WO2023238441A1 - Movement control system and movement control method - Google Patents

Movement control system and movement control method Download PDF

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Publication number
WO2023238441A1
WO2023238441A1 PCT/JP2023/004233 JP2023004233W WO2023238441A1 WO 2023238441 A1 WO2023238441 A1 WO 2023238441A1 JP 2023004233 W JP2023004233 W JP 2023004233W WO 2023238441 A1 WO2023238441 A1 WO 2023238441A1
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Prior art keywords
accommodation
vehicle
mobile
control system
movement
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PCT/JP2023/004233
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French (fr)
Japanese (ja)
Inventor
浩二 浦脇
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株式会社日立製作所
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Publication of WO2023238441A1 publication Critical patent/WO2023238441A1/en

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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas

Definitions

  • the present invention relates to a mobile control system that manages parking and parking of moving objects (for example, vehicles).
  • Autonomous driving technology allows mobile objects to move between vehicle compartments without a driver in parking areas such as parking lots.
  • Use cases for parking in parking areas include cases in which a vehicle is parked by freely selecting a vehicle compartment that is suitable for the conditions of the arriving vehicle, and cases in which a vehicle is parked in a reserved location with a specified date and time.
  • a storage area management device uses technology such as that disclosed in Patent Document 1 to teach a vehicle capable of autonomous driving the desired cabin location, and the vehicle automatically parks or stops in the designated cabin. be.
  • the present invention provides a mobile control system that includes a calculation section, a storage section, and a communication section, and the storage section has a storage area for a mobile object.
  • the calculation unit stores accommodation reservation information for the first mobile object based on the accommodation reservation information. It is determined whether there is a free space in the accommodation area that can accommodate the first mobile object, and if there is no free space that can accommodate the first mobile object, the mobile object accommodated in the accommodation area is determined based on the accommodation reservation information. Calculating a movement priority, and outputting, via the communication unit, a movement instruction to at least one of the mobile bodies having a high movement priority in order to create a free space that can accommodate the first mobile body. It is characterized by
  • a moving object for example, a vehicle
  • priority is given to a parked vehicle with a low need for parking or stopping.
  • a parking area can be secured.
  • FIG. 2 is an explanatory diagram showing an overview of the operation of the travel control system according to the first embodiment of the present invention.
  • 1 is a functional block diagram showing the configuration of a travel control system according to a first embodiment of the present invention.
  • 1 is a block diagram showing a hardware configuration of a travel control system according to a first embodiment of the present invention. It is a flowchart explaining the operation when the travel control system according to Example 1 of the present invention secures a vehicle interior. It is an explanatory view showing an outline of operation of a travel control system concerning Example 2 of the present invention. It is a flowchart explaining the operation when the travel control system according to the second embodiment of the present invention secures a vehicle interior.
  • FIG. 1 is an explanatory diagram showing an overview of the operation of the travel control system 20 according to the first embodiment of the present invention.
  • the parking accommodation area 10 is an area where one or more vehicles 30 can be accommodated for parking and parking.
  • the parking accommodation area 10 may be a so-called parking lot, or may be a roadside area where vehicles are permitted to park or park.
  • the vehicle compartment 50 is a section included in the parking/parking accommodation area 10 and accommodating one vehicle, and each parking/stop accommodation area 10 includes one or more compartments.
  • Each compartment 50 may be a fixed-shaped compartment whose position and size are fixed, for example, separated by a wall or a white line, or may be an irregularly-shaped compartment whose position and size can vary. . In the first embodiment, an example will be described in which each compartment 50 is a regular compartment.
  • the vehicle 30 may take measures such as waiting until a vacancy becomes available or canceling parking. However, if a malfunction occurs in the vehicle 30 while it is running, or if the fuel runs out, the battery dies, etc., the need for parking and stopping the vehicle 30 increases. Nevertheless, if the vehicle 30 is unable to park or stop in the desired compartment and, for example, stops on the roadway, it will occupy the roadway, causing problems such as blocking the movement of other vehicles. arise.
  • Embodiment 1 of the present invention a technology of a travel control system is provided that efficiently secures an empty space when the vehicle 30 is parked or stopped. In this way, it is possible to park or park a vehicle in a desired compartment without having the vehicle that needs to park or park stand by.
  • the moving candidate vehicle selection unit 140 selects a moving candidate vehicle to which the moving request is to be sent from among the vehicles parked in the vehicle compartment.
  • the movement management unit 150 manages the movement of the selected movement candidate vehicle. Specifically, the movement management unit 150 transmits a movement request to the movement candidate vehicle and receives a notification of the movement result from the movement candidate car.
  • the travel control system 20 is realized, for example, by a system having a calculation section 231, a storage section 232, an input section 233, a display section 234, and a communication section 235.
  • the image sensor 250 is, for example, an optical camera or a three-dimensional scanner, and one or more image sensors 250 may be installed in each parking accommodation area 10.
  • the image sensor 250 transmits captured two-dimensional or three-dimensional image information to the travel control system 20.
  • the cabin monitor unit 160 of the travel control system 20 can determine whether a vehicle is placed in each cabin 50 in each parking/parking area 10 based on the image information received from the image sensor 250. can.
  • the vehicle interior monitor unit 160 may further acquire the location, size, vehicle type, identification information (for example, registration information read from the license plate) of the vehicle interior from the image information.
  • Each terminal 260 may be, for example, an in-vehicle terminal device installed in each vehicle, or a mobile terminal device (for example, a so-called smartphone) carried around by a user of those vehicles. If the terminal 260 is an in-vehicle terminal device, it may be a navigation terminal, for example, or if it is installed in a vehicle capable of autonomous driving, it communicates with the autonomous driving control device of the vehicle to issue movement instructions, etc. It may also be a terminal that can transmit.
  • the parking reservation application information is transmitted, for example, from the terminal 260 to the travel control system 20, and the result of the application (information on whether the reservation has been registered, etc.) is transmitted from the travel control system 20 to the terminal 260. Further, as will be described later, information requesting permission to move and a response thereto may be communicated between the travel control system 20 and the terminal 260.
  • FIG. 3 shows the flow of processing from when the travel control system 20 receives a parking reservation application from the vehicle 30 to securing a vehicle compartment and notifying the vehicle 30 of the parking reservation result. There is. Each step in FIG. 3 will be explained below.
  • the cabin management unit 130 uses reservation information, vehicle information, location information, and time information as search conditions, and refers to compartment information 180 from each cabin registered in the cabin reservation database 170 to satisfy each condition. Search the cabin.
  • the vehicle information is used as a search condition to determine whether the vehicle 30 matches the size of the vehicle compartment 50 and the load limit when the vehicle 30 is parked or parked.
  • a search using location information as a search condition is performed by, for example, specifying a specific location on the vehicle side using latitude, longitude, height, etc., and selecting cabins within the specified distance range around that location. It's okay.
  • the fact that the vehicle compartment is within a parking area within a specific facility may be used as a location search condition.
  • the time search condition is used to determine the availability of the vehicle compartment 50 during the relevant time period. If one or more cabins satisfying the search conditions are found, they are registered in the cabin candidate list.
  • Step S304 Select a vehicle room from the vehicle room candidate list
  • the vehicle room management unit 130 finds an empty vehicle room 50 that satisfies the conditions from the vehicle room search results in step S303 (FIG. 3: Step S303) (Yes)
  • the cabin 50 to be used by the vehicle 30 is selected from the cabin candidate list.
  • the vehicle compartment 50 may be prioritized based on parking fees, proximity to the designated location, and the like.
  • parking purpose information included in the parking reservation application information may be used for priority evaluation. For example, if the purpose of the vehicle 30 is to park at a specific store, the vehicle 30 may be parked in a vehicle compartment 50 close to those stores or in a parking facility affiliated with the store. It is conceivable to give priority to 50 or the like.
  • Step S306 Determining the priority of moving candidate vehicles
  • the moving candidate vehicle selection unit 140 determines the priority of each vehicle on the moving candidate vehicle list to become a moving candidate vehicle.
  • Parking and parking purpose information included in the parking and parking reservation application information for each vehicle indicates the level of necessity for parking and parking.
  • the degree of necessity for parking and stopping is called the parking and stopping purpose level.
  • the moving candidate vehicle selection unit 140 evaluates the parking/stopping purpose level of each moving candidate vehicle, and selects vehicles with a high priority for movement in descending order of the parking/stopping purpose level (i.e., those with the lowest need for parking/stopping). I evaluate it as.
  • the moving candidate vehicle selection unit 140 also evaluates the parking/stopping purpose level of the vehicle 30 desired to be parked and compares it with each parking/stopping purpose level of the moving candidate vehicle list. If the parking/stopping purpose level of the vehicle 30 is lower than the parking/stopping purpose level of each vehicle on the movement candidate vehicle list, priority is given to the continued parking of the parked vehicle. That is, in this case, a movement instruction (step S307), which will be described later, is not transmitted to the parked vehicle.
  • the vehicle room management unit 130 sends the prioritized moving candidate vehicle list obtained from the moving candidate vehicle selection unit 140 to the movement management unit 150 that manages movement of moving candidate cars, and moves to movement management of each vehicle. .
  • the movement management unit 150 requests movement by transmitting movement instructions in order of priority moving candidate vehicles. It is assumed that a parked vehicle capable of autonomous driving can be moved from the cabin upon receiving movement instructions from outside the vehicle.
  • a parked vehicle capable of autonomous driving can be moved from the cabin upon receiving movement instructions from outside the vehicle.
  • an information processing terminal e.g., terminal 260
  • an external system e.g., travel control system 20
  • the terminal can set a destination, search and select a route, and control the vehicle to travel along the route.
  • the movement management unit 150 does not send movement instructions to the movement candidate vehicle only to leave the garage, but rather instructs the movement destination and movement route according to the purpose of parking and parking of the movement candidate car. may be recommended. For example, if the candidate vehicle was parked for a period of time or for a rest while traveling to a specific destination, reservation and introduction of a vehicle compartment in a new parking area closer to the specific destination may be made. Alternatively, a route to the destination that allows the waiting time to be spent may be recommended.
  • the travel control system 20 can obtain information on vehicle compartments and their availability, or manage reservations, not only for parking and parking areas in a specific area, but also for parking and parking areas in other areas. It becomes possible to instruct vehicles to move across 10 vehicles.
  • Step S311 Check whether the cabin is vacant.
  • the cabin management unit 130 checks the cabin number of the vehicle 40 that received the movement notification in step S310, and displays the cabin number of the vehicle with the cabin number in the cabin monitor unit 160. Instructs to check the availability of room 50.
  • the cabin monitor unit 160 checks the availability of the cabin 50 that is expected to be vacant, based on information acquired from the image sensor 250, for example, and notifies the cabin management unit 130 of the confirmation result.
  • ⁇ About mobile vehicle incentives> vehicles with a low parking/parking purpose level will leave the parking lot upon receiving a movement instruction.
  • the vehicle 40 may consume more energy than when it continues to park or park, or if the parking fee has been paid in advance, there is a possibility that there will be a loss due to a shortened usage time.
  • the travel control system 20 may issue a partial refund of the parking fee paid in advance, or may receive compensation for the loss from the user or owner of the vehicle 30 that newly requests parking.
  • a mechanism for generating incentives for the moving vehicle 40, such as payment, may be provided. That is, when instructing the movement of the vehicle 40, the travel control system 20 may calculate and output the price to be paid to the user or owner of the vehicle 40 for the movement.
  • the total amount of movement of each vehicle due to width-shifting is at least equivalent to the width or overall length of the vehicle that newly requests parking, and even if each vehicle's parking purpose level is high, the movement will not be contrary to that purpose. It is assumed that Therefore, a feature of the second embodiment is to secure a new cabin area by moving the parked vehicle as far as possible.
  • the compartment of the vehicle compartment is dynamically changed to secure a compartment for a vehicle that newly desires to park or park.
  • the configuration of the travel control system 20 is similar to that of the first embodiment.
  • FIG. 4 is an explanatory diagram showing an overview of the operation of the travel control system 20 according to the second embodiment of the present invention.
  • FIG. 4 shows how the travel control system 20 parks the vehicle 30 in the second embodiment.
  • the parking accommodation area 200 is an accommodation area in which compartments of the vehicle compartment are not determined in advance.
  • Travel control system 20 parks vehicle 30 in the following order. (1) Receiving parking reservation application information from the vehicle 30, (2) Designing the cabin area requirements for the vehicle 30, (3) Confirming the cabin space, (4) Selection of moving vehicle and movement instructions, ( 5) Securing a vehicle compartment, (6) Parking the vehicle 30.
  • the processing flow of the second embodiment differs from the first embodiment in steps S303, S304, S305, S306, and S307.
  • FIG. 5 is a flowchart illustrating the operation when the travel control system 20 according to the second embodiment of the present invention secures a vehicle interior.
  • FIG. 5 is a partial flowchart for combining the processing steps from step S303 to step S307 in the first embodiment with the processing steps in the second embodiment. That is, in the second embodiment, steps S303 to S307 in FIG. 3 are replaced with steps S501 to S505 in FIG. 5, respectively.
  • the cabin management unit 130 uses the parking reservation application information received from the reservation management unit 120 to design cabin area requirements necessary for parking and parking the vehicle 30.
  • the vehicle interior area requirements here are conditions for a place where the vehicle 30 is parked and stopped, and define the vertical and horizontal lengths, vehicle height, load resistance, and the like.
  • the space required around the vehicle 30, for example, the space required for people to get on and off from the vehicle 30 and for loading and unloading items, is included in the cabin area requirements.
  • the cabin management unit 130 searches the cabin reservation database for a vacant area suitable for the cabin area requirements of the vehicle 30, and if there is a vacant area, redefines the area as a cabin and reserves it (Yes in step S501). ). At the time of this search, the position of each parked vehicle is measured via the cabin monitor section 160 and registered in the cabin reservation database.
  • the vehicle room management section 130 creates a list of parked and stopped vehicles from the vehicle room reservation database 170 and sends it to the movement candidate vehicle selection section 140 .
  • the moving candidate vehicle selection unit 140 confirms whether each parked vehicle is capable of autonomous travel.
  • the movement candidate vehicle selection unit 140 checks the functional conditions of the vehicle, such as whether each parked vehicle can be moved from the cabin by autonomous driving without a driver, and if the conditions are met, the vehicle information is added to the movement candidate vehicle list. Add.
  • parking purpose information of each parked vehicle is also acquired, and similarly to the first embodiment, the parking purpose level is also evaluated and added to the vehicle information.
