the present invention relates to a traffic control method, a traffic control system, a control device and a program.
- An object of the present invention is to provide a traffic control method and a traffic control system that can ensure the safety of an autonomous vehicle.
- the traffic control method of the present invention Processing to acquire the identification information given in advance to the autonomous driving vehicle traveling on the road from the autonomous driving vehicle, and When the acquired identification information includes the first identification information, the process of acquiring the vehicle information of the first autonomous driving vehicle to which the identification information including the first identification information is added, and Processing to calculate the regulation range based on the acquired vehicle information, The process of driving the first self-driving vehicle according to a predetermined operation plan, and The process of notifying the calculated regulation range is performed.
- the traffic control system of the present invention is Self-driving vehicles traveling on the road and It has a control device for controlling the running of the self-driving vehicle.
- the control device is An identification information acquisition unit that acquires identification information previously assigned to the autonomous driving vehicle from the autonomous driving vehicle, and When the identification information acquired by the identification information acquisition unit includes the first identification information, the vehicle information acquisition unit that acquires the vehicle information of the first autonomous driving vehicle to which the identification information including the first identification information is added.
- a regulation range calculation unit that calculates a regulation range based on the vehicle information acquired by the vehicle information acquisition unit, and a regulation range calculation unit. It has a control unit that causes the first self-driving vehicle to travel according to a predetermined operation plan and notifies the regulation range calculated by the regulation range calculation unit.
- control device of the present invention is The identification information acquisition unit that acquires the identification information given in advance to the autonomous driving vehicle traveling on the road from the autonomous driving vehicle, and When the identification information acquired by the identification information acquisition unit includes the first identification information, the vehicle information acquisition unit that acquires the vehicle information of the first autonomous driving vehicle to which the identification information including the first identification information is added.
- a regulation range calculation unit that calculates a regulation range based on the vehicle information acquired by the vehicle information acquisition unit, and a regulation range calculation unit. It has a control unit that causes the first self-driving vehicle to travel according to a predetermined operation plan and notifies the regulation range calculated by the regulation range calculation unit.
- the program of the present invention is A program that lets a computer run On the computer The procedure for acquiring the identification information given in advance to the autonomous driving vehicle traveling on the road from the autonomous driving vehicle, and When the acquired identification information includes the first identification information, a procedure for acquiring the vehicle information of the first autonomous driving vehicle to which the identification information including the first identification information is added, and The procedure for calculating the regulation range based on the acquired vehicle information and The first self-driving vehicle is driven according to a predetermined operation plan, and the procedure of notifying the calculated regulation range is executed.
- the safety of the autonomous driving vehicle can be ensured.
- FIG. 1st Embodiment of the traffic control system of this invention It is a figure which shows the 1st Embodiment of the traffic control system of this invention. It is a figure which shows an example of the internal structure of the control device shown in FIG. It is a figure which shows an example of the image of the regulation range calculated by the regulation range calculation part shown in FIG. It is a flowchart for demonstrating an example of the traffic control method in the traffic control system shown in FIG. It is a figure which shows the 2nd Embodiment of the traffic control system of this invention. It is a figure which shows an example of the internal structure of the control device shown in FIG. It is a figure which shows an example of the parking area where the energy supply part shown in FIG. 5 is installed. It is a figure which shows the 3rd Embodiment of the traffic control system of this invention.
- FIG. 12 It is a figure which shows an example of the internal structure of the control device shown in FIG. It is a graph which shows an example of the change of the physical distribution flow with respect to time zone. It is a flowchart for demonstrating an example of the traffic control method in the traffic control system shown in FIG. It is a figure which shows the 4th Embodiment of the traffic control system of this invention. It is a figure which shows an example of the internal structure of the control device shown in FIG. It is a figure which shows an example of a state in which the vehicle shown in FIG. 12 is connected and travels on a highway. It is a figure which shows an example of the image of the transfer of the cargo of the vehicle shown in FIG. It is a flowchart for demonstrating an example of the traffic control method in the traffic control system shown in FIG.
- FIG. 1 is a diagram showing a first embodiment of the traffic control system of the present invention.
- the traffic control system in this embodiment includes a control device 100, vehicles 200-1, 200-2, 300-1, 300-2, and a communication network 400.
- the control device 100 and the vehicles 200-1, 200-2, 300-1, 300-2 are provided with a communication function.
- the control device 100 and the vehicles 200-1, 200-2, 300-1, and 300-2 are communicably connected to each other via the communication network 400.
- the connection form between the control device 100 and the communication network 400 is not particularly limited.
- the control device 100 and the communication network 400 may be connected via wireless communication.
- Vehicles 200-1 and 200-2 are the first self-driving vehicles capable of self-driving on the road. Each of the vehicles 200-1 and 200-2 is provided with unique identification information that can identify each of the vehicles 200-1 and 200-2 in advance.
- Vehicles 200-1 and 200-2 are vehicles for transporting cargo.
- Vehicles 300-1 and 300-2 are second self-driving vehicles capable of self-driving on the road. Each of the vehicles 300-1 and 300-2 may be provided with unique identification information that can identify each of the vehicles 300-1 and 300-2 in advance.
- FIG. 1 shows an example in which two vehicles 200-1 and 200-2 and two vehicles 300-1 and 300-2 are used, but the number is not limited. Further, the vehicles 200-1, 200-2, 300-1, and 300-2 may be vehicles capable of autonomous driving or remote control.
- FIG. 2 is a diagram showing an example of the internal configuration of the control device 100 shown in FIG.
- the control device 100 shown in FIG. 1 has an identification information acquisition unit 110, a vehicle information acquisition unit 120, a regulation range calculation unit 130, and a control unit 140. Note that FIG. 2 shows only the main components related to the present embodiment among the components included in the control device 100 shown in FIG.
- the identification information acquisition unit 110 acquires the identification information previously given to each of the vehicles 200-1 and 200-2 from each of the vehicles 200-1 and 200-2. When the identification information is given to each of the vehicles 300-1 and 300-2, the identification information acquisition unit 110 also acquires the identification information from the vehicles 300-1 and 300-2.
