WO2023238539A1 - Coordination device, roadside unit, movement control system, program, movement control method, and moving body - Google Patents

Coordination device, roadside unit, movement control system, program, movement control method, and moving body Download PDF

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Publication number
WO2023238539A1
WO2023238539A1 PCT/JP2023/016290 JP2023016290W WO2023238539A1 WO 2023238539 A1 WO2023238539 A1 WO 2023238539A1 JP 2023016290 W JP2023016290 W JP 2023016290W WO 2023238539 A1 WO2023238539 A1 WO 2023238539A1
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WO
WIPO (PCT)
Prior art keywords
prohibited
movement
unit
signal
mobile
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PCT/JP2023/016290
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French (fr)
Japanese (ja)
Inventor
和隆 下大迫
崇弘 望月
若 斎藤
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古河電気工業株式会社
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Publication of WO2023238539A1 publication Critical patent/WO2023238539A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]

Definitions

  • the present invention relates to a control device, a roadside machine, a movement control system, a program, a movement control method, and a mobile object.
  • Patent Document 1 describes this type of technology.
  • Patent Document 1 describes an acquisition means for acquiring automatic driving information, which is information about the state of the own vehicle and the surroundings of the own vehicle, and an automatic driving system that controls the traveling direction and speed of the own vehicle based on the automatic driving information and performs automatic driving. and a determination means for determining whether a problem related to automated driving information has occurred, and if a problem occurs, the driving state of the own vehicle or the driving state of another vehicle is determined depending on the content of the problem.
  • a device is described comprising: changing means for changing a state.
  • Patent Document 1 requires a high-performance and expensive device that can appropriately determine the abnormal state of a moving body. For this reason, if a high-performance control device cannot be installed on a moving object due to cost constraints, the abnormal state of the moving object cannot be appropriately determined due to lack of redundancy or calculation capacity of the control device, and the moving object cannot be moved safely. There is a possibility that you may not be able to do so.
  • Another object of the present invention is to provide a control device, a roadside machine, a movement control system, a program, and a movement control method that can support the safe movement of moving objects with a simpler configuration and processing.
  • Another object of the present invention is to provide a mobile body that is managed and controlled by the above-mentioned control device.
  • the control device compares a position information acquisition unit that acquires position information indicating the position of the mobile object with prohibited zone information indicating a prohibited zone in which movement of the mobile body is prohibited; a signal output processing section that outputs a prohibition signal that prohibits movement of the mobile object within the prohibited section based on the comparison result; It is determined whether or not the moving body exists within the prohibited area, and when it is determined that the mobile object exists within the prohibited area, the prohibited signal is outputted.
  • the prohibited zone information includes information indicating a warning area set around the prohibited zone
  • the signal output processing section is configured to control the prohibited zone based on the comparison result. to determine whether or not the mobile body is present in the warning area, and when it is determined that the mobile body is present in the warning area, the mobile body issues a warning to the mobile body. Outputs an alarm signal to be executed.
  • the mobile body is a mobile body capable of autonomous movement.
  • a roadside machine that includes each component of the control device according to any one of (1) to (3), and is installed on or beside a road on which the mobile object moves. be.
  • the mobile control system is capable of wireless communication with mobile objects, and includes a plurality of first control devices installed in different areas, and a second control device communicatively connected to the plurality of first control devices.
  • a movement control system comprising: a control device; the second control device generates prohibited zone information indicating a prohibited zone in which movement of the mobile object is prohibited;
  • the first control device includes a location information acquisition section that obtains location information indicating the location of the mobile object, and the first control device includes a location information acquisition section that obtains location information indicating the location of the mobile object, and a location information management section that transmits the prohibited zone information received from the second control device.
  • the signal output processing unit Based on the comparison result, it is determined whether or not the mobile object exists within the prohibited section, and when it is determined that the mobile object exists within the prohibited section, the prohibition signal is outputted.
  • the prohibited zone information includes information indicating an alarm area set around the prohibited zone, and the signal output process of the first control device
  • the unit determines whether or not the mobile body is present in the warning area based on the comparison result, and when it is determined that the mobile body is present in the warning area, causes the mobile body to issue an alarm. Outputs an alarm signal that causes processing to be executed.
  • the prohibited zone information management unit of the second control device generates the prohibited zone information that differs depending on the time zone.
  • the mobile body is a mobile body capable of autonomous movement.
  • the mobile object is operated in an automatic driving mode in which the mobile object automatically travels along a set travel route, and based on a remote control signal for remotely controlling the mobile object. and a remote operation mode in which the mobile body travels, and the second control device changes the operation mode of the mobile body to the remote operation mode when the prohibition signal is output by the signal output processing unit.
  • the apparatus further includes a mode switching signal output processing section that outputs an operation mode switching signal for switching to.