  • the movement management unit 150 makes a movement plan for parked vehicles in order to secure an area suitable for the cabin area requirements of the vehicle 30. Based on the position information of each vehicle from the movement candidate vehicle list, the amount of movement for width closing is calculated. For example, in FIG. 4, the first moving candidate vehicle 210 and the second moving candidate vehicle 220 are moved forward in order, and by shortening the distance between the vehicles, a compartment area for the vehicle 30 is created behind the second moving candidate vehicle 220. ensure that In step S504, the amount of movement and movement order required for the first moving candidate vehicle 210 and the second moving candidate vehicle 220 to be closer together are determined as a movement plan.
  • the movement management unit 150 instructs the first movement candidate vehicle 210 and the second movement candidate vehicle 220 to sequentially move forward in accordance with the movement order based on the movement plan created in step S504.
  • Each vehicle that has received the movement instruction determines whether or not it can move, confirms with the owner or user, starts movement control, and notifies the movement management unit 150 of the movement result or the movement movement determination result, as in step S307 of the first embodiment. I do.
  • the movement management unit 150 determines that it is not possible to secure an area where the vehicle 30 can be parked by moving each moving candidate vehicle within the parking/stopping area 200 (that is, moving the candidate cars closer to each other), the movement management unit 150 at least An instruction for moving one of the moving candidate vehicles outside the parking/stop accommodation area 200 (for example, to another parking/stop accommodation area) may be output.
  • the cabin management unit 130 reserves the area secured by the movement as the cabin area, and notifies the vehicle 30 that had desired to park of the reserved cabin.
  • a reserved mark may be displayed in the corresponding area so that the user and each vehicle can know that the vehicle interior area is a reserved area. good. Furthermore, each vehicle may be notified that the reservation has been made.
  • the driving control system 20 gives priority to securing a cabin area by moving parked vehicles closer to each other, and dynamically moves each cabin of parked vehicles to perform various functions.
  • the vehicle interior area can be effectively utilized for parking and stopping vehicles with vehicle interior area requirements.
  • the present invention is not limited to the above embodiments, and includes various modifications.
  • the embodiments described above are described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described.
  • Part or all of the above configurations, functions, processing units, processing means, etc. may be realized in hardware by, for example, designing an integrated circuit. Furthermore, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, files, etc. that realize each function is stored in a storage device such as memory, hard disk, SSD (Solid State Drive), or computer-readable non-temporary data storage medium such as an IC card or SD card. can be placed in Further, the control lines and information lines are shown to be necessary for explanation purposes, and not all control lines and information lines are necessarily shown in the product. In reality, almost all components may be considered to be interconnected.
  • system according to the embodiment of the present invention may be configured as follows, for example.
  • a mobile control system that includes a calculation unit (for example, calculation unit 231), a storage unit (for example, storage unit 232), and a communication unit (for example, communication unit 235), and the storage unit (e.g., a vehicle) in a storage area (e.g., parking/parking storage area 10 or 200);
  • a calculation unit for example, calculation unit 231
  • a storage unit for example, storage unit 232
  • a communication unit for example, communication unit 235
  • the storage unit e.g., a vehicle
  • a storage area e.g., parking/parking storage area 10 or 200
  • the movement priority of the mobile body accommodated in the accommodation area is calculated based on the accommodation reservation information (for example, step S306), and the movement priority of the mobile body accommodated in the accommodation area is calculated via the communication unit.
  • Instructing at least one moving object for example, at least one of the moving vehicle 40, the first moving candidate vehicle 210, and the second moving candidate vehicle 220 to move to create a vacant area that can accommodate the first moving object. (for example, step S307).
  • the accommodation reservation information includes information indicating the degree of necessity for accommodation of the accommodated mobile object, and the calculation unit determines that the higher the necessity for accommodation, the lower the movement priority.
  • the movement priority is calculated as follows.
  • the degree of necessity for housing the housed mobile body depends on the condition of the housed mobile body, the positional relationship between the accommodation area and the user of the housed mobile body, and Determined based on at least one of the fees paid by the user for accommodation.
  • the calculation unit may If the distance between the contained mobile object and the contained mobile object is short, and the fee paid by the user for the storage is high, the necessity of storing the contained mobile object becomes high. Determine the severity of the need for containment.
  • the accommodation reservation application information includes information indicating the degree of necessity for accommodation of the first mobile object, and the calculation unit determines whether the accommodation reservation application information of the first mobile object is highly necessary for accommodation. If the need for accommodation is higher than that of one moving body, no movement instruction is output to the accommodated moving body.
  • the accommodation reservation information includes information indicating the purpose of accommodation of the accommodated moving object, and when instructing the moving object accommodated in the accommodation area to move, the calculation unit Information recommending a destination and a route to the destination is output based on the purpose of accommodating the mobile object.
  • the calculation unit when instructing a mobile object with a high movement priority to move, transmits information requesting consent for movement to the user of the mobile object, and if consent is obtained. Instruct the mobile object to move if the
  • the calculation unit when instructing a mobile object with a high movement priority to move, the calculation unit outputs information indicating the consideration to be paid to the owner or user of the mobile object.
  • the accommodation area includes one or more compartments (for example, a vehicle compartment) each housing one moving object, and the storage unit stores information indicating the position of each compartment, as well as information indicating the location of each compartment.
  • the compartment holds information (for example, compartment information 180) indicating at least one of the conditions of the size and weight of the moving object that can be accommodated, and accommodation reservation application information from the first moving object is stored in the first moving object. If there is no empty section in the storage area that satisfies the size and weight of the first moving object, the calculation unit selects the first moving object.
  • the accommodation reservation information includes information indicating whether the mobile objects accommodated in the accommodation area are capable of autonomous movement, and the calculation unit determines whether the mobile objects accommodated in the accommodation area can move autonomously.
  • a possible movement priority of the moving object is calculated (for example, steps S305 and S306).
  • a vehicle capable of autonomous movement can be selected as a movement target.
  • the terminal device further includes a terminal device (for example, the terminal 260) connected to the communication unit via the network, and the terminal device makes an accommodation reservation for accommodating the first mobile object in the accommodation area.
  • Send application information for example, step S301).

Abstract

Provided is a movement control system, said movement control system comprising a calculation unit, a storage unit, and a communication unit, wherein: the storage unit holds accommodation reservation information regarding accommodation of a mobile body in an accommodation region; and upon receiving accommodation reservation request information regarding accommodation in the accommodation region from a first mobile body, the calculation unit determines, on the basis of the accommodation reservation information, whether or not there is a vacant region in the accommodation region in which the first mobile body can be accommodated, and when there is no vacant region in which the first mobile body can be accommodated, the calculation unit calculates a movement priority of a mobile body accommodated in the accommodation region on the basis of the accommodation reservation information, and outputs, via the communication unit, a movement instruction that is for producing a vacant region in which the first mobile body can be accommodated and that is with respect to at least one mobile body for which the movement priority is high.

Description

移動管制システム及び移動管制方法Mobile control system and mobile control method 参照による取り込みIngest by reference
　本出願は、令和４年（２０２２年）６月７日に出願された日本出願である特願２０２２－０９２３６７の優先権を主張し、その内容を参照することにより、本出願に取り込む。 This application claims priority to Japanese Patent Application No. 2022-092367, which was filed on June 7, 2022, and its contents are incorporated into this application by reference.
　本発明は、移動体（例えば車両）の駐停車を管理する移動管制システムに関する。 The present invention relates to a mobile control system that manages parking and parking of moving objects (for example, vehicles).
　現在、移動体の自動運転に関する技術が盛んに開発されている。自動運転技術により、駐車場などの駐停車収容領域において、移動体がドライバレスの車室間を移動することができる。 Currently, technologies related to autonomous driving of mobile objects are being actively developed. Autonomous driving technology allows mobile objects to move between vehicle compartments without a driver in parking areas such as parking lots.
　下記特許文献１は、移動体の駐停車収容領域を有効活用するための収容領域管理技術について記載している。同文献は、『移動体ごとの自律走行レベルの違いを考慮することにより、収容領域を有効に活用することができる収容領域管理装置を提供する。』ことを課題として、『移動体を収容する収容領域を管理し、前記移動体を前記収容領域内の所定の収容位置に移動させる収容領域管理装置であって、前記移動体が可能な自律移動に関する自律移動レベル情報を取得する取得部と、前記移動体が前記収容領域に進入した後、前記移動体の前記収容領域内における移動が必要となった場合、前記移動体に対して自律移動レベルの変更を指示する処理部と、を備える収容領域管理装置』という技術を開示している（要約参照）。 Patent Document 1 listed below describes a storage area management technique for effectively utilizing parking and parking areas for moving objects. This document provides a storage area management device that can effectively utilize storage areas by taking into account differences in the level of autonomous driving of each mobile object. ``An accommodation area management device that manages an accommodation area for accommodating a moving object and moves the moving object to a predetermined accommodation position within the accommodation area, the apparatus is capable of autonomous movement of the moving object. an acquisition unit that acquires autonomous movement level information for the mobile object, when the mobile object needs to move within the containment area after the mobile object enters the containment area; A storage area management device comprising a processing unit that instructs a change in the storage area (see summary) is disclosed.
　　特許文献１：特開２０２１－１４９７０９号公報 Patent Document 1: Japanese Patent Application Publication No. 2021-149709
　駐停車収容領域における駐停車のユースケースとしては、到着した移動体の条件に適した車室を自由に選択して駐停車するケース、および、予め日時指定で予約した場所に駐停車するケースに加え、特許文献１のような技術によって収容領域管理装置が自律走行可能な移動体に目的の車室位置を教示することで、車両が自動的に指示された車室に駐停車するケースなどがある。 Use cases for parking in parking areas include cases in which a vehicle is parked by freely selecting a vehicle compartment that is suitable for the conditions of the arriving vehicle, and cases in which a vehicle is parked in a reserved location with a specified date and time. In addition, there is a case in which a storage area management device uses technology such as that disclosed in Patent Document 1 to teach a vehicle capable of autonomous driving the desired cabin location, and the vehicle automatically parks or stops in the designated cabin. be.
　自律走行可能で道路の走行も駐停車もドライバレスで行える移動体が増えた場合、移動目的の無い移動体および時間待機を行う移動体などは、エネルギー消費の節約または時間待機を目的として駐停車収容領域に駐停車するケースが増加する。一方で、移動体の故障やメンテナンス、エネルギーの補充、移動体のユーザーの乗り降りなどの駐停車の必要性の高い移動体も同様に駐停車収容領域に駐停車するケースもある。後者の移動体は前者に比べ特定の駐停車収容領域に駐停車する必要性が高い。しかしながら、前者の移動体が増加すると駐停車収容領域に空いている車室が確保できなくなり、後者のような駐停車の必要性が高い移動体の駐停車を阻害することがある。 As the number of mobile objects that are capable of autonomous driving and that can travel on roads, park, and stop without a driver increases, mobile objects that have no purpose of movement or those that wait for a certain period of time will stop and park in order to save energy consumption or wait for a certain amount of time. There will be an increase in the number of vehicles parked in containment areas. On the other hand, there are also cases where movable bodies that require parking due to breakdowns, maintenance, energy replenishment, or when users of movable bodies get on and off the vehicle similarly park in the parking storage area. The latter type of moving object is more likely to need to be parked in a specific parking area than the former type. However, when the number of the former type of moving objects increases, it becomes impossible to secure a vacant vehicle compartment in the parking accommodation area, which may hinder the parking of the latter type of moving objects that require a high degree of parking.
　本発明は、上記のような課題に鑑みてなされたものであり、本発明に係る走行管制システムによれば、新たに駐停車の必要性が高い車両が駐停車を希望した時に、自律走行可能でかつ駐停車の必要性が低い駐停車車両を優先的に移動させることで、駐停車収容領域を確保する。駐停車収容領域を有効に活用することができる技術の提供が目的である。 The present invention has been made in view of the above-mentioned problems, and according to the travel control system according to the present invention, when a vehicle with a high need for parking/stopping newly requests parking/stopping, autonomous driving is possible. To secure a parking accommodation area by preferentially moving parked vehicles that are large and have little need for parking. The purpose is to provide technology that can effectively utilize parking areas.
　上記の課題の少なくとも一つを解決するために、本発明は、移動管制システムであって、演算部と、記憶部と、通信部と、を有し、前記記憶部は、移動体の収容領域内の収容予約情報を保持し、前記演算部は、第一の移動体からの前記収容領域内への収容予約申込情報を受信すると、前記収容予約情報に基づいて、前記第一の移動体を収容可能な前記収容領域内の空き領域の有無を判定し、前記第一の移動体を収容可能な空き領域がない場合、前記収容予約情報に基づいて、前記収容領域に収容された移動体の移動優先度を算出し、前記通信部を介して、前記移動優先度が高い少なくとも一つの前記移動体に対する、前記第一の移動体を収容可能な空き領域を生成するための移動の指示を出力することを特徴とする。 In order to solve at least one of the above problems, the present invention provides a mobile control system that includes a calculation section, a storage section, and a communication section, and the storage section has a storage area for a mobile object. When receiving accommodation reservation application information from a first mobile object into the accommodation area, the calculation unit stores accommodation reservation information for the first mobile object based on the accommodation reservation information. It is determined whether there is a free space in the accommodation area that can accommodate the first mobile object, and if there is no free space that can accommodate the first mobile object, the mobile object accommodated in the accommodation area is determined based on the accommodation reservation information. Calculating a movement priority, and outputting, via the communication unit, a movement instruction to at least one of the mobile bodies having a high movement priority in order to create a free space that can accommodate the first mobile body. It is characterized by
　本発明の一態様に係る移動管制システムによれば、新たに駐停車の必要性が高い移動体（例えば車両）が駐停車を希望した時に、駐停車の必要性が低い駐停車車両を優先的に移動させることで、駐停車収容領域を確保することができる。前述した以外の課題、構成及び効果は、以下の実施例の説明によって明らかにされる。 According to the movement control system according to one aspect of the present invention, when a moving object (for example, a vehicle) with a new need for parking or stopping requests parking, priority is given to a parked vehicle with a low need for parking or stopping. By moving the parking lot, a parking area can be secured. Problems, configurations, and effects other than those described above will be made clear by the description of the following examples.