- the identification information acquisition unit 110 may transmit a request signal requesting identification information to each of the vehicles 200-1, 200-2, 300-1, and 300-2. In this case, the vehicle 200-1, 200-2, 300-1, and 300-2 each transmit their own identification information to the control device 100 (identification information acquisition unit 110) with respect to the request signal received.
- the method of acquiring the identification information in the identification information acquisition unit 110 is not particularly limited. Further, the timing at which the identification information acquisition unit 110 acquires the identification information is not particularly limited. The timing at which the identification information acquisition unit 110 acquires the identification information may be, for example, a predetermined time or a timing according to a predetermined cycle.
- the identification information given in advance to each of the vehicles 200-1, 200-2, 300-1, and 300-2 can identify each of the vehicles 200-1, 200-2, 300-1, and 300-2. All you need is. Further, the identification information includes information that can identify whether the vehicle to which the identification information is given is a first autonomous driving vehicle or a second autonomous driving vehicle.
- the identification information given to the first autonomous driving vehicle includes the first identification information.
- the identification information given to the second self-driving vehicle includes the second identification information.
- the vehicle to which the identification information is not given is also referred to as the second autonomous driving vehicle. That is, a vehicle other than a vehicle whose assigned identification information does not include the first identification information (including a vehicle for which the identification information acquisition unit 110 could not acquire the identification information) becomes the second autonomous driving vehicle.
- the first identification information and the second identification information are contained in predetermined positions in the identification information. By confirming the information included in the predetermined position by the control device 100, it is possible to determine whether the first identification information is included or the second identification information is included.
- the first identification information and the second identification information may be, for example, 1-bit information. In this case, when the bit is "0", the first identification information may be indicated, and when the bit is "1", the second identification information may be indicated.
- the vehicle information acquisition unit 120 includes vehicles 200-1, 200-2 to which the identification information including the first identification information is added ( First self-driving vehicle) Acquires each vehicle information.
- This vehicle information includes at least position information indicating the positions of the vehicles 200-1 and 200-2, respectively.
- the method of acquiring location information is not particularly limited.
- the vehicle information acquisition unit 120 uses the GPS (Global Positioning System) function mounted on the vehicles 200-1 and 200-2 to indicate the positions of the vehicles 200-1 and 200-2, respectively. May be obtained.
- the vehicle information may include information on the cargo mounted on the vehicles 200-1 and 200-2 and speed information indicating the traveling speed of the vehicles 200-1 and 200-2.
- the cargo information is information indicating the type and weight of the cargo mounted on the vehicles 200-1 and 200-2. Further, the traveling speed indicated by the speed information may be calculated based on the position information acquired by the vehicle information acquisition unit 120 and the acquired time information.
- the regulation range calculation unit 130 calculates the regulation range based on the position information acquired by the vehicle information acquisition unit 120. For example, the regulation range calculation unit 130 may calculate the inside of a circle having a predetermined radius centered on the position indicated by the position information acquired by the vehicle information acquisition unit 120 as the regulation range. Further, the regulation range calculation unit 130 may calculate the inside of an ellipse or a square corresponding to the position indicated by the position information acquired by the vehicle information acquisition unit 120 as the regulation range. Further, when the vehicle information acquisition unit 120 acquires information indicating the type of cargo mounted on the vehicles 200-1 and 200-2, it is determined that the type of cargo is the type of dangerous goods or precision equipment, and the regulation range is calculated. Unit 130 may calculate a wider regulatory range.
- the regulation range calculation unit 130 may calculate a wider regulation range as the traveling speed indicated by the speed information is faster. ..
- the regulation range calculation unit 130 calculates the braking distance of the vehicles 200-1 and 200-2 based on the weight of the cargo acquired by the vehicle information acquisition unit 120 and the traveling speed of the vehicles 200-1 and 200-2.
- This regulation range is a range that prevents the entry of the second self-driving vehicle.
- the control unit 140 drives the vehicles 200-1 and 200-2 according to a predetermined operation plan.
- the control unit 140 notifies the regulation range calculated by the regulation range calculation unit 130.
- This notification destination is the second self-driving vehicle (vehicles 300-1, 300-2).
- the purpose of the regulation range notification is to prevent the second self-driving vehicle from entering the regulation range. Therefore, when the control unit 140 notifies the regulation range, the control unit 140 provides information for controlling the operation plan of the second self-driving vehicle so that the second self-driving vehicle does not enter the regulation range. You may notify the self-driving vehicle.
- the control unit 140 also controls the automatic driving of the vehicles 300-1 and 300-2, the control unit 140 excludes the regulation range from the range in which the vehicles 300-1 and 300-2 can travel.
- the control unit 140 may send a warning signal to the vehicles 300-1 and 300-2 to prevent the vehicle from entering the restricted range. Further, the control unit 140 notifies the vehicles 200-1 and 200-2 of the regulation range, and the vehicles 200-1 and 200-2 notify the vehicles 300-1 and 300-2 of the regulation range. Is also good. At this time, the vehicles 200-1 and 200-2 may transmit a warning signal to the vehicles 300-1 and 300-2 to prevent the vehicle from entering the restricted range. This warning signal may be recognizable by the vehicles 300-1 and 300-2. The warning signal may be transmitted using, for example, ultrasonic waves.
- FIG. 3 is a diagram showing an example of an image of the regulation range calculated by the regulation range calculation unit 130 shown in FIG.
- vehicles 200-1, 200-2, and 300-1 are traveling on the highway 500.
- the regulation range calculation unit 130 calculates the regulation range 210-1 and the regulation range 210-2 for each of the vehicle 200-1 and the vehicle 200-2, respectively.
- the control unit 140 controls the vehicle 300-1 so that it does not enter the restricted range 210-1,210-2.
- the method for preventing the vehicle 300-1 from entering the restricted range 210-1,210-2 is as described above. Further, the control unit 140 may control the vehicles 200-1 and 200-2 so as to drive only in a predetermined lane of the expressway 500, and the lane may be set as the regulation range.
- control unit 140 when the control unit 140 detects that the vehicle 200-2 has approached a predetermined distance to the vehicle 200-1 traveling ahead, the control unit 140 follows the vehicle 200-2 and travels. It may be controlled so as to be caused. At this time, the control unit 140 may control the vehicle 200-2 to perform automatic driving with priority given to traveling following the vehicle 200-1.