  • the program provides a computer included in the control device with a position information acquisition function that acquires position information indicating the position of a mobile object, and a prohibition that indicates the position information and a prohibited zone in which movement of the mobile object is prohibited. and a signal output processing function that outputs a prohibition signal that prohibits movement of the mobile object in the prohibited zone based on the comparison result, and the signal output processing function compares the comparison result with the zone information. It is determined whether the mobile object is present in the prohibited section based on the above, and when it is determined that the mobile object is present in the prohibited section, the prohibition signal is outputted.
  • the movement control method is a movement control method executed by a control device, which includes a position information acquisition step of acquiring position information indicating the position of a mobile object, and a step of acquiring the position information and prohibiting movement of the mobile object. a signal output processing step of outputting a prohibition signal that prohibits movement of the moving body based on the comparison result, and outputting a prohibition signal that prohibits the movement of the mobile object based on the comparison result, and in the signal output processing step, the comparison Based on the result, it is determined whether or not the mobile object exists within the prohibited section, and when it is determined that the mobile object exists within the prohibited section, the prohibition signal is outputted.
  • the mobile body includes a wireless communication unit that communicates with the control device according to any one of (1) to (4), a self-position estimating unit that estimates its own position, a drive unit, and the a movement control section that controls driving of a drive section, the self-position estimating section transmits the estimated self-position information to the control device using the wireless communication section, and the movement control section , when the wireless communication unit receives a prohibition signal transmitted from the control device, the drive unit is controlled to perform an operation corresponding to the prohibition signal.
  • the wireless communication unit receives a plurality of prohibition signals regarding restriction of movement into the same prohibited zone from different control devices.
  • the movement control unit when the movement control unit receives a predetermined number of prohibition signals from the wireless communication unit, the movement control unit controls the movement control unit to perform an operation corresponding to the prohibition signal. Control the drive unit.
  • FIG. 1 is a schematic diagram showing an example of a movement control system and a road to which the movement control system is applied according to an embodiment of the present invention, and is a diagram showing a state in which a mobile object moves outside a prohibited area.
  • 1 is a schematic diagram illustrating an example of a movement control system and a road to which the movement control system is applied according to an embodiment of the present invention, and is a diagram illustrating a state in which a mobile object is located within a prohibited area.
  • FIG. 2 is a block diagram showing the configuration of hardware and functional blocks of a roadside machine according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing the positional relationship between a prohibited section and a control target area in a movement control system according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing the positional relationship between a prohibited section and a control target area in a movement control system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the configuration of hardware and functional blocks of a control server according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the configuration of hardware and functional blocks of a mobile object in a movement control system according to an embodiment of the present invention. It is a flow chart which shows an example of movement control performed by roadside machine 1 in one embodiment of the present invention. It is a flow chart which shows an example of movement control performed by roadside machine 1 in one embodiment of the present invention. It is a flowchart showing an example of movement control executed by the control server 2 in one embodiment of the present invention.
  • FIG. 3 is a flowchart illustrating an example of movement control executed by the mobile object 3.
  • FIG. 3 is a flowchart illustrating an example of movement control executed by the mobile object 3.
  • FIG. It is a schematic diagram showing an example of a flight route of an unmanned flying object to which a movement control system and a movement control system are applied in a modification of the present invention. It is a schematic diagram showing an example of a movement control system in a modification of the present invention, and a road to which the movement control system is applied.
  • FIG. 1 is a schematic diagram showing an example of a road 4 to which a movement control system S according to the present embodiment is applied.
  • the movement control system S is a system that controls the mobile body 3 so that the mobile body 3 does not move within a predetermined section on the road 4.
  • the movement control system S is capable of wireless communication with a mobile object 3, which is a vehicle running on a road 4, and communicates with a plurality of roadside devices 1 installed around the road 4, such as on the road 4 or on the side of the road 4.
  • the control server 2 is communicably connected to each of the roadside machines 1 via the communication network NW.
  • Each of the plurality of roadside machines 1 includes a processing section 10 (control device, first control device) described later, and the control server 2 includes a processing section 20 (control device, second control device) described below.
  • the movement control system S includes a plurality of processing units 10 that are capable of wireless communication with a plurality of moving objects 3, and a processing unit 20 that is communicably connected to the plurality of processing units 10.
  • a system for controlling automatic driving of a vehicle will be described as an example.
  • the mobile object 3 is, for example, an automatic driving vehicle that can move autonomously.
  • the mobile object 3 operates in an automatic driving mode in which the mobile object 3 automatically travels along a travel route set based on location information of the destination, etc., and in a remote driving mode in which the mobile object 3 travels based on a remote control signal for remotely controlling the mobile object 3. It has driving modes including modes.
  • the mobile object 3 automatically drives to a predetermined location based on the estimated self-position information that changes from moment to moment and the map information of the surrounding area in which the mobile object 3 exists.
  • the predetermined location is a preset destination or a location on a route to the preset destination.
  • the mobile body 3 is configured to be able to communicate wirelessly with the roadside machine 1.
  • the communication network NW may be a wide area network (WAN) that includes a private network and the Internet.