本発明の実施例１に係る走行管制システムの動作の概要を示す説明図である。FIG. 2 is an explanatory diagram showing an overview of the operation of the travel control system according to the first embodiment of the present invention. 本発明の実施例１に係る走行管制システムの構成を示す機能ブロック図である。1 is a functional block diagram showing the configuration of a travel control system according to a first embodiment of the present invention. 本発明の実施例１に係る走行管制システムのハードウェア構成を示すブロック図である。1 is a block diagram showing a hardware configuration of a travel control system according to a first embodiment of the present invention. 本発明の実施例１に係る走行管制システムが車室の確保を行うときの動作を説明するフローチャートである。It is a flowchart explaining the operation when the travel control system according to Example 1 of the present invention secures a vehicle interior. 本発明の実施例２に係る走行管制システムの動作の概要を示す説明図である。It is an explanatory view showing an outline of operation of a travel control system concerning Example 2 of the present invention. 本発明の実施例２に係る走行管制システムが車室の確保を行うときの動作を説明するフローチャートである。It is a flowchart explaining the operation when the travel control system according to the second embodiment of the present invention secures a vehicle interior.
　図１は、本発明の実施例１に係る走行管制システム２０の動作の概要を示す説明図である。 FIG. 1 is an explanatory diagram showing an overview of the operation of the travel control system 20 according to the first embodiment of the present invention.
　具体的には、図１は、駐停車収容領域１０において走行管制システム２０が車両３０を駐停車させるときの様子を示す。なお、本実施例の車両（例えば車両３０及び移動車両４０）は移動体の一例である。駐停車収容領域１０は、移動体の収容領域の一例である。駐停車（すなわち駐車または停車）は、移動体の収容領域への収容の一例である。走行管制システム２０は、移動体の移動を管制する移動管制システムの一例である。通信ネットワーク６０は、走行管制システム２０と各車両間を接続するインターネット回線などを示す。走行管制システム２０は、以下の順序により、車両３０を駐車させる。（１）車両３０からの駐停車予約申込情報の受信、（２）駐停車収容領域１０における車室の空き確認、（３）移動車両４０の選定と移動指示、（４）車室５０の確保、（５）車両３０の駐車。 Specifically, FIG. 1 shows how the travel control system 20 parks and stops the vehicle 30 in the parking and parking area 10. Note that the vehicles (for example, the vehicle 30 and the moving vehicle 40) of this embodiment are examples of moving objects. The parking accommodation area 10 is an example of a moving body accommodation area. Parking or stopping (that is, parking or stopping) is an example of accommodating a mobile object in a accommodating area. The travel control system 20 is an example of a mobile control system that controls the movement of moving objects. The communication network 60 indicates an Internet line or the like that connects the travel control system 20 and each vehicle. Travel control system 20 parks vehicle 30 in the following order. (1) Receiving parking reservation application information from the vehicle 30, (2) Confirming the availability of a vehicle compartment in the parking/parking storage area 10, (3) Selecting a moving vehicle 40 and instructing its movement, (4) Securing the vehicle compartment 50. , (5) Parking of the vehicle 30.
　ここで、駐停車収容領域１０は、１以上の車両３０を駐停車のために収容することができる領域である。例えば、駐停車収容領域１０は、いわゆる駐車場であってもよいし、車両を駐停車することが許可されている路肩の領域等であってもよい。車室５０は、駐停車収容領域１０に含まれる、１台の車両を収容する区画であり、各駐停車収容領域１０が１以上の車室を含む。各車室５０は、例えば壁または白線等によって区切られ、位置及び大きさが固定された定形の区画であってもよいし、位置及び大きさが変動し得る不定形の区画であってもよい。実施例１では、各車室５０が定形の区画である例を説明する。 Here, the parking accommodation area 10 is an area where one or more vehicles 30 can be accommodated for parking and parking. For example, the parking accommodation area 10 may be a so-called parking lot, or may be a roadside area where vehicles are permitted to park or park. The vehicle compartment 50 is a section included in the parking/parking accommodation area 10 and accommodating one vehicle, and each parking/stop accommodation area 10 includes one or more compartments. Each compartment 50 may be a fixed-shaped compartment whose position and size are fixed, for example, separated by a wall or a white line, or may be an irregularly-shaped compartment whose position and size can vary. . In the first embodiment, an example will be described in which each compartment 50 is a regular compartment.
　上記の駐停車予約申込から駐車までの過程において、車両３０が車道での走行から駐停車までの間に車室の空きを待つことなく駐車できれば、車両３０にとって有用である。 In the process from applying for a parking reservation to parking, it would be useful for the vehicle 30 if the vehicle 30 could park the vehicle without waiting for a space to become available between driving on the road and parking.
　駐停車収容領域１０の車室に空きがない場合には、車両３０は空きができるまで待機するか、駐停車を中止するなどの対応が考えられる。しかしながら、走行中の車両３０に故障が発生した、または、燃料切れ、バッテリー上がり等が生じた場合は、車両３０の駐停車の必要性は高くなってしまう。それにもかかわらず、車両３０が所望の車室に対して駐停車できず、例えば車道に停車しまうようなことになると、車道を占領することになり、他の車両の走行を妨げるなどの課題が生じる。 If there is no vacancy in the vehicle compartment in the parking/parking accommodation area 10, the vehicle 30 may take measures such as waiting until a vacancy becomes available or canceling parking. However, if a malfunction occurs in the vehicle 30 while it is running, or if the fuel runs out, the battery dies, etc., the need for parking and stopping the vehicle 30 increases. Nevertheless, if the vehicle 30 is unable to park or stop in the desired compartment and, for example, stops on the roadway, it will occupy the roadway, causing problems such as blocking the movement of other vehicles. arise.
　そこで本発明の実施例１においては、車両３０を駐停車させるときに、車室の空きを効率よく確保する走行管制システムの技術を提供する。これにより、駐停車の必要性の高い車両に待機させることなく所望の車室に駐停車させることを図る。 Therefore, in Embodiment 1 of the present invention, a technology of a travel control system is provided that efficiently secures an empty space when the vehicle 30 is parked or stopped. In this way, it is possible to park or park a vehicle in a desired compartment without having the vehicle that needs to park or park stand by.
　図２Ａは、本発明の実施例１に係る走行管制システム２０の構成を示す機能ブロック図である。 FIG. 2A is a functional block diagram showing the configuration of the travel control system 20 according to the first embodiment of the present invention.
　走行管制システム２０は、予約管理部１２０、車室管理部１３０、移動候補車選定部１４０、移動管理部１５０、車室モニタ部１６０、および車室予約データベース１７０を有する。 The travel control system 20 includes a reservation management section 120, a cabin management section 130, a movement candidate vehicle selection section 140, a movement management section 150, a cabin monitor section 160, and a cabin reservation database 170.
　予約管理部１２０は、車両３０から駐停車予約申込情報を取得する。 The reservation management unit 120 acquires parking reservation application information from the vehicle 30.
　車室管理部１３０は、走行管制システム２０による駐停車管理が可能な車室の位置、大きさ（例えばその車室に駐停車可能な車両の大きさの上限）、および耐荷重などの区画情報１８０（図２Ｂ参照）を管理する。また、車室管理部１３０は、駐停車を希望する車室の駐停車予約申込情報に含まれる位置情報をもとに、その希望に沿った車室の選定を行う。 The vehicle interior management unit 130 stores compartment information such as the location, size (for example, the upper limit of the size of vehicles that can be parked and parked in the vehicle interior), and load capacity of vehicle interiors that can be managed by the travel control system 20. 180 (see FIG. 2B). Further, the vehicle room management unit 130 selects a vehicle room according to the user's request based on the position information included in the parking reservation application information of the vehicle room in which the user desires to park.
　移動候補車選定部１４０は、車室に駐停車している各車両の中から移動依頼の送り先となる移動候補車を選定する。 The moving candidate vehicle selection unit 140 selects a moving candidate vehicle to which the moving request is to be sent from among the vehicles parked in the vehicle compartment.
　移動管理部１５０は、選定された移動候補車の移動を管理する。具体的には、移動管理部１５０は、移動候補車に移動依頼を送信し、移動候補車から移動結果の通知を受け取る。 The movement management unit 150 manages the movement of the selected movement candidate vehicle. Specifically, the movement management unit 150 transmits a movement request to the movement candidate vehicle and receives a notification of the movement result from the movement candidate car.
　車室モニタ部１６０は、車室に駐停車している車両の有無の識別、および、駐停車している車両がある場合には各車両の識別を行う。例えば、車室ごとに設置された画像センサによって駐停車中の車両を撮像し、車室モニタ部１６０がその画像に含まれるナンバープレートを認識することで、車室の駐停車状況に加え、駐停車している車両の識別を行う。 The vehicle interior monitor unit 160 identifies whether or not there are vehicles parked in the vehicle interior, and if there are vehicles parked or parked, identifies each vehicle. For example, an image sensor installed in each vehicle compartment captures an image of a parked vehicle, and the vehicle interior monitor unit 160 recognizes the license plate included in the image. Identify parked vehicles.
　図２Ｂは、本発明の実施例１に係る走行管制システム２０のハードウェア構成を示すブロック図である。 FIG. 2B is a block diagram showing the hardware configuration of the travel control system 20 according to the first embodiment of the present invention.
　走行管制システム２０は、例えば、演算部２３１、記憶部２３２、入力部２３３、表示部２３４および通信部２３５を有するシステムによって実現される。 The travel control system 20 is realized, for example, by a system having a calculation section 231, a storage section 232, an input section 233, a display section 234, and a communication section 235.
　演算部２３１は、ＣＰＵ（Central Processing Unit）などの演算装置を用いて構成することができる。演算部２３１が備える予約管理部１２０～車室モニタ部１６０等の各機能部は、その機能を実装した回路デバイスを用いて構成することもできるし、その機能を実装したソフトウェアを演算部２３１が実行することによって構成することもできる。演算部２３１が備える各機能部は、演算部２３１の一部として構成することもできるし、別の機能部として構成することもできる。 The calculation unit 231 can be configured using a calculation device such as a CPU (Central Processing Unit). Each of the functional units included in the calculation unit 231, such as the reservation management unit 120 to the vehicle interior monitor unit 160, can be configured using a circuit device that implements the function, or the calculation unit 231 can use software that implements the function. It can also be configured by executing. Each functional unit included in the calculation unit 231 can be configured as a part of the calculation unit 231, or can be configured as a separate functional unit.
　記憶部２３２は、演算部２３１によって実行されるソフトウェア、演算部２３１が実行する処理において参照される情報、及び、処理の結果として生成される情報等を格納する記憶装置である。記憶部２３２は、例えば、ＤＲＡＭ（Dynamic Random Access Memory）等の主記憶装置及びＨＤＤ（Hard Disk Drive）又はＳＳＤ（Solid State Drive）等の補助記憶装置を含んでもよい。本実施例の記憶部２３２には、車室予約データベース１７０および区画情報１８０が格納される。 The storage unit 232 is a storage device that stores software executed by the calculation unit 231, information referenced in the processing executed by the calculation unit 231, information generated as a result of the processing, and the like. The storage unit 232 may include, for example, a main storage device such as a DRAM (Dynamic Random Access Memory), and an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage unit 232 of this embodiment stores the cabin reservation database 170 and compartment information 180.
　入力部２３３は、走行管制システム２０のユーザーからの情報の入力を受け付ける装置であり、例えばキーボード、マウス及びタッチパネル等の少なくともいずれかを含んでもよい。表示部２３４は、走行管制システム２０のユーザーに対して情報を出力するための装置であり、例えば画像表示装置であってもよい。通信部２３５は、通信ネットワーク６０に接続され、他の機器との通信を実行する。図２Ｂの例では、通信部２３５は、通信ネットワーク６０を介して画像センサ２５０および端末２６０と通信する。 The input unit 233 is a device that accepts input of information from the user of the travel control system 20, and may include, for example, at least one of a keyboard, a mouse, a touch panel, and the like. The display unit 234 is a device for outputting information to the user of the travel control system 20, and may be, for example, an image display device. The communication unit 235 is connected to the communication network 60 and executes communication with other devices. In the example of FIG. 2B, the communication unit 235 communicates with the image sensor 250 and the terminal 260 via the communication network 60.
　画像センサ２５０は、例えば光学カメラまたは三次元スキャナ等であり、各駐停車収容領域１０に１以上の画像センサ２５０が設置されてもよい。画像センサ２５０は、撮影した二次元または三次元の画像情報を走行管制システム２０に送信する。走行管制システム２０の車室モニタ部１６０は、画像センサ２５０から受信した画像情報に基づいて、各駐停車収容領域１０内の各車室５０に車両が置かれているか否かを判定することができる。車室モニタ部１６０は、さらに、画像情報から車両の車室内の位置、サイズ、車種および識別情報（例えばナンバープレートから読み取られた登録情報）等を取得してもよい。 The image sensor 250 is, for example, an optical camera or a three-dimensional scanner, and one or more image sensors 250 may be installed in each parking accommodation area 10. The image sensor 250 transmits captured two-dimensional or three-dimensional image information to the travel control system 20. The cabin monitor unit 160 of the travel control system 20 can determine whether a vehicle is placed in each cabin 50 in each parking/parking area 10 based on the image information received from the image sensor 250. can. The vehicle interior monitor unit 160 may further acquire the location, size, vehicle type, identification information (for example, registration information read from the license plate) of the vehicle interior from the image information.
　各端末２６０は、例えば、各車両に搭載された車載端末装置であってもよいし、それらの車両のユーザーが持ち歩く携帯端末装置（例えばいわゆるスマートフォン等）であってもよい。端末２６０は、車載端末装置である場合、例えばナビゲーション端末であってもよいし、自律走行可能な車両に搭載されている場合には当該車両の自律走行の制御装置と通信して移動の指示等を伝達可能な端末であってもよい。駐停車予約申込情報は、例えば端末２６０から走行管制システム２０に送信され、申し込みの結果（予約が登録されたか否かの情報等）が走行管制システム２０から端末２６０に送信される。さらに、後述するように、移動の許諾を求める情報およびそれに対する応答が走行管制システム２０と端末２６０との間で通信されてもよい。 Each terminal 260 may be, for example, an in-vehicle terminal device installed in each vehicle, or a mobile terminal device (for example, a so-called smartphone) carried around by a user of those vehicles. If the terminal 260 is an in-vehicle terminal device, it may be a navigation terminal, for example, or if it is installed in a vehicle capable of autonomous driving, it communicates with the autonomous driving control device of the vehicle to issue movement instructions, etc. It may also be a terminal that can transmit. The parking reservation application information is transmitted, for example, from the terminal 260 to the travel control system 20, and the result of the application (information on whether the reservation has been registered, etc.) is transmitted from the travel control system 20 to the terminal 260. Further, as will be described later, information requesting permission to move and a response thereto may be communicated between the travel control system 20 and the terminal 260.
　図３は、本発明の実施例１に係る走行管制システム２０が車室の確保を行うときの動作を説明するフローチャートである。 FIG. 3 is a flowchart illustrating an operation when the travel control system 20 according to the first embodiment of the present invention secures a vehicle interior.