- the control unit 140 may change a predetermined distance for detecting the approach of the vehicle according to the deterioration state of the road. For example, the control unit 140 may acquire information indicating the deterioration status of the road from the outside, and the worse the deterioration status (the degree of deterioration is) indicated by the acquired information, the longer the predetermined distance may be.
- the information indicating the deterioration status is a value obtained by regular inspection of the road or the like.
- the information indicating the deterioration status may be, for example, a value of the degree of deterioration of the road itself or a value obtained by classifying the degree. Further, the information indicating the deterioration status may be, for example, a value according to the number of years elapsed since the start of use or repair of the road (the longer the number of years, the larger the value). In this way, the distance for detecting the approach is controlled according to the deterioration condition of the road. As a result, the burden on the road can be reduced.
- the control unit 140 controls the vehicle 200-2. It may be detected that the vehicle 200-1 traveling ahead has approached a predetermined distance. That is, in the control unit 140, when the regulation range of the vehicle 200-1 traveling in front and the regulation range of the vehicle 200-2 traveling behind it overlap each other, the vehicle 200-2 becomes the vehicle 200-. It may be detected that the distance approaches a predetermined distance up to 1.
- the size (width) of this regulation range may also be changed according to the deterioration condition of the road as described above. For example, the greater the degree of deterioration of the road, the larger (wider) the regulation range may be.
- Such control for the rear vehicle to follow the vehicle in front may be performed by using a change in the operation mode (for example, switching control between the normal operation mode and the follow-up operation mode).
- a change in the operation mode for example, switching control between the normal operation mode and the follow-up operation mode.
- the burden of performing travel control according to the environment in front of the vehicle behind is reduced. For example, if the vehicle in front is traveling without any problem, it is determined that there is no obstacle in traveling (for example, an obstacle on the road surface). As a result, the control level of the control of the vehicle traveling behind the vehicle can be lowered to reduce the control load.
- FIG. 4 is a flowchart for explaining an example of a traffic control method in the traffic control system shown in FIG.
- the processing in the control device 100 shown in FIG. 1 will be described.
- the case where the vehicles 200-1, 200-2, 300-1, and 300-2 are traveling on the highway by automatic driving will be taken as an example.
- the identification information acquisition unit 110 acquires identification information given in advance to each of the vehicles 200-1, 200-2, 300-1, and 300-2 traveling on the expressway (step S1).
- the identification information acquisition unit 110 is from the vehicles 300-1 and 300-2. Identification information cannot be obtained. Therefore, the process ends.
- the vehicle information acquisition unit 120 determines whether or not the identification information acquired by the identification information acquisition unit 110 includes the first identification information (step S2).
- the vehicle information acquisition unit 120 acquires the vehicle information of the vehicle to which the identification information is given (step S3).
- the first identification information is included in the identification information given to each of the two vehicles 200-1 and 200-2. Therefore, the vehicle information acquisition unit 120 acquires the vehicle information of each of the vehicles 200-1 and 200-2. Subsequently, the regulation range calculation unit 130 calculates each regulation range based on the vehicle information of each of the vehicles 200-1 and 200-2 acquired by the vehicle information acquisition unit 120 (step S4). Then, the control unit 140 notifies the regulation range calculated by the regulation range calculation unit 130 (step S5).
- the regulation range is calculated based on the vehicle information of the autonomous driving vehicle including the specific identification information in the identification information acquired from the vehicle, and the calculated regulation range is notified.
- the traveling of the autonomous driving vehicle having a high priority is first secured, and the autonomous driving vehicle having a low priority is made to travel so as not to interfere with the traveling of the autonomous driving vehicle having a high priority.
- the running of other vehicles does not interfere with the running of the vehicle according to the operation plan of the specific vehicle determined in advance.
- Other vehicles can travel freely outside the regulated range. Therefore, the safety of a specific self-driving vehicle can be ensured.
- FIG. 5 is a diagram showing a second embodiment of the traffic control system of the present invention.
- the traffic control system in this embodiment includes a control device 101, vehicles 200-1, 200-2, a communication network 400, and an energy supply unit 601.
- the vehicles 200-1, 200-2 and the communication network 400 are the same as the vehicles 200-1, 200-2 and the communication network 400 in the first embodiment, respectively.
- the energy supply unit 601 is installed at a predetermined point.
- a predetermined point is an area where vehicles 200-1 and 200-2 can stop, such as a service area (SA) of an expressway, a parking area (PA), and a roadside station of a general road.
- SA service area
- PA parking area
- the energy supply unit 601 replenishes the vehicles 200-1 and 200-2 with the energy required for the vehicles 200-1 and 200-2 to travel.
- the vehicles 200-1 and 200-2 are EVs (Electric Vehicles)
- the energy supply unit 601 charges the vehicles 200-1 and 200-2 (contactless power supply may be used).
- the energy supply unit 601 replenishes the vehicles 200-1 and 200-2 with gasoline.
- the energy supply unit 601 replenishes the vehicles 200-1 and 200-2 with hydrogen. Not limited to these, the energy supply unit 601 replenishes the energy according to the vehicles 200-1 and 200-2.
- the energy supply unit 601 may charge the vehicles 200-1 and 200-2 using the electric energy generated by the solar power in cooperation with the photovoltaic power generation facility. Further, the energy supply unit 601 may charge the electric energy obtained in cooperation with the photovoltaic power generation facility and operate as a storage battery.
- the charging target may include not only the vehicles 200-1 and 200-2 but also other electric devices and electric facilities.
- the control device 101 controls the traveling of the vehicles 200-1 and 200-2.
- the control device 101 may control the supply from the energy supply unit 601 to the vehicles 200-1 and 200-2.
- the control device 101 is provided with a communication function.
- the connection form between the control device 101 and the communication network 400 is not particularly limited.
- the control device 101 and the communication network 400 may be connected via wireless communication.
- FIG. 6 is a diagram showing an example of the internal configuration of the control device 101 shown in FIG.
- the control device 101 shown in FIG. 5 has an identification information acquisition unit 110, a vehicle information acquisition unit 120, a regulation range calculation unit 130, a control unit 141, and a database 151.
- FIG. 6 shows only the main components related to the present embodiment among the components included in the control device 101 shown in FIG.