  • the former private network includes, for example, an OLT (optical line terminal), a PON access system formed by multiple ONUs (optical network units) connected to the OLT via optical lines, a layer 2 switch, a layer 3 switch, etc. It can be composed of On the other hand, in an example of a WAN, it is configured with an MPLS (Multiprotocol Label Switching) network.
  • MPLS Multiprotocol Label Switching
  • the roadside unit 1 is also called an RSU (roadside unit) or the like.
  • the plurality of roadside devices 1 are installed in different areas around the road 4 (roadside) and the like.
  • area refers to a range in which each roadside device 1 is in charge of communication with each mobile body 3, and indicates, for example, a geographical range set along a road 4.
  • the plurality of roadside machines 1 are installed along the road 4 at predetermined intervals.
  • the roadside device 1 provides V2X (vehicle-to-everything) communication service by wirelessly communicating with the moving object 3 traveling on the road 4 and various devices existing in the surrounding area.
  • the roadside device 1 transmits data acquired through wireless communication with mobile objects 3 and various devices traveling within a wireless communication area (hereinafter referred to as a communication area) to the control server 2 via the communication network NW.
  • a processing unit 10 included in the roadside machine 1 executes movement control of the mobile body 3 by outputting various control signals to the mobile body 3.
  • Various control signals are output based on prohibited zone information stored in each roadside machine 1.
  • the prohibited zone information is information regarding a prohibited zone A indicating a predetermined zone on the road 4 as shown in FIG. Details of the prohibited zone information will be described later.
  • the control server 2 is communicably connected to a plurality of roadside machines 1 via the communication network NW.
  • the control server 2 in this embodiment generates prohibited zone information stored in each of the plurality of roadside machines 1, and manages the timing of transmitting the generated prohibited zone information to the roadside machine 1. Details of the configuration of the control server 2 and the prohibited zone information will be described later.
  • FIG. 2 is a schematic diagram showing an example of the movement control system S and a road 4 to which the movement control system S is applied, and is a diagram showing a situation where the mobile object 3 is located outside the prohibited zone A.
  • FIG. 3 is a block diagram illustrating the configuration of hardware and functional blocks of the roadside device 1.
  • the roadside device 1 includes a processing section 10, a storage section 11, a communication I/F 12, and a wireless communication section 13, as shown in FIG.
  • the processing unit 10 is an arithmetic device constituted by a processor such as a CPU, and reads and executes various programs and data from the storage unit 11, which will be described later, to realize a movement control function.
  • the processing unit 10 executes data processing of each functional unit: a moving object information acquisition unit 110, a prohibited zone information acquisition unit 120, and a signal output processing unit 130.
  • the operation of each functional section will be described later.
  • the operation of each functional section will be described later.
  • the movement control function of the processing unit 10 may be realized by hardware or software.
  • the storage unit 11 is a storage area for various programs and various data for making the hardware group function as the roadside device 1, and is a storage area for ROM, RAM, flash memory, semiconductor drive (SSD), hardware (HDD), etc. Can be configured. Specifically, the storage unit 11 stores a program for causing the processing unit 10 to execute each function of the present embodiment, a control program for the roadside machine 1, various parameters, data used for movement control of the mobile object 3, and a roadside machine. Identification information such as the IP address and MAC address of aircraft 1, information on geographical map information including the communication area, information on prohibited areas within the communication area, and the location of the area subject to the control mode described below. Information is stored.
  • the communication I/F 12 is an interface for the roadside device 1 to communicate via the communication network NW.
  • the roadside device 1 is communicably connected to the control server 2 via the communication I/F 12.
  • the wireless communication unit 13 executes processing for the roadside device 1 to wirelessly perform V2X communication with surrounding devices.
  • the wireless communication unit 13 performs wireless communication with the mobile object 3 traveling within the communicable area of the roadside device 1 .
  • the wireless communication unit 13 receives, for example, identification information for identifying the mobile body 3, position information indicating the position of the mobile body 3, traveling information of the mobile body 3, and the like.
  • the mobile object information acquisition unit 110 executes a process of acquiring information regarding the mobile object 3 traveling within the communicable area of the roadside device 1.
  • the mobile object information acquisition section 110 includes an identification information acquisition section 111 , a position information acquisition section 112 , and a travel information acquisition section 113 .
  • the identification information acquisition unit 111 executes a process of acquiring the identification information of the mobile body 3 received via the wireless communication unit 13.
  • the identification information acquired by the identification information acquisition unit 111 includes, for example, the size of the moving object 3, the identification ID of the in-vehicle device mounted on the moving object 3, and the MAC address and IPv6 address of the in-vehicle terminal device connected to the in-vehicle device. , license plate information, etc. may be included.
  • the location information acquisition unit 112 executes a process of acquiring the location information of the mobile object 3 received via the wireless communication unit 13. Examples of the location information include the latitude, longitude, altitude, etc. of the location where the mobile object 3 is located. In this embodiment, the location information acquisition unit 112 acquires at least latitude and longitude information as location information.
  • the driving information acquisition unit 113 executes a process of acquiring the driving information of the mobile object 3 received via the wireless communication unit 13.