　具体的には、図３は、走行管制システム２０が車両３０から駐停車予約の申し込みを受けてから車室の確保を行い車両３０に駐停車予約結果を通知するまでの処理の流れを示している。以下、図３の各ステップについて説明する。 Specifically, FIG. 3 shows the flow of processing from when the travel control system 20 receives a parking reservation application from the vehicle 30 to securing a vehicle compartment and notifying the vehicle 30 of the parking reservation result. There is. Each step in FIG. 3 will be explained below.
　（図３：ステップＳ３０１）
　車両３０は、予約管理部１２０に対して駐停車予約申込情報を送信する。この送信は、例えば、車両３０に搭載された、または、車両３０の利用者が所持する、端末２６０によって行われる。送信される駐停車予約申込情報は、走行管制システム２０に対する車両３０の駐停車予約の申し込みに関する情報であり、車両３０の識別子、車幅、車長および重量などの車両情報、駐停車を希望する車室の位置情報、駐停車期間に関する時間情報、ならびに、駐停車の必要性の高さを示す駐停車目的情報などが含まれる。 (Figure 3: Step S301)
The vehicle 30 transmits parking reservation application information to the reservation management section 120. This transmission is performed, for example, by a terminal 260 mounted on the vehicle 30 or owned by a user of the vehicle 30. The transmitted parking and parking reservation application information is information regarding the application for parking and parking reservation for the vehicle 30 to the travel control system 20, and includes vehicle information such as the identifier of the vehicle 30, vehicle width, vehicle length, and weight, and the request for parking and parking. This includes information on the location of the vehicle, time information regarding the parking period, and parking purpose information indicating the degree of necessity for parking.
　（図３：ステップＳ３０２）駐停車予約申込情報を車室管理部に転送
　予約管理部１２０は、ステップＳ３０１において車両３０から送信された駐停車予約申込情報を受信すると、それを車室管理部１３０に送信し、車両３０が希望する車室の予約の可否について車室管理部１３０に問い合わせる。 (FIG. 3: Step S302) Transfer the parking reservation application information to the vehicle interior management unit When the reservation management unit 120 receives the parking reservation application information transmitted from the vehicle 30 in step S301, the reservation management unit 120 transfers the parking reservation application information to the vehicle interior management unit 130. and inquires of the vehicle room management unit 130 whether the vehicle 30 can reserve the desired vehicle room.
　（図３：ステップＳ３０３）車室管理部１３０が車室候補リストを検索
　車室管理部１３０は、予約管理部１２０から受けた駐停車予約申込情報を用いて車室予約データベース１７０の中から車両３０が駐停車可能な車室候補リストを検索する。駐停車予約申込情報には、上述の通り車両情報、位置情報、時間情報および駐停車目的情報などが含まれている。一方、車室予約データベース１７０は、各駐停車収容領域１０の各車室５０の位置、大きさおよび耐荷重制限等の情報に加えて、各車室５０に駐停車する予約が既に確定している車両３０に関する情報を含んでもよい。さらに、車室予約データベース１７０は、現時点で車室５０に駐停車している車両に関する情報を含む。この情報は、少なくとも、車両がドライバレスで自律走行可能かを示す情報、および、車両の駐停車目的情報を含む。これらの情報は、例えば、車両が車室５０の予約をしたときに送信された駐停車予約申込情報から取得されてもよい。 (FIG. 3: Step S303) The vehicle room management unit 130 searches the vehicle room candidate list. The vehicle room management unit 130 uses the parking reservation application information received from the reservation management unit 120 to select the vehicle from the vehicle room reservation database 170. 30 searches a list of vehicle room candidates in which the vehicle can be parked. The parking reservation application information includes vehicle information, location information, time information, parking purpose information, etc. as described above. On the other hand, the cabin reservation database 170 includes information such as the location, size, and load capacity of each cabin 50 in each parking/parking storage area 10, as well as information on reservations for parking in each cabin 50 that have already been confirmed. It may also include information regarding the vehicle 30 present therein. Furthermore, the cabin reservation database 170 includes information regarding the vehicles currently parked in the cabin 50. This information includes at least information indicating whether the vehicle can travel autonomously without a driver, and information on the purpose of parking and stopping the vehicle. These pieces of information may be acquired, for example, from parking reservation application information transmitted when the vehicle makes a reservation for the compartment 50.
　車室管理部１３０は、予約情報、車両情報、位置情報および時間情報を検索条件にし、車室予約データベース１７０に登録されている各車室から、区画情報１８０を参照して、各条件を満たす車室を検索する。車両情報は、車両３０の駐停車に対する車室５０の大きさおよび耐荷重制限などにマッチングするかという検索条件に用いる。また、位置情報を検索条件とした検索は、例えば車両側で特定の位置を緯度、経度、高さなどで指定し、その周辺の指定した距離範囲内にある車室を選択することによって行われても良い。また、車室が特定の施設内の駐停車収容領域内にあることを位置の検索条件に用いても良い。時間の検索条件は、該当時間帯の車室５０の空き状況の判定に用いる。検索条件を満たす１以上の車室が見つかった場合、それらが車室候補リストに登録される。 The cabin management unit 130 uses reservation information, vehicle information, location information, and time information as search conditions, and refers to compartment information 180 from each cabin registered in the cabin reservation database 170 to satisfy each condition. Search the cabin. The vehicle information is used as a search condition to determine whether the vehicle 30 matches the size of the vehicle compartment 50 and the load limit when the vehicle 30 is parked or parked. In addition, a search using location information as a search condition is performed by, for example, specifying a specific location on the vehicle side using latitude, longitude, height, etc., and selecting cabins within the specified distance range around that location. It's okay. Furthermore, the fact that the vehicle compartment is within a parking area within a specific facility may be used as a location search condition. The time search condition is used to determine the availability of the vehicle compartment 50 during the relevant time period. If one or more cabins satisfying the search conditions are found, they are registered in the cabin candidate list.
　（図３：ステップＳ３０４）車室候補リストから車室を選定
　車室管理部１３０は、ステップＳ３０３の車室検索結果から、条件を満たす空きの車室５０が見つかった場合（図３：ステップＳ３０３のＹｅｓ）、車室候補リストの中から車両３０が使用する車室５０を選定する。車室５０の選定において、駐停車料金および指定位置に対する距離の近さなどから優先する車室５０を選んでも良い。また、駐停車予約申込情報に含まれる駐停車目的情報を優先度の評価に用いても良い。例えば、車両３０に乗車している移動者が特定の店を利用することが駐停車目的である場合、それらの店に近い車室５０、または、店と提携している駐停車施設の車室５０などを優先することが考えられる。 (FIG. 3: Step S304) Select a vehicle room from the vehicle room candidate list When the vehicle room management unit 130 finds an empty vehicle room 50 that satisfies the conditions from the vehicle room search results in step S303 (FIG. 3: Step S303) (Yes), the cabin 50 to be used by the vehicle 30 is selected from the cabin candidate list. In selecting the vehicle compartment 50, the vehicle compartment 50 may be prioritized based on parking fees, proximity to the designated location, and the like. Furthermore, parking purpose information included in the parking reservation application information may be used for priority evaluation. For example, if the purpose of the vehicle 30 is to park at a specific store, the vehicle 30 may be parked in a vehicle compartment 50 close to those stores or in a parking facility affiliated with the store. It is conceivable to give priority to 50 or the like.
　（図３：ステップＳ３０５）移動候補車選定
　車室管理部１３０は、ステップＳ３０３の車室検索結果から、条件を満たす空きの車室５０が見つからなかった場合（図３：ステップＳ３０３のＮｏ）、既に各車室５０に駐停車してある各車両の中から、移動の依頼先となる移動候補車の選定処理を行う。車室管理部１３０は、車室候補リストを移動候補車選定部１４０に送り、移動候補車選定を指示する。 (FIG. 3: Step S305) Selection of moving candidate vehicle If the cabin management unit 130 cannot find an empty cabin 50 that satisfies the conditions from the cabin search results in step S303 (FIG. 3: No in step S303), From among the vehicles already parked in each compartment 50, a selection process is performed for a moving candidate vehicle to which a moving request is made. The cabin management unit 130 sends the cabin candidate list to the moving candidate vehicle selection unit 140 and instructs the moving candidate vehicle selection unit 140 to select a moving candidate vehicle.
　移動候補車選定部１４０は、車室候補リストに登録された各車室に駐停車している各駐停車車両の中から移動の依頼先となる移動候補車のリストを作成する。まずは、移動候補車選定部１４０は、各駐停車車両が自律走行可能かを確認する。各駐停車車両がドライバレスで自律走行によって車室から移動ができるかという、各駐停車車両が備える機能的な条件を確認し、条件を満たす場合、移動候補車リストに当該駐停車車両の車両情報を加える。 The movement candidate vehicle selection unit 140 creates a list of movement candidate cars to which movement is requested from among the parked vehicles parked in each cabin registered in the cabin candidate list. First, the movement candidate vehicle selection unit 140 confirms whether each parked or parked vehicle is capable of autonomous travel. Check the functional conditions of each parked vehicle, such as whether each parked vehicle can be moved from the cabin by autonomous driving without a driver, and if the conditions are met, the parked vehicle in question will be added to the movement candidate vehicle list. Add information.
　（図３：ステップＳ３０６）移動候補車の優先度決め
　つぎに、移動候補車選定部１４０は、移動候補車リストの各車両に対して移動候補車となる優先度を定める。各車両の駐停車予約申込情報に含まれる駐停車目的情報は駐停車の必要性の高さを示している。その駐停車の必要性の度合いを駐停車目的レベルと称する。移動候補車選定部１４０は、各移動候補車の駐停車目的レベルを評価することで、駐停車目的レベルの低いもの（すなわち駐停車の必要性が低いもの）から順に移動の優先度が高い車両と評価する。 (FIG. 3: Step S306) Determining the priority of moving candidate vehicles Next, the moving candidate vehicle selection unit 140 determines the priority of each vehicle on the moving candidate vehicle list to become a moving candidate vehicle. Parking and parking purpose information included in the parking and parking reservation application information for each vehicle indicates the level of necessity for parking and parking. The degree of necessity for parking and stopping is called the parking and stopping purpose level. The moving candidate vehicle selection unit 140 evaluates the parking/stopping purpose level of each moving candidate vehicle, and selects vehicles with a high priority for movement in descending order of the parking/stopping purpose level (i.e., those with the lowest need for parking/stopping). I evaluate it as.
　例えば、車両の移動に必要なエネルギー源となるバッテリーもしくは燃料などの不足、または車両の故障などが発生した場合、車両はエネルギー源の補充または修理が必要な状態である。車両３０においてもこれらの状態を維持する必要がある場合は、車室５０からの移動が難しく、駐停車目的レベルが高い車両と評価する。一方で、用事の無い車両の駐停車である場合は、その車両の駐停車目的レベルは低いものと評価する。ここで、用事のない車両とは、例えば、いわゆるカーシェアリング用の車両またはレンタカーのように利用者が固定されていない車両であって、現時点の利用者が定まっていない車両であってもよいし、個人が専用する車両であって、当面は使用する予定がない車両であってもよい。 For example, if there is a shortage of batteries or fuel, which are the energy sources necessary for moving the vehicle, or if the vehicle breaks down, the vehicle is in a state where the energy source needs to be replenished or repaired. If these conditions need to be maintained in the vehicle 30 as well, it is difficult to move from the vehicle compartment 50 and the vehicle is evaluated as having a high level of parking purpose. On the other hand, if the parking is for a vehicle that has no business to do, the purpose level of the vehicle is evaluated to be low. Here, a vehicle with no errands may be, for example, a vehicle for which the user is not fixed, such as a so-called car sharing vehicle or a rental car, and a vehicle for which the current user is not determined. The vehicle may be a vehicle that is used exclusively by an individual and is not scheduled to be used for the time being.
　また、車両利用者が指定の店に訪店することが目的である訪店用車両は、車両利用者が店に行き来する時間帯は当該車両利用者の所在地に近い車室に駐停車することになる。このような場合、駐停車目的は明確であり、駐停車目的レベルは高いと言えるが、車両利用者が訪店している店にいる期間は車両が使われる可能性が低いため、その期間の駐停車目的レベルは低く設定しても良い。 In addition, store-visit vehicles whose purpose is for the vehicle user to visit a designated store will be parked in a compartment close to the vehicle user's location during the time the vehicle user is commuting to and from the store. . In such cases, the purpose of parking is clear and the level of purpose for parking can be said to be high, but since the vehicle is unlikely to be used during the period when the vehicle user is at the store he/she is visiting, the parking purpose during that period is The stopping purpose level may be set low.
　更には、訪店に限らず、車両利用者と車両利用者が利用する駐停車中の車両との距離が離れている場合は、車両利用者が車両まで移動することに時間がかかるため、その時間帯は車両の駐停車目的レベルを低くしても良い。この場合は、車両利用者の位置情報を測定する必要がある。位置情報の取得方法は、例えばＧＰＳなどの位置推定機能が備わっている情報端末（例えば端末２６０がこれに相当するものであってもよい）を車両利用者が所持しており、その情報端末を介して車両利用者の位置情報を取得する方法がある。また、車両利用者を周囲に設置されている監視カメラ等で認識し、監視カメラを介して位置情報を取得する方法でも良い。 Furthermore, not only when visiting a store, but if the distance between the vehicle user and the parked vehicle used by the vehicle user is large, it will take time for the vehicle user to travel to the vehicle, The belt may lower the parking purpose level of the vehicle. In this case, it is necessary to measure the location information of the vehicle user. The method for acquiring position information is such that the vehicle user has an information terminal (for example, the terminal 260 may be equivalent) equipped with a position estimation function such as GPS, and the information terminal is There is a method of acquiring location information of a vehicle user via a vehicle. Alternatively, a method may be used in which the vehicle user is recognized by a surveillance camera or the like installed around the vehicle and position information is acquired via the surveillance camera.
　移動候補車選定部１４０は、駐停車を希望する車両３０の駐停車目的レベルも評価し、移動候補車リストの各駐停車目的レベルと比較する。もし車両３０の駐停車目的レベルの方が移動候補車リストの各車両の駐停車目的レベルより低い場合は、駐停車中の車両の駐停車継続が優先されることになる。すなわち、この場合、駐停車中の車両に対して後述する移動指示（ステップＳ３０７）が送信されない。 The moving candidate vehicle selection unit 140 also evaluates the parking/stopping purpose level of the vehicle 30 desired to be parked and compares it with each parking/stopping purpose level of the moving candidate vehicle list. If the parking/stopping purpose level of the vehicle 30 is lower than the parking/stopping purpose level of each vehicle on the movement candidate vehicle list, priority is given to the continued parking of the parked vehicle. That is, in this case, a movement instruction (step S307), which will be described later, is not transmitted to the parked vehicle.