- the identification information acquisition unit 110, the vehicle information acquisition unit 120, and the regulation range calculation unit 130 are the same as the identification information acquisition unit 110, the vehicle information acquisition unit 120, and the regulation range calculation unit 130 in the first embodiment, respectively. ..
- the database 151 stores in advance the installation location of the energy supply unit 601 and the types of energy that can be replenished. Further, the database 151 may store the amount of energy that can be replenished by the energy replenishment unit 601. The database 151 may store in advance the types of energy that the vehicles 200-1 and 200-2 can travel.
- the control unit 141 controls the supply from the energy supply unit 601 to the vehicles 200-1, 200-2 in addition to the functions provided by the control unit 140 in the first embodiment.
- the control unit 141 monitors the remaining energy of the vehicles 200-1 and 200-2, and when the remaining energy falls below a preset threshold value, the control unit 141 replenishes the vehicles 200-1 and 200-2.
- the energy supply unit 601 may control the supply of necessary energy by controlling the vehicle to travel to the installation position of 601. At this time, the control unit 141 stops the vehicles 200-1 and 200-2 for a replenishment time according to the energy supplied to the vehicles 200-1 and 200-2 by the energy replenishment unit 601.
- FIG. 7 is a diagram showing an example of a parking area in which the energy supply unit 601 shown in FIG. 5 is installed. As shown in FIG. 7, the energy supply unit 601 is installed in the parking area 701 provided on the highway 500. The vehicle 200-2 is stopped at the installation location of the energy supply unit 601 and the control unit 141 controls the energy supply unit 601 to supply energy to the vehicle 200-2.
- the energy supply unit 601 for supplying energy to the vehicles 200-1 and 200-2 is provided at a predetermined point on the road on which the vehicles 200-1 and 200-2 travel. For example, by providing an energy supply unit 601 in a service area of an expressway, a parking area, or a roadside station of a general road, it is possible to make effective use of these facilities. (Third embodiment)
- FIG. 8 is a diagram showing a third embodiment of the traffic control system of the present invention.
- the traffic control system in this embodiment includes a control device 102, vehicles 200-1, 200-2, 300-1, 300-2, and a communication network 400.
- the vehicle 200-1, 200-2, 300-1, 300-2 and the communication network 400, respectively, are the vehicle 200-1, 200-2, 300-1, 300-2 and the communication network 400 in the first embodiment, respectively. It is the same as each.
- the control device 102 controls the traveling of the vehicles 200-1, 200-2, 300-1, 300-2.
- the control device 102 is provided with a communication function.
- the connection form between the control device 102 and the communication network 400 is not particularly limited.
- the control device 102 and the communication network 400 may be connected via wireless communication.
- FIG. 9 is a diagram showing an example of the internal configuration of the control device 102 shown in FIG.
- the control device 102 shown in FIG. 8 has an identification information acquisition unit 110, a vehicle information acquisition unit 120, a regulation range calculation unit 130, a control unit 142, and a learned model 162.
- FIG. 9 shows only the main components related to the present embodiment among the components included in the control device 102 shown in FIG.
- the identification information acquisition unit 110, the vehicle information acquisition unit 120, and the regulation range calculation unit 130 are the same as the identification information acquisition unit 110, the vehicle information acquisition unit 120, and the regulation range calculation unit 130 in the first embodiment, respectively. ..
- the trained model 162 is a trained model in which machine learning is performed by associating an operation plan with the environment using past data.
- the trained model 162 can be used in the learning phase, such as the time, season, day, time zone, weather (weather, temperature, etc.), surrounding environment such as a region, and the flow rate, transportation section, and transportation under each environment.
- This is a trained model that is the result of machine learning so that the operation plan according to the environment can be output in the inference phase by inputting the distance and so on.
- FIG. 10 is a graph showing an example of a change in the flow rate of goods to be transported with respect to a time zone.
- the base data is a policy-defined physical distribution.
- the base data is, for example, the flow rate of goods to be secured (replenished) in advance in each region for the purpose of stockpiling in the event of a disaster or for the purpose of preventing out of stock (out of stock) at stores and distribution centers. That is, the vehicles 200-1 and 200-2 transport at least a predetermined amount of cargo.
- the middle data is the physical distribution data obtained by using the trained model 162.
- the peak data is the data of the physical distribution calculated each time according to the supply and demand at that time.
- the graph may show changes in physical distribution with respect to the day of the week, the day, the month, the season, and the like as the horizontal axis.
- the control unit 142 controls the traveling of the vehicles 200-1 and 200-2 according to the environment, in addition to the functions provided by the control unit 140 in the first embodiment. Specifically, the control unit 142 inputs the environment when the vehicles 200-1 and 200-2 travel to the trained model 162, and the vehicle 200-1 and the vehicle 200-1 according to the operation plan output from the trained model 162. Control the running of 200-2.
- the environment indicated by the environment information input to the trained model 162 by the control unit 142 is the above-mentioned surrounding environment.
- FIG. 11 is a flowchart for explaining an example of a traffic control method in the traffic control system shown in FIG. Here, the processing in the control device 102 shown in FIG. 8 will be described.
- the control unit 142 acquires the environmental information (step S11).
- the control unit 142 obtains, for example, the season, the date and time (day of the week), and the time zone from a calendar or a clock, obtains information on the weather from a site that provides weather information, or obtains information on the weather from the vehicle 200-1,200-.
- the control unit 142 inputs the acquired environmental information into the trained model 162 (step S12).
- the control unit 142 acquires the operation plan learned by the trained model 162 by machine learning using the environmental information from the trained model 162 (step S13).
- the control unit 142 controls the traveling of the vehicles 200-1 and 200-2 according to the acquired operation plan (step S14).
- FIG. 12 is a diagram showing a fourth embodiment of the traffic control system of the present invention.
- the traffic control system in this embodiment includes a control device 103, vehicles 203-1, 203-2, 203-3, 803-1,803-2, and a communication network 400.
- the communication network 400 is the same as the communication network 400 in the first embodiment.
- the control device 103 and the vehicles 203-1, 203-2, 203-3, 803-1,803-2 are provided with a communication function.
- the control device 103 and the vehicles 203-1, 203-2, 203-3, 803-1,803-2 are communicably connected to each other via the communication network 400.