  • the traveling information includes, for example, information regarding the traveling speed, traveling direction, etc. of the moving body 3.
  • the mobile object information acquisition unit 110 associates the acquired identification information, position information, and travel information of the mobile object 3 and stores them as mobile object information.
  • the prohibited zone information acquisition unit 120 executes processing to acquire prohibited zone information.
  • the prohibited zone information is information indicating the position of a prohibited zone A provided within the communicable area of the roadside device 1 as shown in FIGS. 1 and 2.
  • the prohibited area A is a geographical area on the road 4 in which movement of the mobile object 3 in the control mode, the details of which will be described later, is prohibited.
  • the prohibited section information is indicated by latitude, longitude, altitude, etc., for example.
  • the prohibited zone A indicated by the prohibited zone information included in the roadside device 1A is indicated by a broken line.
  • the prohibited zone A for the roadside device 1 is formed in areas on both sides of the road 4 (the area on the roadside and its surrounding area).
  • the prohibited zone A on the lower side of the page shows the positional relationship of the prohibited zone A on the road 4, and the prohibited zone A and the moving object 3 on the upper side of the page are the moving objects created by the processing unit 10, which will be described later.
  • the contents of the comparison process between the position information of No. 3 and the prohibited section A are hypothetically shown.
  • the prohibited zone information also includes information indicating a warning area B set around the prohibited zone A. That is, the warning area B is an area where there is a high possibility that the mobile object 3 will move outside the prohibited area A if it continues to move. In this embodiment, the warning area B is provided so as to surround the prohibited area A in plan view.
  • the prohibited zone information acquisition unit 120 executes a process of acquiring prohibited zone information from the control server 2 or the storage unit 11. In this embodiment, upon receiving the prohibited zone information from the control server 2, the prohibited zone information acquisition unit 120 updates the prohibited zone information stored in the storage unit 11 to the received prohibited zone information.
  • the signal output processing unit 130 executes a process of outputting various signals for controlling the mobile body 3 based on the position information of the mobile body 3 and the like.
  • the signal output processing section 130 includes a mode switching signal output processing section 131, a prohibition signal output processing section 132, and an alarm signal output processing section 133.
  • the mode switching signal output processing unit 131 executes a process of outputting a first mode switching signal based on the position information of the moving object 3 and the prohibited zone information.
  • the first mode switching signal is a control signal that includes a command to execute mode switching to switch the mode in which the mobile body 3 moves to a controlled mode or a non-controlled mode.
  • the control mode is a mode in which the operation of the mobile body 3 is controlled according to control signals such as a prohibition signal P and an alarm signal transmitted from the roadside device 1.
  • the non-control mode is a mode in which the operation of the mobile body 3 is not controlled by control signals such as the prohibition signal P and the alarm signal transmitted from the roadside device 1.
  • control target area C the area to be controlled in the control mode
  • prohibited section A the prohibited area A is shown by a dashed-dotted line
  • control target area C is shown by a broken line.
  • the control target area C is outside the entrance and exit of the prohibited section A in the traveling direction of the moving object 3 on the road 4, and is wider than the width of the two prohibited sections A. It is set as follows.
  • the control target area C is located at the same location as the entrance and exit of the warning area B that exists around the prohibited area A, and is wider than the width of the two prohibited areas A. It may be set to .
  • the mode switching signal output processing unit 131 determines that the moving object 3 has entered the control target area C based on the position information of the moving object 3, for example, the mode switching signal output processing unit 131 is configured to perform a mode switching from a non-controlled mode to a controlled mode. Outputs switching signal.
  • the mode switching signal output processing unit 131 determines that the moving object 3 has exited the control target area C based on the position information of the moving object 3, the mode switching signal output processing unit 131 sets a first mode to execute mode switching from the controlled mode to the non-controlled mode. Outputs switching signal.
  • the prohibition signal output processing unit 132 executes a process of outputting a prohibition signal P that prohibits movement of the mobile object 3 in the control mode.
  • the prohibition signal output processing unit 132 compares the position information of the moving body 3 and the prohibition zone information, and outputs the prohibition signal P based on the comparison result. Specifically, the prohibition signal output processing unit 132 determines whether or not the mobile body 3 exists in the prohibited zone A based on the comparison result between the position information of the mobile body 3 and the prohibited zone information, and prohibits movement. When it is determined that the object 3 is present in the prohibited section A, a prohibited signal P is output.
  • the prohibition signal output processing unit 132 uses information regarding the size of the moving object 3, which is identification information, and determines that the moving object 3 exists within the prohibited section A only when the entire moving object 3 is located within the prohibited section A. You may. Further, for example, the prohibition signal output processing unit 132 may determine that the mobile object exists within the prohibition section A when at least a portion of the mobile object 3 is located within the prohibition section A. Alternatively, if the center of the vehicle body of the moving object 3 is located within the prohibited section A, it may be determined that the moving object exists within the prohibited section A. For example, when the mobile body 3 receives the prohibition signal P in the control mode, it is controlled to restrict continued travel, and when the prohibition signal P is not received, the mobile body 3 is allowed to continue traveling.