　移動候補車選定部１４０は、移動候補車リストに駐停車を希望する車両３０の車両情報と、上述の手段で評価した各車両の駐停車目的レベルを添えて、優先度付き移動候補車リストとして車室管理部１３０に送付する。 The movement candidate vehicle selection unit 140 adds the vehicle information of the vehicle 30 desired to be parked and the parking purpose level of each vehicle evaluated by the above-mentioned means to the movement candidate car list, and creates a movement candidate car list with priority. It is sent to the cabin management department 130.
　車室管理部１３０は、移動候補車選定部１４０から取得した優先度付き移動候補車リストを移動候補車の移動管理を行う移動管理部１５０に対して送付し、各車両の移動管理に移行する。 The vehicle room management unit 130 sends the prioritized moving candidate vehicle list obtained from the moving candidate vehicle selection unit 140 to the movement management unit 150 that manages movement of moving candidate cars, and moves to movement management of each vehicle. .
　＜優先度の評価方法についての補足＞
　駐停車目的レベルの評価においては、車室５０のユーザーが駐停車利用料を通常の駐停車よりも高く負担することで駐停車目的レベルを高く設定しても良い。これは、利用希望車両が多い車室５０の利用費用を高くすることで、駐停車目的レベルの低い車両による利用を削減することにつながる。 <Supplementary information on priority evaluation method>
In evaluating the parking purpose level, the user of the vehicle compartment 50 may set the parking purpose level high by paying a higher parking fee than for normal parking. This increases the cost of using the compartment 50 with many vehicles wishing to use it, thereby reducing the usage by vehicles with a low level of parking purpose.
　（図３：ステップＳ３０７）移動指示と移動管理
　移動管理部１５０は、優先度の高い移動候補車から順に移動指示を送信することによって移動を依頼する。自律走行可能な駐停車車両は、車両外から移動の指示を受けて車室から移動できることを想定する。このような車両は、例えば車両内に外部システム（例えば走行管制システム２０）との通信が可能な情報処理端末（例えば端末２６０）が搭載されており、外部システムから移動指示を受けると、情報処理端末が目的地を設定し、経路の探索と選定を行い、経路に沿って走行するための車両制御を行うことが可能である。 (FIG. 3: Step S307) Movement Instructions and Movement Management The movement management unit 150 requests movement by transmitting movement instructions in order of priority moving candidate vehicles. It is assumed that a parked vehicle capable of autonomous driving can be moved from the cabin upon receiving movement instructions from outside the vehicle. For example, such a vehicle is equipped with an information processing terminal (e.g., terminal 260) capable of communicating with an external system (e.g., travel control system 20), and upon receiving a movement instruction from the external system, information processing is performed. The terminal can set a destination, search and select a route, and control the vehicle to travel along the route.
　移動管理部１５０は、各移動候補車のうち、優先度の高い車両から順に移動指示を送信し、車室からの移動を依頼する。移動指示を受けた車両４０は、自車両の状態を再び確認し、移動可否を判断する。そして、移動可否に関する判断結果を移動管理部１５０に応答する。なお、本移動可否の判断は、該車両のオーナーまたはユーザーに移動の可否を問合せ、承認を得ることによって行われてもよい。 The movement management unit 150 sends movement instructions to the movement candidate cars in order of priority, and requests movement from the vehicle compartment. The vehicle 40 that has received the movement instruction checks the state of its own vehicle again and determines whether it is possible to move. Then, the determination result regarding whether or not movement is possible is returned to the movement management unit 150. Note that the determination as to whether or not the vehicle can be moved may be made by inquiring the owner or user of the vehicle as to whether or not the vehicle can be moved, and obtaining approval.
　移動管理部１５０は、車両４０からの判断結果を受けて、移動不可の場合は優先度付き移動候補車リストの中から次に優先度の高い車両を選定し、移動指示を送信する。ただし、次に優先度の高い車両が駐停車を希望する車両３０であった場合は、駐停車を希望する車両３０の駐停車の中止を判断する。このように、移動管理部１５０は、優先度に基づき移動指示を送付する車両選定と移動指示の送信、判断結果の受信を繰り返し、最終的に移動する車の選定、または、駐停車を希望する車両の駐停車中止判断を行う。 Upon receiving the determination result from the vehicle 40, if movement is not possible, the movement management unit 150 selects the vehicle with the next highest priority from the priority movement candidate vehicle list and transmits a movement instruction. However, if the vehicle with the next highest priority is the vehicle 30 that wishes to be parked or stopped, it is determined whether or not to stop the parking of the vehicle 30 that wishes to be parked or stopped. In this way, the movement management unit 150 repeats the process of selecting a vehicle to send a movement instruction based on the priority, transmitting the movement instruction, and receiving the determination results, and finally selects the car to be moved or the vehicle desired to park or park. Decide whether to stop or stop the vehicle.
　＜移動先の候補選定＞
　なお、ステップＳ３０７において、移動管理部１５０は移動候補車に対して車室からの出庫のみの移動指示を送るのではなく、該移動候補車の駐停車目的に沿った移動先および移動経路の指示を推薦しても良い。例えば、該移動候補車が特定の目的地に移動する途中で時間待機または休憩を駐停車の目的としていた場合には、特定の目的地により近い新たな駐停車収容領域における車室の予約と紹介、または、消化すべき待機時間を消化可能な目的地までの経路を推薦するなどしても良い。走行管制システム２０は、特定地域の駐停車収容領域だけでなく、他の地域の駐停車収容領域も含めて車室とその空き状況の情報を得る、または、予約管理できることで、駐停車収容領域１０を跨った車両の移動指示が可能となる。 <Selection of destination candidates>
In addition, in step S307, the movement management unit 150 does not send movement instructions to the movement candidate vehicle only to leave the garage, but rather instructs the movement destination and movement route according to the purpose of parking and parking of the movement candidate car. may be recommended. For example, if the candidate vehicle was parked for a period of time or for a rest while traveling to a specific destination, reservation and introduction of a vehicle compartment in a new parking area closer to the specific destination may be made. Alternatively, a route to the destination that allows the waiting time to be spent may be recommended. The travel control system 20 can obtain information on vehicle compartments and their availability, or manage reservations, not only for parking and parking areas in a specific area, but also for parking and parking areas in other areas. It becomes possible to instruct vehicles to move across 10 vehicles.
　また、例えば駐停車収容領域１０内に空き車室があるものの、当該空き車室が駐停車を希望する車両３０に対応する条件を満たさない場合（例えば当該空き車室が車両３０を駐停車するために必要な大きさを満たさない場合）には、当該駐停車収容領域１０内の別の車室に収容されている車両を当該空き車室に移動させることで、駐停車を希望する車両３０に対応する条件を満たす空き車室が生じる場合がある。そのような場合には、移動車両４０の移動先として、当該駐停車収容領域１０内の空き車室が指定されてもよい。一方、駐停車収容領域１０内に空き車室がない場合、または、空き車室があっても当該駐停車収容領域１０内での車両の移動によって車両３０に対応する条件を満たす空き車室を得ることができない場合には、移動車両４０の移動先として当該駐停車収容領域１０外の場所（例えば他の駐停車収容領域）が指定される。 Further, for example, if there is an empty vehicle room in the parking/parking accommodation area 10, but the empty vehicle room does not satisfy the conditions corresponding to the vehicle 30 that wishes to park or park (for example, if the empty vehicle room does not satisfy the conditions corresponding to the vehicle 30 that wishes to park or park the vehicle 30, If the size required for parking is not met), the vehicle 30 that wishes to park or park can be moved by moving the vehicle accommodated in another compartment in the parking/parking storage area 10 to the vacant compartment. There may be an empty vehicle compartment that satisfies the corresponding conditions. In such a case, an empty compartment within the parking/stop accommodation area 10 may be designated as the destination of the moving vehicle 40. On the other hand, if there is no empty space in the parking/stop storage area 10, or even if there is a free space, an empty space that satisfies the conditions corresponding to the vehicle 30 can be found by moving the vehicle within the parking/stop storage area 10. If this is not possible, a location outside the parking area 10 (for example, another parking area) is designated as the destination of the moving vehicle 40.
　（図３：ステップＳ３０８）
　移動管理部１５０から移動指示を受けた車両４０が移動可能である場合、該当車両４０は移動管理部１５０に移動判断の結果（この場合は移動可能であること）を返答し、自らの移動制御に移行する。 (Figure 3: Step S308)
If the vehicle 40 that has received a movement instruction from the movement management unit 150 is movable, the corresponding vehicle 40 replies to the movement management unit 150 with the movement determination result (in this case, that it is movable), and performs its own movement control. to move to.
　（図３：ステップＳ３０９）
　該当車両４０は、車室５０からの移動が完了すると、移動管理部１５０に対して移動完了を通知する。 (Figure 3: Step S309)
When the vehicle 40 completes moving from the vehicle compartment 50, it notifies the movement management unit 150 of the completion of movement.
　（図３：ステップＳ３１０）
　移動管理部１５０は、該当車両４０からの移動判断の結果と、移動可能な場合は移動結果の情報を受け取ったのち、車室管理部１３０に対して移動が完了した車両４０の情報を通知する。 (Figure 3: Step S310)
After receiving the movement determination result from the corresponding vehicle 40 and information on the movement result if movement is possible, the movement management unit 150 notifies the cabin management unit 130 of information on the vehicle 40 that has completed movement. .
　もし、駐停車車両が全て移動不可で移動できなかった場合は、移動管理部１５０は、駐停車を希望する車両３０の駐停車中止を車室管理部１３０に通知する。 If all the parked and parked vehicles cannot be moved because they cannot be moved, the movement management unit 150 notifies the compartment management unit 130 of the suspension of parking of the vehicle 30 that wishes to be parked.
　（図３：ステップＳ３１１）車室の空きを確認
　車室管理部１３０は、ステップＳ３１０で移動通知を受けた車両４０の車室番号を確認し、車室モニタ部１６０に当該車室番号の車室５０の空き状況の確認を指示する。車室モニタ部１６０は、例えば画像センサ２５０から取得した情報に基づいて、空きが期待される車室５０の空き状況を確認し、確認結果を車室管理部１３０に通知する。 (FIG. 3: Step S311) Check whether the cabin is vacant. The cabin management unit 130 checks the cabin number of the vehicle 40 that received the movement notification in step S310, and displays the cabin number of the vehicle with the cabin number in the cabin monitor unit 160. Instructs to check the availability of room 50. The cabin monitor unit 160 checks the availability of the cabin 50 that is expected to be vacant, based on information acquired from the image sensor 250, for example, and notifies the cabin management unit 130 of the confirmation result.
　（図３：ステップＳ３１２）選定した車室を予約
　車室管理部１３０は、ステップＳ３１１で空きが確認できた車室５０を車両３０の駐停車予定車室として予約をする。車室予約データベース１７０上の駐停車予定車室の情報に関連付けて、駐停車する車両３０の駐停車予約申込情報と、予約時間とを登録する。 (FIG. 3: Step S312) Reserving the selected vehicle compartment The vehicle compartment management unit 130 reserves the vehicle compartment 50 whose vacancy was confirmed in step S311 as the vehicle compartment where the vehicle 30 is scheduled to park. The parking reservation application information and the reservation time of the vehicle 30 to be parked and stopped are registered in association with the information of the scheduled parking room on the vehicle room reservation database 170.
　（図３：ステップＳ３１３）予約結果を予約管理部に通知
　車室管理部１３０は、予約管理部１２０に車両３０の駐停車予約申込に対する予約結果を通知する。この結果には、予約完了の場合は、対象の車室番号が含まれる。 (FIG. 3: Step S313) Notify Reservation Result to Reservation Management Unit The cabin management unit 130 notifies the reservation management unit 120 of the reservation result for the parking reservation application for the vehicle 30. This result includes the target cabin number if the reservation is complete.
　予約管理部１２０は、車両３０に対して予約結果を通知する。 The reservation management unit 120 notifies the vehicle 30 of the reservation result.
　（図３：ステップＳ３１４）
　予約結果を受けた車両３０は、予約完了の場合は、目的地を通知された車室番号の車室５０に設定し、その車室５０まで移動制御を行う。一方、予約不可の場合は、新たな駐停車予約申込の発行、または、車室予約が可能となるまで走行を続けるなどの新たな走行計画を立てる。 (Figure 3: Step S314)
When the reservation is completed, the vehicle 30 that has received the reservation result sets the destination to the cabin 50 of the notified cabin number, and performs movement control to the cabin 50. On the other hand, if a reservation is not possible, a new driving plan is made, such as issuing a new parking reservation application or continuing to drive until a parking space can be reserved.
　＜予約していることが分かるようにする仕組み＞
　予約済みの車室５０に対して予約していない車両が誤って駐停車してしまうことを防ぐため、予約管理部１２０は、車室予約データベース１７０の各車室５０の予約状況を、駐停車中の車両、または、新たに駐停車を希望する車両３０に対して通知する。 <Mechanism to let you know that you have made a reservation>
In order to prevent a vehicle that has not been reserved for a reserved cabin 50 from erroneously parking or parking, the reservation management unit 120 stores the reservation status of each cabin 50 in the cabin reservation database 170, such as parking or parking. A notification is sent to the vehicle inside or the vehicle 30 that newly desires to park or stop.
　＜移動車インセンティブについて＞
　本実施例における走行管制システム２０によれば、駐停車目的レベルの低い車両は、移動指示を受けて、出庫することになる。この場合、該当車両４０は駐停車を継続しているときよりもエネルギーを消費する、または、予め駐停車料金を支払っている場合は利用時間が短くなったことの損失が生じる可能性がある。このような損失に対して、走行管制システム２０は、予め支払いを受けた駐停車料金の部分的な返金をおこなう、または、新たな駐停車希望車両３０の利用者もしくはオーナーから損失への対価を支払うなどの、移動車両４０に対してインセンティブが発生する仕組みを用意してもよい。すなわち、走行管制システム２０は、該当車両４０の移動を指示する場合に、該当車両４０の利用者またはオーナーに支払う、当該移動の対価を算出して、出力してもよい。 <About mobile vehicle incentives>
According to the travel control system 20 in this embodiment, vehicles with a low parking/parking purpose level will leave the parking lot upon receiving a movement instruction. In this case, the vehicle 40 may consume more energy than when it continues to park or park, or if the parking fee has been paid in advance, there is a possibility that there will be a loss due to a shortened usage time. In response to such a loss, the travel control system 20 may issue a partial refund of the parking fee paid in advance, or may receive compensation for the loss from the user or owner of the vehicle 30 that newly requests parking. A mechanism for generating incentives for the moving vehicle 40, such as payment, may be provided. That is, when instructing the movement of the vehicle 40, the travel control system 20 may calculate and output the price to be paid to the user or owner of the vehicle 40 for the movement.