- the connection form between the control device 103 and the communication network 400 is not particularly limited.
- the control device 103 and the communication network 400 may be connected via wireless communication.
- Vehicles 203-1, 203-2, 203-3 are the first self-driving vehicles capable of self-driving on the road. Each of the vehicles 203-1, 203-2, and 203-3 is provided with unique identification information that can identify each of the vehicles 203-1, 203-2, and 203-3 in advance. This identification information includes the first identification information described above.
- Vehicles 203-1, 203-2, 203-3 are vehicles for transporting cargo. Further, the vehicles 203-1, 203-2, and 203-3 are connected to each other. In the example shown in FIG. 12, vehicle 203-1 is at the head, vehicle 203-2 is connected behind vehicle 203-1 and vehicle 203-3 is connected behind vehicle 203-2.
- the order of connection and the number of vehicles to be connected are not limited. Further, this connection may be a mechanical connection. Further, this connection may be an electrical connection. Further, as described in the first embodiment, the control for causing the vehicle in front to follow the vehicle in front to travel is included in the electrical connection.
- Vehicles 803-1,803-2 are third self-driving vehicles capable of self-driving on the road. Each of the vehicles 803-1,803-2 is provided with unique identification information that can identify each of the vehicles 803-1,803-2 in advance. This identification information includes a third identification information. Vehicles 803-1,803-2 are vehicles that transport cargo. The maximum load capacity of each of the vehicles 803-1 and 803-2 is smaller than the maximum load capacity of each of the vehicles 203-1, 203-2 and 203-3.
- the main travel routes of vehicles 803-1, 803-2 are not mainly on expressways such as vehicles 203-1, 203-2, 203-3, but individual cargo delivery destinations and regional delivery. This is the route to the center.
- FIG. 13 is a diagram showing an example of the internal configuration of the control device 103 shown in FIG.
- the control device 103 shown in FIG. 12 has an identification information acquisition unit 110, a vehicle information acquisition unit 120, a regulation range calculation unit 130, a control unit 143, and a database 153.
- FIG. 13 shows only the main components related to the present embodiment among the components included in the control device 103 shown in FIG.
- the identification information acquisition unit 110, the vehicle information acquisition unit 120, and the regulation range calculation unit 130 are the same as the identification information acquisition unit 110, the vehicle information acquisition unit 120, and the regulation range calculation unit 130 in the first embodiment, respectively. ..
- the database 153 contains the maximum load capacity of each of the vehicles 203-1, 203-2, 203-3, 803-1,803-2, and the vehicles 203-1, 203-2, 203-3, 803-1,803-. 2 Memorize the amount of cargo loaded on each.
- the control unit 143 includes the amount of cargo mounted on each of the vehicles 203-1, 203-2, and 203-3 and the vehicle 803-1.
- the distribution of cargo transfer from vehicles 203-1, 203-2, 203-3 to vehicles 803-1,803-2 is calculated according to the maximum load capacity of 803-2.
- the control unit 143 reads out from the database 153 the amount of cargo loaded on each of the vehicles 203-1, 203-2, and 203-3 and the maximum load capacity of the vehicles 803-1,803-2.
- the control unit 143 calculates the distribution of cargo transfer from vehicles 203-1, 203-2, 203-3 to vehicles 803-1, 803-2 based on the read cargo amount and the maximum load capacity. do.
- the control unit 143 calculates the distribution in consideration of the delivery destination of each cargo.
- the delivery destination of the cargo may be determined by the control unit 143 based on the destination information electronically written on the tag or the like attached to each cargo.
- the destination information described in the tag attached to each cargo is acquired by an image pickup means such as a camera provided in advance, and the control unit 143 performs image analysis on the acquired image to recognize the destination information.
- the control unit 143 may determine the delivery destination based on the recognized destination information.
- the control unit 143 stops the vehicles 203-1, 203-2, 203-3, 803-1, 803-2 to be transferred to the cargo at a predetermined transfer position.
- the control unit 143 may control the operation of the robot at the time of cargo transfer. Further, the control unit 143 may present the transfer information indicating the calculated distribution. In this presentation, the control unit 143 transmits transfer information to the vehicles 203-1, 203-2, 203-3, 803-1, 803-2, and the transfer information is received by the vehicles 203-1, 203. -2,203-3,803-1,803-2 may be displayed. Further, the control unit 143 may transmit the transfer information to the information processing device possessed by the operator performing the transfer, and the information processing device receiving the transfer information may output the display, voice output, or the like.
- FIG. 14 is a diagram showing an example of a state in which the vehicles 203-1, 203-2, 203-3 shown in FIG. 12 are connected and travel on the highway 500.
- the vehicle 203-1 is connected first
- the vehicle 203-2 is connected second
- the vehicle 203-3 is connected at the end
- the vehicle is traveling on the highway 500.
- the vehicles connected in this way travel from a predetermined place where the vehicle can stop (for example, the parking area 701 shown in FIG. 7) to a predetermined place where the next vehicle can stop.
- the control unit 143 may control the connection or separation work in the parking area 701. In this case, the control unit 143 controls the connection / separation of the vehicles 203-1, 203-2, 203-3 based on the operation plan and the amount of cargo to be transported.
- FIG. 15 is a diagram showing an example of an image of cargo transfer of vehicles 203-1, 203-2, 203-3, 803-1, 803-2 shown in FIG.
- a vehicle in which vehicles 203-1, 203-2, and 203-3 are connected to a parking area 701 provided on the highway 500 and vehicles 803-1, 803-2 are stopped.
- the vehicle 803-1 is transferred to the vehicle 203-1, 203-2, 203-3 is stopped next to the connected vehicle.
- the control unit 143 controls so that the vehicle to which the vehicles 203-1, 203-2, and 203-3 are connected and the vehicle 803-1 are stopped so as to have such a positional relationship.
- FIG. 16 is a flowchart for explaining an example of a traffic control method in the traffic control system shown in FIG. Here, the processing in the control device 103 shown in FIG. 12 will be described.