  • the alarm signal output processing unit 133 executes a process of outputting an alarm signal based on the position information of the moving object 3 and the prohibited zone information.
  • the alarm signal is a control signal that includes a command that causes the moving body 3 to execute a process of generating an alarm to alert the operator of the moving body 3.
  • the alarm signal output processing unit 133 compares the position information and information indicating the alarm area B included in the prohibited zone information, and determines whether the mobile object 3 exists in the alarm area B based on the comparison result. . Then, when it is determined that the mobile body 3 exists within the warning area B, the alarm signal output processing unit 133 outputs an alarm signal to the mobile body 3 indicating that the mobile body 3 exists within the warning area B. do.
  • FIG. 5 is a block diagram illustrating the hardware and functional block configuration of the control server 2. As shown in FIG.
  • the control server 2 includes a processing section 20, a storage section 21, and a communication I/F 22, as shown in FIG.
  • the processing unit 20 is an arithmetic device constituted by a processor such as a CPU, and reads and executes various programs and data from a storage unit 21, which will be described later, to realize a movement control function.
  • the processing unit 20 executes data processing of each functional unit: a roadside machine information acquisition unit 210, a map information management unit 220, a prohibited zone information management unit 230, and a mode switching signal output processing unit 240. do.
  • the operation of each functional section will be described later.
  • the movement control function of the processing unit 20 may be realized by hardware or software.
  • the storage unit 21 is a storage area for various programs and various data for making the hardware group function as the control server 2, and is a storage area for ROM, RAM, flash memory, semiconductor drive (SSD), hardware (HDD), etc. Can be configured. Specifically, the storage unit 21 stores a program for causing the processing unit 20 to execute each function of the present embodiment, a control program for the control server 2, various parameters, data used for movement control of the mobile object 3, and control Identification information such as IP addresses and MAC addresses of the plurality of roadside devices 1 communicably connected to the server 2, geographical map information including communication areas of the plurality of roadside devices 1, and communication of each of the plurality of roadside devices 1. Prohibited section information within the permitted area is stored.
  • the communication I/F 22 is an interface for the control server 2 to communicate via the communication network NW.
  • the control server 2 is communicably connected to a plurality of roadside machines 1 and other communication devices via a communication I/F 22.
  • the roadside machine information acquisition unit 210 executes a process of acquiring roadside machine information transmitted from each of the plurality of roadside machines 1.
  • the roadside device information includes, for example, moving object information acquired by each of the plurality of roadside devices 1, information regarding an event occurring on the road 4, and information regarding the output status of various control signals by the roadside device 1.
  • Information related to events includes, for example, traffic accidents, traffic jams, vehicle breakdowns, running of emergency vehicles, road abnormalities, fires, running of maintenance vehicles on the road 4, and the like. That is, the roadside device information acquisition unit 210 obtains information such as identification information, position information, and travel information of the mobile object 3 traveling in the communication area of each roadside device 1, information regarding the occurrence status of traffic accidents on the road 4, etc. get.
  • the information regarding the output status of various control signals includes, for example, whether or not a first mode switching signal, an alarm signal, a prohibition signal P, etc. are output.
  • the map information management unit 220 generates map information based on information acquired from the outside and updates it as needed.
  • the map information may be, for example, a dynamic map.
  • Dynamic maps are a combination of static information such as road surface information, lane information, and structures, and dynamic information such as traffic regulations, construction, congestion, vehicles, pedestrians, and traffic lights. It is a three-dimensional digital map with high-level information.
  • the map information management unit 220 updates the dynamic map as needed based on information acquired from the outside, and transmits it to each of the plurality of roadside machines 1. Note that the map information transmitted to each roadside machine 1 is transmitted from the roadside machine 1 to the moving body 3 that is running.
  • the prohibited zone information management unit 230 generates and manages prohibited zone information for each of the plurality of roadside machines 1. Specifically, the prohibited zone information management unit 230 generates prohibited zone information for each of the plurality of roadside machines 1 based on information acquired via the communication network NW and a predetermined program stored in the storage unit 21. do. Then, the prohibited zone information management unit 230 transmits the generated prohibited zone information to the corresponding roadside machine 1.
  • the prohibited zone information management unit 230 may generate different prohibited zone information depending on the time period, for example.
  • the prohibited zone information management unit 230 establishes a prohibited zone A on the roadside of the road 4, and sets the size of the prohibited zone A during times such as mornings and evenings when children go to school (hereinafter referred to as school commuting hours) to be larger than other times. You can make it bigger.
  • the prohibited zone information management unit 230 may set the prohibited zone A only during school commuting hours.
  • the prohibited zone information management unit 230 may generate different prohibited zone information based on information acquired from the outside.
  • the prohibited zone information management unit 230 may change the prohibited zone information based on the information regarding the event acquired from the roadside device 1.