　＜実施例１：まとめ＞
　実施例１に係る走行管制システム２０は、駐停車を希望する車両３０と各駐停車車両の駐停車目的レベルを比較評価し、駐停車目的レベルの低いものを車室の必要性が低い、すなわち車室から移動する車両と判断する。優先度の高い車両から順に移動指示を送り、移動可能な車両は、自律走行により車室から移動する。走行管制システム２０は、車両の移動と車室の空きを確認し、車両３０向けに車室を予約し、車両３０に車室の予約結果を通知する。これらによって、車両３０を駐停車させるときに、車室の空きを効率よく確保することができるようになる。 <Example 1: Summary>
The travel control system 20 according to the first embodiment compares and evaluates the parking purpose level of the vehicle 30 that desires to be parked and parked and each parked vehicle, and selects a vehicle with a low parking purpose level as having a low need for a compartment, i.e. It is determined that the vehicle is moving from the passenger compartment. Movement instructions are sent to vehicles in order of priority, and movable vehicles are autonomously moved from the cabin. The travel control system 20 checks the movement of the vehicle and the availability of the cabin, reserves a cabin for the vehicle 30, and notifies the vehicle 30 of the cabin reservation result. With these, when the vehicle 30 is parked or parked, it becomes possible to efficiently secure an empty space in the vehicle compartment.
　次に、本発明の実施例２について説明する。以下に説明する相違点を除き、実施例２のシステムの各部は、実施例１の同一の符号を付された各部と同一の機能を有するため、それらの説明は省略する。 Next, Example 2 of the present invention will be described. Except for the differences described below, each part of the system of the second embodiment has the same function as each part assigned the same reference numeral of the first embodiment, and thus a description thereof will be omitted.
　実施例１においては、駐停車を希望する車両向けの車室５０を確保するために、駐停車中の車両の中から駐停車の必要性の高さに基づいて移動する優先車両を選定し、車室５０から移動させることとした。予め車室５０の区画が決まっている場合は、車室５０と車両との対の関係が決まっているが、様々なサイズの車両が駐停車する場合においては、車室５０の区画を動的に変更するのが駐停車スペースの活用には有効である。 In the first embodiment, in order to secure a compartment 50 for a vehicle that wishes to park or park, a priority vehicle to be moved is selected from parked vehicles based on the degree of necessity of parking, It was decided to move it from the vehicle compartment 50. When the compartments of the compartment 50 are determined in advance, the pairwise relationship between the compartment 50 and the vehicle is determined. However, when vehicles of various sizes are parked, the compartments of the compartment 50 can be dynamically divided. It is effective to make use of parking spaces by changing to
　実施例２では、駐停車している車両の間隔（車間）を詰めることによる車室領域の確保を優先し、駐停車中の車両の各車室を動的に移動させることで、様々な車室領域要件をもつ車両の駐停車に対して車室領域を有効に活用する。以下の説明において車間を詰めるように車両を移動させることを幅寄せとも記載するが、これは、駐停車を希望する車両３０を駐停車するための領域を確保するための他の車両の移動であれば、車両の前後方向に隣接する車両との間隔を詰めるための移動、および、車両の左右方向に隣接する車両との間隔を詰めるための移動のどちらであってもよい。幅寄せによる各車両の移動量の合計は、少なくとも、新たに駐停車を希望する車両の幅または全長相当であり、各車両の駐停車目的レベルが高い場合でも、その目的に反する移動にはならないことが想定される。そのため、可能な限り駐停車中車両の幅寄せによる新たな車室領域の確保をすることが実施例２の特徴である。 In Embodiment 2, priority is given to securing cabin area by reducing the distance between parked and parked vehicles (vehicle distance), and by dynamically moving each cabin of parked vehicles, it is possible to To effectively utilize a vehicle interior area for parking and stopping a vehicle having interior area requirements. In the following explanation, moving vehicles so as to close the gap between them will also be referred to as "shuffling," but this refers to the movement of other vehicles to secure an area for parking the vehicle 30 that wishes to park. If so, the movement may be either a movement to reduce the distance between the vehicle and the vehicle adjacent to the vehicle in the longitudinal direction, or a movement to reduce the distance between the vehicle and the vehicle adjacent to the vehicle in the lateral direction. The total amount of movement of each vehicle due to width-shifting is at least equivalent to the width or overall length of the vehicle that newly requests parking, and even if each vehicle's parking purpose level is high, the movement will not be contrary to that purpose. It is assumed that Therefore, a feature of the second embodiment is to secure a new cabin area by moving the parked vehicle as far as possible.
　以下、車室の区画を動的に変更して、新たに駐停車を希望する車両向けに車室を確保する実施例２の具体例について説明する。走行管制システム２０の構成は実施例１と同様である。 Hereinafter, a specific example of the second embodiment will be described in which the compartment of the vehicle compartment is dynamically changed to secure a compartment for a vehicle that newly desires to park or park. The configuration of the travel control system 20 is similar to that of the first embodiment.
　図４は、本発明の実施例２に係る走行管制システム２０の動作の概要を示す説明図である。 FIG. 4 is an explanatory diagram showing an overview of the operation of the travel control system 20 according to the second embodiment of the present invention.
　具体的には、図４は、実施例２において、走行管制システム２０が車両３０を駐車させるときの様子を示す。駐停車収容領域２００は、車室の区画が予め決められていない収容領域である。走行管制システム２０は、以下の順序により、車両３０を駐車させる。（１）車両３０からの駐停車予約申込情報の受信、（２）車両３０向け車室領域要件の設計、（３）車室用スペースの確認、（４）移動車両の選定と移動指示、（５）車室の確保、（６）車両３０の駐車。 Specifically, FIG. 4 shows how the travel control system 20 parks the vehicle 30 in the second embodiment. The parking accommodation area 200 is an accommodation area in which compartments of the vehicle compartment are not determined in advance. Travel control system 20 parks vehicle 30 in the following order. (1) Receiving parking reservation application information from the vehicle 30, (2) Designing the cabin area requirements for the vehicle 30, (3) Confirming the cabin space, (4) Selection of moving vehicle and movement instructions, ( 5) Securing a vehicle compartment, (6) Parking the vehicle 30.
　実施例２の処理フローは、実施形態１で説明したステップＳ３０３、ステップＳ３０４、ステップＳ３０５、ステップＳ３０６、ステップＳ３０７の部分が異なる。 The processing flow of the second embodiment differs from the first embodiment in steps S303, S304, S305, S306, and S307.
　図５は、本発明の実施例２に係る走行管制システム２０が車室の確保を行うときの動作を説明するフローチャートである。 FIG. 5 is a flowchart illustrating the operation when the travel control system 20 according to the second embodiment of the present invention secures a vehicle interior.
　具体的には、図５は、実施形態１におけるステップＳ３０３からステップＳ３０７までの処理ステップを実施形態２の処理ステップ合わせるための部分的なフローチャートである。すなわち、実施例２では、図３のステップＳ３０３～Ｓ３０７が、それぞれ、図５のステップＳ５０１～ステップＳ５０５によって置き換えられる。 Specifically, FIG. 5 is a partial flowchart for combining the processing steps from step S303 to step S307 in the first embodiment with the processing steps in the second embodiment. That is, in the second embodiment, steps S303 to S307 in FIG. 3 are replaced with steps S501 to S505 in FIG. 5, respectively.
　（図５：ステップＳ５０１）
　本実施形態２において車室管理部１３０は、予約管理部１２０から受けた駐停車予約申込情報を用いて、車両３０の駐停車に必要な車室領域要件の設計を行う。ここでいう車室領域要件は、車両３０が駐停車するために必要な場所の条件であり、縦横の長さ、車高および耐荷重などを定めたものである。また、車両３０の周辺に必要なスペース、例えば、車両３０からの人の乗り降りおよび物の積み降ろしに必要なスペースなども含めて車室領域要件とする。 (Figure 5: Step S501)
In the second embodiment, the cabin management unit 130 uses the parking reservation application information received from the reservation management unit 120 to design cabin area requirements necessary for parking and parking the vehicle 30. The vehicle interior area requirements here are conditions for a place where the vehicle 30 is parked and stopped, and define the vertical and horizontal lengths, vehicle height, load resistance, and the like. In addition, the space required around the vehicle 30, for example, the space required for people to get on and off from the vehicle 30 and for loading and unloading items, is included in the cabin area requirements.
　（図５：ステップＳ５０２）
　車室管理部１３０は、車室予約データベースの中から車両３０の車室領域要件に適した空き領域を検索し、空きがあればその領域を車室に再定義し予約する(ステップＳ５０１のＹｅｓ）。この検索時には、車室モニタ部１６０を介して各駐停車車両の位置を測位し車室予約データベースに登録しておく。 (Figure 5: Step S502)
The cabin management unit 130 searches the cabin reservation database for a vacant area suitable for the cabin area requirements of the vehicle 30, and if there is a vacant area, redefines the area as a cabin and reserves it (Yes in step S501). ). At the time of this search, the position of each parked vehicle is measured via the cabin monitor section 160 and registered in the cabin reservation database.
　（図５：ステップＳ５０３）
　車室領域要件に適した領域が無い場合、実施例２においても駐停車中の車両の移動によって車室領域を確保する（ステップＳ５０１のＮｏ）。車室管理部１３０は、車室予約データベース１７０から駐停車車両リストを作成し移動候補車選定部１４０に送付する。移動候補車選定部１４０は、各駐停車車両が自律走行可能かを確認する。移動候補車選定部１４０は、各駐停車車両がドライバレスで自律走行により車室から移動ができるかという車両が備える機能的な条件を確認し、条件を満たす場合、移動候補車リストに車両情報を加える。また、各駐停車車両の駐停車目的情報も取得し、実施例１と同様に駐停車目的レベルも評価し車両情報に追加する。 (Figure 5: Step S503)
If there is no area suitable for the vehicle interior area requirements, the vehicle interior area is secured by moving the parked vehicle in the second embodiment as well (No in step S501). The vehicle room management section 130 creates a list of parked and stopped vehicles from the vehicle room reservation database 170 and sends it to the movement candidate vehicle selection section 140 . The moving candidate vehicle selection unit 140 confirms whether each parked vehicle is capable of autonomous travel. The movement candidate vehicle selection unit 140 checks the functional conditions of the vehicle, such as whether each parked vehicle can be moved from the cabin by autonomous driving without a driver, and if the conditions are met, the vehicle information is added to the movement candidate vehicle list. Add. In addition, parking purpose information of each parked vehicle is also acquired, and similarly to the first embodiment, the parking purpose level is also evaluated and added to the vehicle information.
　（図５：ステップＳ５０４）
　移動管理部１５０は、車両３０の車室領域要件に適した領域を確保するための駐停車車両の移動計画をたてる。移動候補車リストの中から各車両の位置情報を基に幅寄せの移動量を算出する。例えば、図４では、第一移動候補車２１０と第二移動候補車２２０がそれぞれ順に前方に幅寄せし、車間を短くすることで第二移動候補車２２０の後ろに車両３０用の車室領域を確保する。ステップＳ５０４ではこれら第一移動候補車２１０と第二移動候補車２２０の幅寄せに必要な移動量と移動順位を移動計画として定める。 (Figure 5: Step S504)
The movement management unit 150 makes a movement plan for parked vehicles in order to secure an area suitable for the cabin area requirements of the vehicle 30. Based on the position information of each vehicle from the movement candidate vehicle list, the amount of movement for width closing is calculated. For example, in FIG. 4, the first moving candidate vehicle 210 and the second moving candidate vehicle 220 are moved forward in order, and by shortening the distance between the vehicles, a compartment area for the vehicle 30 is created behind the second moving candidate vehicle 220. ensure that In step S504, the amount of movement and movement order required for the first moving candidate vehicle 210 and the second moving candidate vehicle 220 to be closer together are determined as a movement plan.
　（図５：ステップＳ５０５）
　移動管理部１５０は、ステップＳ５０４で作成した移動計画をもとに、移動順位に則り第一移動候補車２１０および第二移動候補車２２０に順次前方への移動を指示する。移動指示を受けた各車両は、実施例１のステップＳ３０７と同様に移動可否判断、オーナーまたはユーザーへの確認、移動制御開始、および、移動管理部１５０への移動結果または移動可否判断結果の通知を行う。 (Figure 5: Step S505)
The movement management unit 150 instructs the first movement candidate vehicle 210 and the second movement candidate vehicle 220 to sequentially move forward in accordance with the movement order based on the movement plan created in step S504. Each vehicle that has received the movement instruction determines whether or not it can move, confirms with the owner or user, starts movement control, and notifies the movement management unit 150 of the movement result or the movement movement determination result, as in step S307 of the first embodiment. I do.
　なお、移動管理部１５０は、各移動候補車を当該駐停車収容領域２００内で移動させる（すなわち幅寄せする）ことによって車両３０を駐停車可能な領域を確保できないと判断した場合には、少なくともいずれかの移動候補車を当該駐停車収容領域２００の外（例えば他の駐停車収容領域）に移動させるための指示を出力してもよい。 Note that if the movement management unit 150 determines that it is not possible to secure an area where the vehicle 30 can be parked by moving each moving candidate vehicle within the parking/stopping area 200 (that is, moving the candidate cars closer to each other), the movement management unit 150 at least An instruction for moving one of the moving candidate vehicles outside the parking/stop accommodation area 200 (for example, to another parking/stop accommodation area) may be output.
　＜予約していることが分かるようにする仕組み＞
　移動候補車の移動が完了すると、車室管理部１３０は、移動によって確保された領域を車室領域として予約し、駐停車を希望していた車両３０に予約車室を通知する。 <Mechanism to let you know that you have made a reservation>
When the movement of the moving candidate vehicle is completed, the cabin management unit 130 reserves the area secured by the movement as the cabin area, and notifies the vehicle 30 that had desired to park of the reserved cabin.
　なお、走行管制システム２０が車室領域を予約している場合に、その車室領域が予約領域であることをユーザーおよび各車両が分かるように、該当領域に予約済みのマークを表示しても良い。また、予約済みであることを各車両に通知しても良い。 Note that when the travel control system 20 has reserved a vehicle interior area, a reserved mark may be displayed in the corresponding area so that the user and each vehicle can know that the vehicle interior area is a reserved area. good. Furthermore, each vehicle may be notified that the reservation has been made.