- the control unit 143 acquires information indicating the amount of cargo loaded on the vehicles 203-1, 203-2, 203-3, the maximum load capacity of the vehicles 803-1, 803-2, and the delivery destination of the cargo. (Step S21). The method for the control unit 143 to acquire these information is as described above. Subsequently, the control unit 143 calculates the distribution of the transfer of the cargo to the vehicles 803-1,803-2 based on the information acquired in step S21 (step S22). When the control unit 143 calculates the transfer distribution, the control unit 143 presents the calculated distribution as transfer information (step S23). The control unit 143 may control the cargo mounted on the vehicles 803-1, 803-2 to be transferred to the vehicles 203-1, 203-2, 203-3.
- control unit 143 determines the amount of cargo mounted on the vehicle 803-1, 803-2, the maximum load capacity of the vehicles 203-1, 203-2, 203-3, and the cargo. Controls the transfer of cargo based on the delivery destination of.
- the operation plan when the first self-driving vehicle such as vehicles 200-1, 200-2, 200-3 travels on the ring road does not have to be precise. That is, when a plurality of first autonomous vehicles travel on the ring road, even if the arrival (operation) time of the vehicle is not very accurate at each base (for example, a parking area) provided on the ring road. There is no problem.
- a distribution center or an operation management facility may be added to a base such as a parking area.
- the vehicles 200-1 and 200-2 may be super-large vehicles that straddle the vehicles.
- a fixed number of vehicles may be placed at a base where vehicles are stopped, such as a parking area. For example, a multi-story parking lot may be provided in a parking area or the like, and a plurality of vehicles may be made to stand by in the multi-story parking lot.
- a dedicated freight vehicle is connected to a highway to travel on a railroad so that a train travels, the travel of other vehicles is restricted, and an area where vehicles such as a service area and a parking area can stop. Will be used as a space for energy supply and cargo transfer.
- each component has been assigned to each function (process), but this allocation is not limited to the above. Further, the above-mentioned form is merely an example of the configuration of the constituent elements, and the present invention is not limited to this.
- the processing performed by each of the above-mentioned components may be performed by a logic circuit manufactured according to the purpose.
- a computer program (hereinafter referred to as a program) in which the processing content is described as a procedure is placed on a recording medium readable by a device provided with each component (for example, control devices 100 to 103; hereinafter referred to as a control device).
- the program to be recorded and recorded on the recording medium may be read by a control device and executed.
- the recording medium that can be read by the control device is a transferable optical magnetic disk, DVD (Digital Versaille Disc), CD (Compact Disc), Blu-ray (registered trademark) Disc, USB (Universal Serial Bus) memory, or the like.
- the recording medium it refers to a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory) built in the control device, an HDD (Hard Disk Drive), and the like.
- the program recorded on this recording medium is read by a CPU provided in the control device, and the same processing as described above is performed under the control of the CPU.
- the CPU operates as a computer that executes a program read from a recording medium in which the program is recorded.
- (Appendix 1) Self-driving vehicles traveling on the road and It has a control device for controlling the running of the self-driving vehicle.
- the control device is An identification information acquisition unit that acquires identification information previously assigned to the autonomous driving vehicle from the autonomous driving vehicle, and When the identification information acquired by the identification information acquisition unit includes the first identification information, the vehicle information acquisition unit that acquires the vehicle information of the first autonomous driving vehicle to which the identification information including the first identification information is added.
- a regulation range calculation unit that calculates a regulation range based on the vehicle information acquired by the vehicle information acquisition unit, and a regulation range calculation unit.
- a traffic control system having a control unit for driving the first self-driving vehicle according to a predetermined operation plan and notifying the regulation range calculated by the regulation range calculation unit.
- Supplementary Note 2 The traffic control system according to Supplementary Note 1, wherein the vehicle information acquisition unit acquires position information indicating the position of the first autonomous driving vehicle as the vehicle information.
- Appendix 3 The traffic control according to Appendix 2, wherein the vehicle information acquisition unit performs a process of acquiring information on the cargo mounted on the first autonomous driving vehicle in addition to the position information as the vehicle information. system.
- the vehicle information acquisition unit performs a process of acquiring speed information indicating the traveling speed of the first self-driving vehicle in addition to the position information as the vehicle information, as described in Appendix 2 or Appendix 3.
- Traffic control system (Appendix 5) The traffic control system according to Appendix 1, wherein the control unit excludes the restricted range from the range in which a second autonomous vehicle other than the first autonomous vehicle can travel. (Appendix 6) The traffic control according to Appendix 1, wherein the control unit transmits a warning signal for preventing entry into the restricted range to a second autonomous vehicle other than the first autonomous vehicle. system.
- the control unit notifies the first self-driving vehicle of the regulation range, and the control unit notifies the first autonomous driving vehicle of the regulation range.
- the traffic control system according to Appendix 1 wherein the first self-driving vehicle notifies a second self-driving vehicle other than the first self-driving vehicle of the regulation range notified by the control unit.
- the additional note that the first self-driving vehicle transmits a warning signal for preventing entry into the regulated range notified by the control unit to the second self-driving vehicle other than the first self-driving vehicle.
- the traffic control system according to 7.
- the traffic control system according to Appendix 18 or Appendix 19, which calculates the distribution of cargo transfer to the autonomous driving vehicle of 3.
- the traffic control system according to any one of Supplementary note 1 to 20, wherein the first self-driving vehicle is a vehicle that uses EV or hydrogen as energy.