  • the prohibited zone information management unit 230 acquires information about the occurrence of a traffic accident on the road 4, the prohibited zone information management unit 230 generates prohibited zone information indicating the prohibited zone A provided at the accident location and its surroundings. It's okay. For example, when the prohibited zone information management unit 230 obtains information that a maintenance vehicle is traveling on an expressway, the prohibited zone information management unit 230 may generate prohibited zone information for movement of the maintenance vehicle.
  • the mode switching signal output processing unit 240 executes a process of outputting a second mode switching signal (operating mode switching signal).
  • the second mode switching signal is a control signal that includes a command to execute driving mode switching to switch the driving mode of the mobile body 3 to automatic driving mode or remote driving mode.
  • the mode switching signal output processing section 240 may output the second mode switching signal based on the output status of the prohibition signal P by the signal output processing section 130 of the roadside device 1, for example. Specifically, when it is determined that the prohibition signal P has been output from the roadside device 1, the mode switching signal output processing unit 240 switches the driving mode of the mobile object 3 from the automatic driving mode to the remote driving mode.
  • a second mode switching signal for execution may be output.
  • the mode switching signal output processing unit 240 changes the driving mode of the moving body 3 when it is determined that the position information of the moving body 3 is outside the prohibited zone A after a predetermined time has elapsed since the prohibition signal P was output.
  • a second mode switching signal may be output that causes the operation mode to be switched from the remote operation mode to the automatic operation mode.
  • FIG. 6 is a block diagram illustrating the configuration of the hardware and functional blocks of the mobile object 3. As shown in FIG.
  • the mobile body 3 includes a processing section 30, a storage section 31, a wireless communication section 32, a sensor section 33, a GNSS section 34, and a drive section 35.
  • the processing unit 30 is an arithmetic device constituted by a processor such as a CPU, and reads and executes various programs and data from a storage unit 31, which will be described later, to realize a movement control function.
  • the processing unit 30 executes data processing of each functional unit: a self-position estimation unit 310, a signal acquisition unit 320, a mode switching unit 330, a movement control unit 340, and an alarm control unit 350. do. The operation of each functional section will be described later.
  • the storage unit 31 is a storage area for various programs and various data for making the hardware group function as the mobile body 3, and is a ROM, RAM, flash memory, semiconductor drive (SSD), hardware (HDD), etc. Can be configured. Specifically, the storage unit 31 stores a program for causing the processing unit 30 to execute each function of the present embodiment (control program for the mobile body 3), various parameters, data used for movement control of the mobile body 3, Identification information such as the identification ID and IP address of the mobile body 3, map information, etc. are stored. Examples of the map information include a dynamic map and the like.
  • the wireless communication unit 32 executes processing for the mobile body 3 to communicate with the roadside machine 1 wirelessly.
  • the wireless communication unit 32 transmits, for example, identification information for identifying the mobile body 3, position information indicating the position of the mobile body 3, traveling information of the mobile body 3, etc. to the roadside device 1, and transmits a first mode switching signal and a prohibition signal P. , various control signals such as alarm signals, map information generated by the control server 2, etc. from the roadside device 1.
  • the wireless communication unit 32 communicates with the processing unit 10 via the wireless communication unit 13 of the roadside device 1.
  • the sensor unit 33 is a device for detecting information around the moving body 3 itself.
  • the sensor unit 33 may be, for example, a radar or the like that detects the distance, direction, relative speed, etc. to objects existing around the moving object 3 based on the transmitted waves transmitted around the moving object 3 and the reflected received waves. It may be LIDAR (light detection and ranging), a camera, or the like. In this embodiment, LIDAR is used as the sensor unit 33, which irradiates the area around the moving body 3 with laser light and detects surrounding objects as point cloud data. LIDAR can detect the position and shape of surrounding objects with high precision.
  • the sensor unit 33 transmits the detected point cloud data to the processing unit 30.
  • the GNSS (Global Navigation Satellite System) unit 34 includes an antenna and receives GNSS signals and the like.
  • the GNSS signal is transmitted from a navigation satellite, etc. that constitutes GNSS, such as a GPS (Global Positioning System) or a quasi-zenith satellite system.
  • the GNSS section 34 transmits the received GNSS signal to the processing section 30.
  • the drive unit 35 is a part that is involved in driving the moving body 3, such as an engine, a motor, and a brake.
  • the self-position estimating unit 310 executes a process of estimating position information indicating the position of the mobile body 3 itself. For example, the self-position estimating unit 310 estimates the position of the mobile body 3 based on map information received from the control server 2, point cloud data around the mobile body 3 received from the sensor unit 33, GNSS signals received from the GNSS unit 34, etc. Location information may also be estimated. More specifically, the self-position estimating unit 310 may estimate the position information of the mobile body 3 by comparing point cloud data around the mobile body 3 with map information. The position information estimated by the self-position estimation unit 310 is transmitted to the roadside device 1 via the wireless communication unit 32.
  • the signal acquisition unit 320 executes processing to acquire various control signals such as a first mode switching signal, a second mode switching signal, a prohibition signal P, and an alarm signal from the roadside device 1 via the wireless communication unit 32.