　＜実施例２：まとめ＞
　本実施形態２に係る走行管制システム２０は、駐停車している車両の幅寄せによる車室領域の確保を優先し、駐停車中の車両の各車室を動的に移動させることで様々な車室領域要件をもつ車両の駐停車に対して車室領域を有効に活用することができる。 <Example 2: Summary>
The driving control system 20 according to the second embodiment gives priority to securing a cabin area by moving parked vehicles closer to each other, and dynamically moves each cabin of parked vehicles to perform various functions. The vehicle interior area can be effectively utilized for parking and stopping vehicles with vehicle interior area requirements.
　＜本発明の変形例について＞
　本発明は上記実施形態に限定されるものではなく、様々な変形例が含まれる。例えば、上記実施形態は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施形態の構成の一部を他の実施形態の構成に置き換えることが可能であり、また、ある実施形態の構成に他の実施形態の構成を加えることも可能である。また、各実施形態の構成の一部について、他の構成の追加・削除・置換をすることが可能である。 <About modifications of the present invention>
The present invention is not limited to the above embodiments, and includes various modifications. For example, the embodiments described above are described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described. Furthermore, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace some of the configurations of each embodiment with other configurations.
　上記の各構成、機能、処理部、処理手段等は、それらの一部又は全部を、例えば集積回路で設計する等によりハードウェアで実現してもよい。また、上記の各構成、機能等は、プロセッサがそれぞれの機能を実現するプログラムを解釈し、実行することによりソフトウェアで実現してもよい。各機能を実現するプログラム、テーブル、ファイル等の情報は、メモリや、ハードディスク、ＳＳＤ（Ｓｏｌｉｄ　Ｓｔａｔｅ　Ｄｒｉｖｅ）等の記録装置、または、ＩＣカード、ＳＤカード等の計算機読み取り可能な非一時的データ記録媒体に置くことができる。また、制御線や情報線は説明上必要と考えられるものを示しており、製品上必ずしも全ての制御線や情報線を示しているとは限らない。実際には殆ど全ての構成が相互に接続されていると考えてもよい。 Part or all of the above configurations, functions, processing units, processing means, etc. may be realized in hardware by, for example, designing an integrated circuit. Furthermore, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, files, etc. that realize each function is stored in a storage device such as memory, hard disk, SSD (Solid State Drive), or computer-readable non-temporary data storage medium such as an IC card or SD card. can be placed in Further, the control lines and information lines are shown to be necessary for explanation purposes, and not all control lines and information lines are necessarily shown in the product. In reality, almost all components may be considered to be interconnected.
　なお、本発明の実施形態のシステムは、例えば次のように構成されてもよい。 Note that the system according to the embodiment of the present invention may be configured as follows, for example.
　（１）移動管制システムであって、演算部（例えば演算部２３１）と、記憶部（例えば記憶部２３２）と、通信部（例えば通信部２３５）と、を有し、記憶部は、移動体（例えば車両）の収容領域（例えば駐停車収容領域１０または２００）内の収容予約情報（例えば車室予約データベース１７０）を保持し、演算部は、第一の移動体（例えば車両３０）からの収容領域内への収容予約申込情報を受信すると、収容予約情報に基づいて、第一の移動体を収容可能な収容領域内の空き領域の有無を判定し（例えばステップＳ３０３）、第一の移動体を収容可能な空き領域がない場合、収容予約情報に基づいて、収容領域に収容された移動体の移動優先度を算出し（例えばステップＳ３０６）、通信部を介して、移動優先度が高い少なくとも一つの移動体（例えば移動車両４０、第一移動候補車２１０および第二移動候補車２２０の少なくともいずれか）に対する、第一の移動体を収容可能な空き領域を生成するための移動の指示を出力する（例えばステップＳ３０７）。 (1) A mobile control system that includes a calculation unit (for example, calculation unit 231), a storage unit (for example, storage unit 232), and a communication unit (for example, communication unit 235), and the storage unit (e.g., a vehicle) in a storage area (e.g., parking/parking storage area 10 or 200); When receiving accommodation reservation application information into the accommodation area, it is determined based on the accommodation reservation information whether or not there is an empty space within the accommodation area that can accommodate the first moving object (for example, step S303), and the first moving object is moved. If there is no free space capable of accommodating the body, the movement priority of the mobile body accommodated in the accommodation area is calculated based on the accommodation reservation information (for example, step S306), and the movement priority of the mobile body accommodated in the accommodation area is calculated via the communication unit. Instructing at least one moving object (for example, at least one of the moving vehicle 40, the first moving candidate vehicle 210, and the second moving candidate vehicle 220) to move to create a vacant area that can accommodate the first moving object. (for example, step S307).
　これによって、新たに駐停車の必要性が高い移動体（例えば車両）が駐停車を希望した時に、駐停車の必要性が低い駐停車車両を優先的に移動させることで、駐停車収容領域を確保することができる。 As a result, when a moving object (for example, a vehicle) with a new need for parking/stopping requests parking, the parked/stopped vehicle with a low need for parking/stop is moved preferentially, thereby freeing up the parking area. can be secured.
　（２）上記（１）において、収容予約情報は、収容された移動体の収容の必要性の高さを示す情報を含み、演算部は、収容の必要性が高いほど移動優先度が低くなるように、移動優先度を算出する。 (2) In (1) above, the accommodation reservation information includes information indicating the degree of necessity for accommodation of the accommodated mobile object, and the calculation unit determines that the higher the necessity for accommodation, the lower the movement priority. The movement priority is calculated as follows.
　これによって、駐停車の必要性が低い駐停車車両を優先的に移動させることができる。 As a result, parked vehicles with little need for parking can be moved preferentially.
　（３）上記（２）において、収容された移動体の収容の必要性の高さは、収容された移動体の状態、収容領域と収容された移動体の利用者との位置関係、及び、収容のために利用者が支払う料金の少なくとも一つに基づいて決定される。 (3) In (2) above, the degree of necessity for housing the housed mobile body depends on the condition of the housed mobile body, the positional relationship between the accommodation area and the user of the housed mobile body, and Determined based on at least one of the fees paid by the user for accommodation.
　これによって、駐停車の必要性を適切に評価することができる。 This makes it possible to appropriately evaluate the necessity of parking.
　（４）上記（３）において、演算部は、収容された移動体に異常がある場合、収容された移動体のエネルギー補充の必要性が高い場合、収容領域と収容された移動体の利用者との距離が近い場合、及び、収容のために利用者が支払う料金が高い場合の少なくとも一つの場合に、収容された移動体の収容の必要性が高くなるように、収容された移動体の収容の必要性の高さを決定する。 (4) In (3) above, if there is an abnormality in the accommodated moving object, or if there is a high need for energy replenishment of the accommodated moving object, the calculation unit may If the distance between the contained mobile object and the contained mobile object is short, and the fee paid by the user for the storage is high, the necessity of storing the contained mobile object becomes high. Determine the severity of the need for containment.
　これによって、駐停車の必要性を適切に評価することができる。 This makes it possible to appropriately evaluate the necessity of parking.
　（５）上記（２）において、収容予約申込情報は、第一の移動体の収容の必要性の高さを示す情報を含み、演算部は、収容された移動体の収容の必要性が第一の移動体の収容の必要性より高い場合、当該収容された移動体に対する移動の指示を出力しない。 (5) In (2) above, the accommodation reservation application information includes information indicating the degree of necessity for accommodation of the first mobile object, and the calculation unit determines whether the accommodation reservation application information of the first mobile object is highly necessary for accommodation. If the need for accommodation is higher than that of one moving body, no movement instruction is output to the accommodated moving body.
　これによって、相対的に駐停車の必要性が高い車両の移動が防止される。 This prevents the movement of vehicles that have a relatively high need for parking.
　（６）上記（１）において、収容予約情報は、収容された移動体の異常を示す情報、及び、エネルギー補充の必要性を示す情報の少なくともいずれかを含み、演算部は、収容された移動体が異常であるか、又は、エネルギー補充の必要性が高い場合に、当該移動体の移動優先度が低くなるように、移動優先度を算出する。 (6) In (1) above, the accommodation reservation information includes at least one of information indicating an abnormality of the accommodated moving object and information indicating the necessity of energy replenishment, and the calculation unit The movement priority is calculated so that the movement priority of the moving body is lowered when the body is abnormal or the need for energy replenishment is high.
　これによって、所定の条件に応じて優先的に移動すべき車両を自動的に決定することができる。 With this, it is possible to automatically determine which vehicle should be moved preferentially according to predetermined conditions.
　（７）上記（１）において、収容予約情報は、収容された移動体の収容の目的を示す情報を含み、演算部は、収容領域に収容された移動体に移動を指示する場合に、当該移動体の収容の目的に基づいて、移動先及び当該移動先への経路を推薦する情報を出力する。 (7) In (1) above, the accommodation reservation information includes information indicating the purpose of accommodation of the accommodated moving object, and when instructing the moving object accommodated in the accommodation area to move, the calculation unit Information recommending a destination and a route to the destination is output based on the purpose of accommodating the mobile object.
　これによって、移動に起因する利用者の不利益を低減することができる。 This makes it possible to reduce disadvantages to users due to movement.
　（８）上記（１）において、演算部は、移動優先度が高い移動体に移動を指示する場合に、当該移動体の利用者に移動の承諾を求める情報を送信し、承諾が得られた場合に当該移動体に移動を指示する。 (8) In (1) above, when instructing a mobile object with a high movement priority to move, the calculation unit transmits information requesting consent for movement to the user of the mobile object, and if consent is obtained. Instruct the mobile object to move if the
　これによって、移動に起因する利用者の不利益を低減することができる。 This makes it possible to reduce disadvantages to users due to movement.
　（９）上記（１）において、演算部は、移動優先度が高い移動体に移動を指示する場合に、当該移動体の所有者又は利用者に支払う対価を示す情報を出力する。 (9) In (1) above, when instructing a mobile object with a high movement priority to move, the calculation unit outputs information indicating the consideration to be paid to the owner or user of the mobile object.
　これによって、移動に起因する利用者の不利益を低減することができる。 This makes it possible to reduce disadvantages to users due to movement.
　（１０）上記（１）において、収容領域は、各々が一つの移動体を収容する一つ以上の区画（例えば車室）を含み、記憶部は、各区画の位置を示す情報、並びに、各区画が収容可能な移動体の大きさ及び重さの少なくともいずれかの条件を示す情報（例えば区画情報１８０）を保持し、第一の移動体からの収容予約申込情報は、第一の移動体の大きさ及び重さを含み、演算部は、収容領域内の空き区画であって、第一の移動体の大きさ及び重さが条件を満たす空き区画がない場合、第一の移動体を収容可能な空き領域がないと判定し（例えばステップＳ３０３）、第一の移動体を収容可能な空き領域を生成するための移動の指示は、収容領域内の他の区画への移動の指示、又は、当該収容領域の外への移動の指示である。 (10) In (1) above, the accommodation area includes one or more compartments (for example, a vehicle compartment) each housing one moving object, and the storage unit stores information indicating the position of each compartment, as well as information indicating the location of each compartment. The compartment holds information (for example, compartment information 180) indicating at least one of the conditions of the size and weight of the moving object that can be accommodated, and accommodation reservation application information from the first moving object is stored in the first moving object. If there is no empty section in the storage area that satisfies the size and weight of the first moving object, the calculation unit selects the first moving object. When it is determined that there is no free space that can accommodate the first mobile object (for example, step S303), the instruction to move to create a free space that can accommodate the first moving object is an instruction to move to another section within the storage area; Or, it is an instruction to move outside the containment area.
　これによって、固定車室の場合の移動の判定を適切に行うことができる。 With this, it is possible to appropriately determine movement in the case of a fixed vehicle.
　（１１）上記（１）において、収容予約情報は、収容領域に既に収容されている移動体の位置及び大きさを含み、第一の移動体からの収容予約申込情報は、第一の移動体の大きさを含み、演算部は、第一の移動体を収容可能な空き領域がない場合、移動優先度が高い少なくとも一つの移動体を収容領域内で移動させることによって、第一の移動体を収容可能な空き領域を生成できるかを判定し、第一の移動体を収容可能な空き領域を生成できる場合、移動優先度が高い少なくとも一つの移動体を収容領域内で移動させる指示を出力し、第一の移動体を収容可能な空き領域を生成できない場合、移動優先度が高い少なくとも一つの移動体を当該収容領域の外に移動させる指示を出力する（ステップＳ５０３～Ｓ５０５）。 (11) In (1) above, the accommodation reservation information includes the position and size of the mobile object already accommodated in the accommodation area, and the accommodation reservation application information from the first mobile object If there is no free space capable of accommodating the first moving object, the calculation unit moves at least one moving object with a high movement priority within the accommodation area, so that the first moving object can be accommodated. If it is possible to generate a free area that can accommodate the first mobile object, output an instruction to move at least one mobile object with a high movement priority within the storage area. However, if an empty area that can accommodate the first moving object cannot be generated, an instruction to move at least one moving object with a high movement priority out of the accommodation area is output (steps S503 to S505).
　これによって、変動車室の場合の移動の判定を適切に行うことができる。 With this, it is possible to appropriately determine movement in the case of a variable cabin.
　（１２）上記（１）において、収容予約情報は、収容領域に収容された移動体が自律移動可能かを示す情報を含み、演算部は、収容領域に収容された移動体のうち、自律移動可能な移動体の移動優先度を算出する（例えばステップＳ３０５、Ｓ３０６）。 (12) In (1) above, the accommodation reservation information includes information indicating whether the mobile objects accommodated in the accommodation area are capable of autonomous movement, and the calculation unit determines whether the mobile objects accommodated in the accommodation area can move autonomously. A possible movement priority of the moving object is calculated (for example, steps S305 and S306).
　これによって、自律移動が可能な車両を移動の対象として選択することができる。 As a result, a vehicle capable of autonomous movement can be selected as a movement target.
　（１３）上記（１）において、ネットワークを介して通信部と接続される端末装置（例えば端末２６０）をさらに有し、端末装置は、第一の移動体を収容領域に収容するための収容予約申込情報を送信する（例えばステップＳ３０１）。 (13) In (1) above, the terminal device further includes a terminal device (for example, the terminal 260) connected to the communication unit via the network, and the terminal device makes an accommodation reservation for accommodating the first mobile object in the accommodation area. Send application information (for example, step S301).
　これによって、ネットワークを介して駐停車の予約申し込みをすることができる。 This allows you to apply for a parking reservation via the network.
　（１４）上記（１）において、ネットワークを介して通信部と接続される端末装置（例えば端末２６０）をさらに有し、端末装置は、移動の指示を受信すると、移動の指示を移動体の制御装置に伝達する。 (14) In (1) above, the terminal device further includes a terminal device (for example, the terminal 260) connected to the communication unit via the network, and upon receiving the movement instruction, the terminal device controls the movement instruction. Communicate to the device.