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Abstract
Description
道路を走行している自動運転車両にあらかじめ付与されている識別情報を、該自動運転車両から取得する処理と、
前記取得した識別情報が第1の識別情報を含む場合、該第1の識別情報を含む識別情報が付与された第1の自動運転車両の車両情報を取得する処理と、
前記取得した車両情報に基づいて、規制範囲を算出する処理と、
前記第1の自動運転車両を所定の運行計画に従って走行させる処理と、
前記算出した規制範囲を通知する処理とを行う。
道路を走行している自動運転車両と、
前記自動運転車両の走行を制御する制御装置とを有し、
前記制御装置は、
前記自動運転車両にあらかじめ付与されている識別情報を、該自動運転車両から取得する識別情報取得部と、
前記識別情報取得部が取得した識別情報が第1の識別情報を含む場合、該第1の識別情報を含む識別情報が付与された第1の自動運転車両の車両情報を取得する車両情報取得部と、
前記車両情報取得部が取得した車両情報に基づいて、規制範囲を算出する規制範囲算出部と、
前記第1の自動運転車両を所定の運行計画に従って走行させ、前記規制範囲算出部が算出した規制範囲を通知する制御部とを有する。
道路を走行している自動運転車両にあらかじめ付与されている識別情報を、該自動運転車両から取得する識別情報取得部と、
前記識別情報取得部が取得した識別情報が第1の識別情報を含む場合、該第1の識別情報を含む識別情報が付与された第1の自動運転車両の車両情報を取得する車両情報取得部と、
前記車両情報取得部が取得した車両情報に基づいて、規制範囲を算出する規制範囲算出部と、
前記第1の自動運転車両を所定の運行計画に従って走行させ、前記規制範囲算出部が算出した規制範囲を通知する制御部とを有する。
コンピュータに実行させるプログラムであって、
コンピュータに、
道路を走行している自動運転車両にあらかじめ付与されている識別情報を、該自動運転車両から取得する手順と、
前記取得した識別情報が第1の識別情報を含む場合、該第1の識別情報を含む識別情報が付与された第1の自動運転車両の車両情報を取得する手順と、
前記取得した車両情報に基づいて、規制範囲を算出する手順と、
前記第1の自動運転車両を所定の運行計画に従って走行させ、前記算出した規制範囲を通知する手順とを実行させる。
(第1の実施の形態)
(第2の実施の形態)
(第3の実施の形態)
(第4の実施の形態)
(付記1)道路を走行している自動運転車両と、
前記自動運転車両の走行を制御する制御装置とを有し、
前記制御装置は、
前記自動運転車両にあらかじめ付与されている識別情報を、該自動運転車両から取得する識別情報取得部と、
前記識別情報取得部が取得した識別情報が第1の識別情報を含む場合、該第1の識別情報を含む識別情報が付与された第1の自動運転車両の車両情報を取得する車両情報取得部と、
前記車両情報取得部が取得した車両情報に基づいて、規制範囲を算出する規制範囲算出部と、
前記第1の自動運転車両を所定の運行計画に従って走行させ、前記規制範囲算出部が算出した規制範囲を通知する制御部とを有する交通制御システム。
(付記2)前記車両情報取得部は、前記車両情報として、前記第1の自動運転車両の位置を示す位置情報を取得する、付記1に記載の交通制御システム。
(付記3)前記車両情報取得部は、前記車両情報として、前記位置情報に加えて前記第1の自動運転車両に搭載された貨物の情報を取得する処理を行う、付記2に記載の交通制御システム。
(付記4)前記車両情報取得部は、前記車両情報として、前記位置情報に加えて前記第1の自動運転車両の走行速度を示す速度情報を取得する処理を行う、付記2または付記3に記載の交通制御システム。
(付記5)前記制御部は、前記第1の自動運転車両以外の第2の自動運転車両が走行可能な範囲から前記規制範囲を除外する、付記1に記載の交通制御システム。
(付記6)前記制御部は、前記第1の自動運転車両以外の第2の自動運転車両に対して前記規制範囲への進入を防ぐための警告信号を送信する、付記1に記載の交通制御システム。
(付記7)前記制御部は、前記第1の自動運転車両に前記規制範囲を通知し、
前記第1の自動運転車両は、前記第1の自動運転車両以外の第2の自動運転車両に対して前記制御部から通知された規制範囲を通知する、付記1に記載の交通制御システム。
(付記8)
前記第1の自動運転車両は、前記第1の自動運転車両以外の第2の自動運転車両に対して前記制御部から通知された規制範囲への進入を防ぐための警告信号を送信する、付記7に記載の交通制御システム。
(付記9)前記制御部は、前記第1の自動運転車両が該第1の自動運転車両以外の前方の第1の自動運転車両まで所定の距離に近づいたことを検知した場合、該第1の自動運転車両を、前記前方の第1の自動運転車両に追従して走行させる制御を優先して行う、付記1から8のいずれか1項に記載の交通制御システム。
(付記10)前記制御部は、前記道路の劣化状況に応じて、前記所定の距離を変更する、付記9に記載の交通制御システム。
(付記11)前記制御部は、前記第1の自動運転車両についての前記規制範囲が互いに重なった場合、前記第1の自動運転車両が前記前方の第1の自動運転車両まで前記所定の距離に近づいたことを検知する、付記10に記載の交通制御システム。
(付記12)前記制御部は、前記第1の自動運転車両を、前記道路に設けられた所定のポイントで、所定の時間、停車させる、付記1から11のいずれか1項に記載の交通制御システム。
(付記13)前記所定のポイントで前記第1の自動運転車両に走行するためのエネルギーを補給するエネルギー補給部を有する、付記12に記載の交通制御システム。
(付記14)前記制御部は、環境に応じて、前記第1の自動運転車両の走行を制御する、付記1から13のいずれか1項に記載の交通制御システム。
(付記15)過去のデータを用いて、前記環境に対して前記運行計画を対応付けて機械学習を行った学習済みモデルを有し、
前記制御部は、前記第1の自動運転車両が走行する際の環境を示す環境情報を前記学習済みモデルに入力し、該学習済みモデルから出力された運行計画にしたがって前記第1の自動運転車両の走行を制御する、付記14に記載の交通制御システム。
(付記16)前記第1の自動運転車両は、複数の車両が連結されている、付記1から15のいずれか1項に記載の交通制御システム。
(付記17)前記自動運転車両は、高速道路を走行している車両である、付記1から16のいずれか1項に記載の交通制御システム。
(付記18)前記第1の自動運転車両は、貨物を輸送する車両である、付記1から17のいずれか1項に記載の交通制御システム。交通制御システム。