  • the mode switching unit 330 switches the movement mode of the mobile body 3 when the first mode switching signal is acquired by the signal acquisition unit 320. Specifically, when the mode switching unit 330 receives a first mode switching signal that causes the mode switching from the non-control mode to the control mode while the movement mode of the mobile object 3 is the non-control mode, Switch movement mode to control mode. On the other hand, when the first mode switching signal that causes the mode switching from the controlled mode to the non-controlled mode is acquired while the moving mode of the mobile object 3 is the controlled mode, the mode switching unit 330 controls the moving mode. mode to uncontrolled mode.
  • the mode switching unit 330 switches the driving mode of the mobile body 3 when the second mode switching signal is acquired by the signal acquisition unit 320. Specifically, when the second mode switching signal is acquired while the driving mode of the mobile body 3 is the automatic driving mode, the mode switching unit 330 switches the driving mode to the remote driving mode. On the contrary, when the second mode switching signal is acquired while the driving mode of the mobile body 3 is the remote driving mode, the mode switching unit 330 switches the driving mode from the remote driving mode to the automatic driving mode.
  • the movement control unit 340 executes processing for controlling the movement of the mobile body 3 based on the position information etc. estimated by the self-position estimating unit 310 when the driving mode of the mobile body 3 is the automatic driving mode. Specifically, the movement control unit 340 controls the driving of the drive unit 35 based on the position information and travel information of the mobile object 3, the map information stored in the storage unit 31, etc. to the set destination. control the movement of
  • the movement control unit 340 executes a process of stopping automatic operation and controlling the movement of the mobile body 3 based on the remote operation signal.
  • the remote control signal may be transmitted to the mobile body 3 via the communication network NW from a facility such as a traffic control center having the control server 2 and the like.
  • the remote control signal is based on, for example, the location information of the mobile body 3 acquired via the control server 2, map information, prohibited zone information, images captured by the mobile body 3 or the roadside machine 1, etc.
  • a signal may be generated to move outside the prohibited area A.
  • the movement control unit 340 executes processing for controlling the drive of the mobile body 3 based on the acquisition status of the prohibition signal P by the signal acquisition unit 320.
  • the movement control unit 340 controls the drive unit 35 to perform an operation corresponding to the prohibition signal P when the wireless communication unit 32 receives the prohibition signal P transmitted from the processing unit 10 of the roadside device 1.
  • the operation corresponding to the prohibition signal P is, for example, an operation of stopping the drive of the mobile body 3 or an operation of the mobile body 3 leaving the prohibition area A.
  • the movement control unit 340 may execute control to stop the moving body 3 when the signal acquisition unit 320 acquires the prohibition signal P, and the movement control unit 340 may perform control to stop the moving body 3 in the prohibited area A.
  • the mobile body 3 may be controlled to leave.
  • the control for stopping the moving body 3 may be, for example, control for decelerating the moving body 3 to a predetermined speed and then stopping the moving body 3.
  • the movement control unit 340 may execute control to stop the moving body 3 or control to cause it to exit from the prohibited area A when the prohibition signal P is acquired a predetermined number of times or more within the determination period. .
  • the alarm control unit 350 executes processing for generating an alarm when the signal acquisition unit 320 acquires the alarm signal.
  • the warning may be audio information, text information, etc. for notifying the operator of the mobile body 3 of a situation in which there is a possibility of entering the prohibited area A.
  • the alarm control unit 350 may display an alarm on a liquid crystal display, a mirror, or the like disposed in the movable body 3, or may generate audio information from a speaker disposed within the movable body 3.
  • the comparison result by the prohibition signal output processing unit 132 of the roadside device 1 indicates that the mobile object 3 is located within the prohibition zone A, so the prohibition signal P is transmitted to the mobile object 3. be done.
  • the moving body 3 decelerates and comes to a stop, as shown in FIG. 2, for example.
  • FIG. 7 is a flowchart showing an example of the process up to the output of the first mode switching signal in the movement control executed by the processing unit 10 of the roadside device 1
  • FIG. 8 is an example of the process for controlling the mobile object 3 in the control mode. It is a flowchart which shows.
  • the processing unit 10 executes the processes shown in FIGS. 7 and 8 based on a program stored in the storage unit 11 or the like, for example.
  • the process flow illustrated in FIGS. 7 and 8 starts the process when the installed roadside machine 1 starts up, and then continues the process while the roadside machine 1 is in operation.
  • step S11 the location information acquisition unit 112 acquires the location information of the mobile object 3 received via the wireless communication unit 13.
  • step S12 the mode switching signal output processing unit 131 compares the position information acquired in step S11 with information indicating the position of the control target area C stored in the storage unit 11, and determines whether the mobile object 3 is in the control target area C. Determine whether the vehicle has entered the interior of the vehicle.
  • step S12 determines that the mobile object 3 has entered the control target area C
  • step S13 determines that the mobile object 3 is outside the control target area C
  • step S13 the mode switching signal output processing unit 131 outputs a first mode switching signal for switching the mobile object 3 to the control mode.