　これによって、自律移動が可能な車両を移動させることができる。 With this, a vehicle capable of autonomous movement can be moved.

Claims (15)

  1. 　移動管制システムであって、
    　演算部と、記憶部と、通信部と、を有し、
    　前記記憶部は、移動体の収容領域内の収容予約情報を保持し、
    　前記演算部は、
    　第一の移動体からの前記収容領域内への収容予約申込情報を受信すると、前記収容予約情報に基づいて、前記第一の移動体を収容可能な前記収容領域内の空き領域の有無を判定し、
    　前記第一の移動体を収容可能な空き領域がない場合、前記収容予約情報に基づいて、前記収容領域に収容された移動体の移動優先度を算出し、
    　前記通信部を介して、前記移動優先度が高い少なくとも一つの前記移動体に対する、前記第一の移動体を収容可能な空き領域を生成するための移動の指示を出力することを特徴とする移動管制システム。     A mobile control system,
    It has a calculation section, a storage section, and a communication section,
    The storage unit holds accommodation reservation information in the accommodation area of the mobile object,
    The arithmetic unit is
    Upon receiving accommodation reservation application information from a first moving object into the accommodation area, it is determined based on the accommodation reservation information whether or not there is an empty area within the accommodation area that can accommodate the first moving object. death,
    If there is no free space capable of accommodating the first moving object, calculating a movement priority of the moving object accommodated in the accommodation area based on the accommodation reservation information;
    Movement characterized by outputting, via the communication unit, a movement instruction for at least one of the mobile bodies having a high movement priority to create a free space that can accommodate the first mobile body. control system.
  2. 　請求項１に記載の移動管制システムであって、
    　前記収容予約情報は、収容された移動体の収容の必要性の高さを示す情報を含み、
    　前記演算部は、収容の必要性が高いほど前記移動優先度が低くなるように、前記移動優先度を算出することを特徴とする移動管制システム。     The mobile control system according to claim 1,
    The accommodation reservation information includes information indicating the degree of necessity for accommodation of the accommodated mobile object,
    The movement control system is characterized in that the calculation unit calculates the movement priority so that the movement priority becomes lower as the necessity of accommodation is higher.
  3. 　請求項２に記載の移動管制システムであって、
    　前記収容された移動体の収容の必要性の高さは、前記収容された移動体の状態、前記収容領域と前記収容された移動体の利用者との位置関係、及び、収容のために前記利用者が支払う料金の少なくとも一つに基づいて決定されることを特徴とする移動管制システム。     The mobile control system according to claim 2,
    The level of necessity for accommodation of the housed moving body is determined by the condition of the housed moving body, the positional relationship between the accommodation area and the user of the housed moving body, and the need for accommodation. A mobile control system characterized in that the determination is made based on at least one of the fees paid by the user.
  4. 　請求項３に記載の移動管制システムであって、
    　前記演算部は、前記収容された移動体に異常がある場合、前記収容された移動体のエネルギー補充の必要性が高い場合、前記収容領域と前記収容された移動体の利用者との距離が近い場合、及び、収容のために前記利用者が支払う料金が高い場合の少なくとも一つの場合に、前記収容された移動体の収容の必要性が高くなるように、前記収容された移動体の収容の必要性の高さを決定することを特徴とする移動管制システム。     The mobile control system according to claim 3,
    The calculation unit is configured to calculate the distance between the accommodation area and the user of the accommodated moving object when there is an abnormality in the accommodated moving object, when the need for energy replenishment of the accommodated moving object is high, and when the distance between the accommodation area and the user of the accommodated moving object is The accommodation of the accommodated moving object is such that the need for accommodation of the accommodated moving object becomes high in at least one of the following cases: when the accommodation rate is high, and when the fee paid by the user for accommodation is high. A mobile control system characterized by determining the level of need for.
  5. 　請求項２に記載の移動管制システムであって、
    　前記収容予約申込情報は、前記第一の移動体の収容の必要性の高さを示す情報を含み、
    　前記演算部は、収容された移動体の収容の必要性が前記第一の移動体の収容の必要性より高い場合、当該収容された移動体に対する前記移動の指示を出力しないことを特徴とする移動管制システム。     The mobile control system according to claim 2,
    The accommodation reservation application information includes information indicating the degree of necessity for accommodation of the first mobile object,
    The arithmetic unit is characterized in that when the need for accommodation of the accommodated moving object is higher than the need for accommodation of the first moving object, the calculation unit does not output the movement instruction for the accommodated moving object. Mobile control system.
  6. 　請求項１に記載の移動管制システムであって、
    　前記収容予約情報は、前記収容された移動体の異常を示す情報、及び、エネルギー補充の必要性を示す情報の少なくともいずれかを含み、
    　前記演算部は、前記収容された移動体が異常であるか、又は、エネルギー補充の必要性が高い場合に、当該移動体の移動優先度が低くなるように、前記移動優先度を算出することを特徴とする移動管制システム。     The mobile control system according to claim 1,
    The accommodation reservation information includes at least one of information indicating an abnormality of the accommodated mobile object and information indicating the necessity of energy replenishment,
    The calculation unit may calculate the movement priority so that the movement priority of the accommodated moving object is lowered when the accommodated moving object is abnormal or has a high need for energy replenishment. A mobile control system featuring:
  7. 　請求項１に記載の移動管制システムであって、
    　前記収容予約情報は、収容された移動体の収容の目的を示す情報を含み、
    　前記演算部は、前記収容領域に収容された移動体に移動を指示する場合に、当該移動体の収容の目的に基づいて、移動先及び当該移動先への経路を推薦する情報を出力することを特徴とする移動管制システム。     The mobile control system according to claim 1,
    The accommodation reservation information includes information indicating the purpose of accommodation of the accommodated mobile object,
    The calculation unit may output information recommending a destination and a route to the destination based on the purpose of accommodation of the moving object when instructing the moving object accommodated in the accommodation area to move. A mobile control system featuring:
  8. 　請求項１に記載の移動管制システムであって、
    　前記演算部は、前記移動優先度が高い移動体に移動を指示する場合に、当該移動体の利用者に移動の承諾を求める情報を送信し、承諾が得られた場合に当該移動体に移動を指示することを特徴とする移動管制システム。     The mobile control system according to claim 1,
    When instructing a mobile body with a high movement priority to move, the calculation unit transmits information requesting consent for movement to a user of the mobile body, and if consent is obtained, moves to the mobile body. A mobile control system that is characterized by giving instructions.
  9. 　請求項１に記載の移動管制システムであって、
    　前記演算部は、前記移動優先度が高い移動体に移動を指示する場合に、当該移動体の所有者又は利用者に支払う対価を示す情報を出力することを特徴とする移動管制システム。     The mobile control system according to claim 1,
    The mobile control system is characterized in that the calculation unit outputs information indicating a price to be paid to an owner or user of the mobile body when instructing the mobile body with a high movement priority to move.
  10. 　請求項１に記載の移動管制システムであって、
    　前記収容領域は、各々が一つの前記移動体を収容する一つ以上の区画を含み、
    　前記記憶部は、前記各区画の位置を示す情報、並びに、前記各区画が収容可能な移動体の大きさ及び重さの少なくともいずれかの条件を示す情報を保持し、
    　前記第一の移動体からの前記収容予約申込情報は、前記第一の移動体の大きさ及び重さを含み、
    　前記演算部は、前記収容領域内の空き区画であって、前記第一の移動体の大きさ及び重さが前記条件を満たす空き区画がない場合、前記第一の移動体を収容可能な空き領域がないと判定し、
    　前記第一の移動体を収容可能な空き領域を生成するための移動の指示は、前記収容領域内の他の区画への移動の指示、又は、当該収容領域の外への移動の指示であることを特徴とする移動管制システム。     The mobile control system according to claim 1,
    The accommodation area includes one or more compartments each accommodating one of the mobile objects,
    The storage unit holds information indicating the position of each section, and information indicating at least one of the size and weight of a moving object that each section can accommodate,
    The accommodation reservation application information from the first moving object includes the size and weight of the first moving object,
    The calculation unit calculates a vacant space that can accommodate the first moving object, if there is no empty section in the storage area in which the size and weight of the first moving object satisfy the conditions. It is determined that there is no area,
    The movement instruction for creating a free space capable of accommodating the first moving object is an instruction to move to another section within the storage area or an instruction to move outside the storage area. A mobile control system characterized by:
  11. 　請求項１に記載の移動管制システムであって、
    　前記収容予約情報は、前記収容領域に既に収容されている移動体の位置及び大きさを含み、
    　前記第一の移動体からの前記収容予約申込情報は、前記第一の移動体の大きさを含み、
    　前記演算部は、前記第一の移動体を収容可能な空き領域がない場合、前記移動優先度が高い少なくとも一つの前記移動体を前記収容領域内で移動させることによって、前記第一の移動体を収容可能な空き領域を生成できるかを判定し、
    　前記第一の移動体を収容可能な空き領域を生成できる場合、前記移動優先度が高い少なくとも一つの前記移動体を前記収容領域内で移動させる指示を出力し、
    　前記第一の移動体を収容可能な空き領域を生成できない場合、前記移動優先度が高い少なくとも一つの前記移動体を当該収容領域の外に移動させる指示を出力することを特徴とする移動管制システム。     The mobile control system according to claim 1,
    The accommodation reservation information includes the position and size of the mobile object already accommodated in the accommodation area,
    The accommodation reservation application information from the first moving object includes the size of the first moving object,
    When there is no free space capable of accommodating the first mobile object, the calculation unit moves at least one of the mobile objects having a high movement priority within the accommodation area, thereby accommodating the first mobile object. Determine if it is possible to generate free space that can accommodate the
    If an empty area capable of accommodating the first moving object can be generated, outputting an instruction to move at least one of the moving objects having a high movement priority within the accommodation area;
    A movement control system characterized in that, when an empty area capable of accommodating the first moving object cannot be generated, an instruction is output to move at least one of the moving objects having a high movement priority out of the accommodation area. .
  12. 　請求項１に記載の移動管制システムであって、
    　前記収容予約情報は、前記収容領域に収容された移動体が自律移動可能かを示す情報を含み、
    　前記演算部は、前記収容領域に収容された移動体のうち、自律移動可能な移動体の前記移動優先度を算出することを特徴とする移動管制システム。     The mobile control system according to claim 1,
    The accommodation reservation information includes information indicating whether the mobile body accommodated in the accommodation area can move autonomously,
    The movement control system is characterized in that the calculation unit calculates the movement priority of a mobile object that is capable of autonomous movement among the mobile objects accommodated in the storage area.
  13. 　請求項１に記載の移動管制システムであって、
    　ネットワークを介して前記通信部と接続される端末装置をさらに有し、
    　前記端末装置は、前記第一の移動体を前記収容領域に収容するための前記収容予約申込情報を送信することを特徴とする移動管制システム。     The mobile control system according to claim 1,
    further comprising a terminal device connected to the communication unit via a network,
    The mobile control system is characterized in that the terminal device transmits the accommodation reservation application information for accommodating the first mobile object in the accommodation area.
  14. 　請求項１に記載の移動管制システムであって、
    　ネットワークを介して前記通信部と接続される端末装置をさらに有し、
    　前記端末装置は、前記移動の指示を受信すると、前記移動の指示を前記移動体の制御装置に伝達することを特徴とする移動管制システム。     The mobile control system according to claim 1,
    further comprising a terminal device connected to the communication unit via a network,
    A mobile control system characterized in that, upon receiving the movement instruction, the terminal device transmits the movement instruction to a control device of the mobile object.
  15. 　移動管制システムが実行する移動管制方法であって、
    　前記移動管制システムは、演算部と、記憶部と、通信部と、を有し、
    　前記記憶部は、移動体の収容領域内の収容予約情報を保持し、
    　前記移動管制方法は、
    　前記演算部が、第一の移動体からの前記収容領域内への収容予約申込情報を受信すると、前記収容予約情報に基づいて、前記第一の移動体を収容可能な前記収容領域内の空き領域の有無を判定する手順と、
    　前記演算部が、前記第一の移動体を収容可能な空き領域がない場合、前記収容予約情報に基づいて、前記収容領域に収容された移動体の移動優先度を算出する手順と、
    　前記演算部が、前記通信部を介して、前記移動優先度が高い少なくとも一つの前記移動体に、前記第一の移動体を収容可能な空き領域を生成するための移動の指示を出力する手順と、を含むことを特徴とする移動管制方法。     A mobile control method executed by a mobile control system, comprising:
    The mobile control system includes a calculation section, a storage section, and a communication section,
    The storage unit holds accommodation reservation information in the accommodation area of the mobile object,
    The movement control method includes:
    When the calculation unit receives accommodation reservation application information from a first moving object into the accommodation area, the calculation unit determines a vacant space in the accommodation area that can accommodate the first moving object based on the accommodation reservation information. A procedure for determining the presence or absence of an area;
    a step in which the calculation unit calculates a movement priority of the mobile body accommodated in the accommodation area based on the accommodation reservation information when there is no free space capable of accommodating the first moving body;
    A step in which the calculation unit outputs, via the communication unit, at least one of the mobile bodies having a high movement priority, a movement instruction for creating a free space that can accommodate the first mobile body. A mobile control method comprising:
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JP2001006093A (en) * 1999-06-17 2001-01-12 Matsushita Electric Ind Co Ltd Parking condition managing device and on-vehicle guiding device
JP2001331898A (en) * 2000-05-23 2001-11-30 Oki Electric Ind Co Ltd Device and method for reserving and managing parking lot
JP2003302234A (en) * 2002-04-09 2003-10-24 Matsushita Electric Ind Co Ltd On-vehicle information processor
JP2020027478A (en) * 2018-08-13 2020-02-20 株式会社デンソーテン Device, system, and method for managing parking lots
JP2020077064A (en) * 2018-11-05 2020-05-21 トヨタ自動車株式会社 Parking support device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001006093A (en) * 1999-06-17 2001-01-12 Matsushita Electric Ind Co Ltd Parking condition managing device and on-vehicle guiding device
JP2001331898A (en) * 2000-05-23 2001-11-30 Oki Electric Ind Co Ltd Device and method for reserving and managing parking lot
JP2003302234A (en) * 2002-04-09 2003-10-24 Matsushita Electric Ind Co Ltd On-vehicle information processor
JP2020027478A (en) * 2018-08-13 2020-02-20 株式会社デンソーテン Device, system, and method for managing parking lots
JP2020077064A (en) * 2018-11-05 2020-05-21 トヨタ自動車株式会社 Parking support device

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