(付記19)前記第1の自動運転車両は、あらかじめ決められた量の貨物を輸送する、付記18に記載の交通制御システム。
(付記20)前記制御部は、前記第1の自動運転車両に搭載されている貨物の量と該貨物を乗せ換えて配送させる第3の自動運転車両の最大積載量とに応じて、該第3の自動運転車両への貨物の乗せ換えの配分を算出する、付記18または付記19に記載の交通制御システム。
(付記21)前記第1の自動運転車両は、EVまたは水素をエネルギーとする車両である、付記1から20のいずれか1項に記載の交通制御システム。
Claims (24)
- 道路を走行している自動運転車両にあらかじめ付与されている識別情報を、該自動運転車両から取得する処理と、
前記取得した識別情報が第1の識別情報を含む場合、該第1の識別情報を含む識別情報が付与された第1の自動運転車両の車両情報を取得する処理と、
前記取得した車両情報に基づいて、規制範囲を算出する処理と、
前記第1の自動運転車両を所定の運行計画に従って走行させる処理と、
前記算出した規制範囲を通知する処理とを行う交通制御方法。 - 前記車両情報として、前記第1の自動運転車両の位置を示す位置情報を取得する処理を行う請求項1に記載の交通制御方法。
- 前記車両情報として、前記位置情報に加えて前記第1の自動運転車両に搭載された貨物の情報を取得する処理を行う請求項2に記載の交通制御方法。
- 前記車両情報として、前記位置情報に加えて前記第1の自動運転車両の走行速度を示す速度情報を取得する処理を行う請求項2または請求項3に記載の交通制御方法。
- 前記第1の自動運転車両以外の第2の自動運転車両が走行可能な範囲から前記規制範囲を除外する処理を行う請求項1に記載の交通制御方法。
- 前記第1の自動運転車両以外の第2の自動運転車両に対して前記規制範囲への進入を防ぐための警告信号を送信する処理を行う請求項1に記載の交通制御方法。
- 前記第1の自動運転車両に前記規制範囲を通知する処理と、
前記第1の自動運転車両が、前記第1の自動運転車両以外の第2の自動運転車両に対して前記通知された規制範囲を通知する処理とを行う請求項1に記載の交通制御方法。 - 前記第1の自動運転車両が、前記第1の自動運転車両以外の第2の自動運転車両に対して前記通知された規制範囲への進入を防ぐための警告信号を送信する処理とを行う請求項7に記載の交通制御方法。
- 前記第1の自動運転車両が該第1の自動運転車両以外の前方の第1の自動運転車両まで所定の距離に近づいたかどうかを検知する検知処理と、
前記第1の自動運転車両が前記前方の第1の自動運転車両まで前記所定の距離に近づいたことを検知した場合、該第1の自動運転車両を、前記前方の第1の自動運転車両に追従して走行させる制御を優先して行う処理とを行う請求項1から8のいずれか1項に記載の交通制御方法。 - 前記検知処理は、前記道路の劣化状況に応じて、前記所定の距離を変更する請求項9に記載の交通制御方法。
- 前記検知処理では、前記第1の自動運転車両についての前記規制範囲が互いに重なった場合、前記第1の自動運転車両が前記前方の第1の自動運転車両まで前記所定の距離に近づいたことを検知する請求項9に記載の交通制御方法。
- 前記第1の自動運転車両を、前記道路に設けられた所定のポイントで、所定の時間、停車させる処理を行う請求項1から11のいずれか1項に記載の交通制御方法。
- 前記所定のポイントで前記第1の自動運転車両に走行するためのエネルギーを補給する処理を行う請求項12に記載の交通制御方法。
- 環境に応じて、前記第1の自動運転車両の走行を制御する処理を行う請求項1から13のいずれか1項に記載の交通制御方法。
- 過去のデータを用いて、前記環境に対して前記運行計画を対応付けて機械学習を行った学習済みモデルに、前記第1の自動運転車両が走行する際の環境を示す環境情報を入力する処理と、
前記学習済みモデルから出力された運行計画にしたがって前記第1の自動運転車両の走行を制御する処理とを行う請求項14に記載の交通制御方法。 - 前記第1の自動運転車両は、複数の車両が連結されている請求項1から15のいずれか1項に記載の交通制御方法。
- 前記自動運転車両は、高速道路を走行している車両である請求項1から16のいずれか1項に記載の交通制御方法。
- 前記第1の自動運転車両は、貨物を輸送する車両である請求項1から17のいずれか1項に記載の交通制御方法。
- 前記第1の自動運転車両は、あらかじめ決められた量の貨物を輸送する請求項18に記載の交通制御方法。
- 前記第1の自動運転車両に搭載されている貨物の量と該貨物を乗せ換えて配送させる第3の自動運転車両の最大積載量とに応じて、該第3の自動運転車両への貨物の乗せ換えの配分を算出する処理を行う請求項18または請求項19に記載の交通制御方法。
- 前記第1の自動運転車両は、EVまたは水素をエネルギーとする車両である請求項1から20のいずれか1項に記載の交通制御方法。
- 道路を走行している自動運転車両と、
前記自動運転車両の走行を制御する制御装置とを有し、
前記制御装置は、
前記自動運転車両にあらかじめ付与されている識別情報を、該自動運転車両から取得する識別情報取得部と、
前記識別情報取得部が取得した識別情報が第1の識別情報を含む場合、該第1の識別情報を含む識別情報が付与された第1の自動運転車両の車両情報を取得する車両情報取得部と、
前記車両情報取得部が取得した車両情報に基づいて、規制範囲を算出する規制範囲算出部と、
前記第1の自動運転車両を所定の運行計画に従って走行させ、前記規制範囲算出部が算出した規制範囲を通知する制御部とを有する交通制御システム。 - 道路を走行している自動運転車両にあらかじめ付与されている識別情報を、該自動運転車両から取得する識別情報取得部と、
前記識別情報取得部が取得した識別情報が第1の識別情報を含む場合、該第1の識別情報を含む識別情報が付与された第1の自動運転車両の車両情報を取得する車両情報取得部と、
前記車両情報取得部が取得した車両情報に基づいて、規制範囲を算出する規制範囲算出部と、
前記第1の自動運転車両を所定の運行計画に従って走行させ、前記規制範囲算出部が算出した規制範囲を通知する制御部とを有する制御装置。 - コンピュータに、
道路を走行している自動運転車両にあらかじめ付与されている識別情報を、該自動運転車両から取得する手順と、
前記取得した識別情報が第1の識別情報を含む場合、該第1の識別情報を含む識別情報が付与された第1の自動運転車両の車両情報を取得する手順と、
前記取得した車両情報に基づいて、規制範囲を算出する手順と、
前記第1の自動運転車両を所定の運行計画に従って走行させ、前記算出した規制範囲を通知する手順とを実行させるためのプログラム。
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