  • the first mode switching signal is then transmitted to the mobile body 3 by the wireless communication unit 13.
  • step S21 the prohibited zone information acquisition unit 120 extracts prohibited zone information from the storage unit 11.
  • step S22 the location information acquisition unit 112 acquires the location information of the mobile object 3 received via the wireless communication unit 13.
  • step S23 the prohibition signal output processing unit 132 compares the prohibited zone information acquired in step S21 with the position information acquired in step S22, and determines whether the mobile object 3 is within the prohibited zone A.
  • step S23; YES the process proceeds to step S24.
  • step S23; NO the prohibition signal output processing unit 132 determines that the mobile object 3 is outside the prohibition zone A (step S23; NO)
  • step S24 the prohibition signal output processing unit 132 outputs a prohibition signal P that prohibits movement of the moving body 3 in the prohibition zone A.
  • the prohibition signal P is then transmitted to the mobile body 3 by the wireless communication unit 13. After that, the processing unit 10 returns the process to step S22.
  • FIG. 9 is a flowchart illustrating an example of movement control processing executed by the processing unit 20 of the control server 2.
  • the processing unit 20 executes the process shown in FIG. 9 based on a program stored, for example, in the storage unit 21 or the like.
  • the process flow illustrated in FIG. 9 starts the process when the installed control server 2 starts up, and then continues the process while the control server 2 is in operation.
  • the roadside device information acquisition unit 210 receives roadside device information that is transmitted from each of the plurality of roadside devices 1 and includes the output status of the prohibition signal P by each roadside device 1 and the position information of the mobile object 3. Get machine information.
  • step S32 the mode switching signal output processing unit 240 determines whether the prohibition signal P has been output by the roadside device 1 based on the roadside device information acquired in step S31.
  • step S32; YES the process proceeds to step S33.
  • step S32; NO the process returns to step S31.
  • step S33 the mode switching signal output processing section 240 outputs a second mode switching signal.
  • the second mode switching signal is then transmitted to the mobile body 3 via the roadside device 1 that outputs the prohibition signal P and the wireless communication unit 13.
  • FIG. 10 is a flowchart illustrating an example of a process executed by the mobile body 3 until the movement mode is switched to the control mode
  • FIG. 11 is a flowchart illustrating an example of the process executed by the mobile body 3 in the control mode. It is assumed that the moving mode of the moving object 3 at the start of the flow in FIG. 10 is the uncontrolled mode, and the driving mode is the automatic driving mode.
  • the self-position estimating unit 310 estimates position information indicating the position of the mobile object 3 itself.
  • the self-position estimating unit 310 estimates the position information of the mobile body 3 itself, based on map information received from the control server 2 via the roadside device 1 and point cloud data received from the sensor unit 33, for example.
  • step S42 the wireless communication unit 32 transmits the position information of the mobile object 3 estimated in step S41 to the roadside machine 1.
  • step S43 the mode switching unit 330 determines whether the first mode switching signal from the roadside device 1 has been received.
  • the mode switching unit 330 determines that the first mode switching signal has been acquired by the signal acquisition unit 320 (step S43; YES)
  • the mode switching unit 330 shifts the process to step S44.
  • the mode switching unit 330 determines that the signal acquisition unit 320 has not acquired the first mode switching signal (step S43; NO)
  • the mode switching unit 330 returns the process to step S31.
  • step S44 the mode switching unit 330 switches the movement mode of the mobile object 3 to the control mode.
  • step S51 the self-position estimation unit 310 estimates position information indicating the position of the mobile object 3 itself.
  • the self-position estimating unit 310 estimates the position information of the mobile body 3 itself, based on map information received from the control server 2 via the roadside device 1 and point cloud data received from the sensor unit 33, for example.
  • step S52 the wireless communication unit 32 transmits the position information of the mobile object 3 estimated in step S51 to the roadside machine 1.
  • step S53 the movement control unit 340 determines whether the signal acquisition unit 320 has received the prohibition signal P.
  • the movement control unit 340 determines that the prohibition signal P has been acquired by the signal acquisition unit 320 (step S53; YES)
  • the movement control unit 340 moves the process to step S54.
  • the movement control unit 340 determines that the signal acquisition unit 320 has not acquired the prohibition signal P (step S53; NO)
  • the movement control unit 340 returns the process to step S51.
  • step S54 the movement control unit 340 controls the drive unit 35 to stop the movement of the moving body 3.
  • step S55 the processing unit 30 receives the second mode switching signal from the control server 2. Then, the mode switching unit 330 switches the driving mode of the mobile body 3 from the automatic driving mode to the remote driving mode.
  • the processing unit 10 includes a position information acquisition unit 112 that acquires position information indicating the position of the moving body 3, and prohibited zone information indicating the prohibited zone A in which movement of the moving body 3 is prohibited. and a signal output processing unit 130 that outputs a prohibition signal P that prohibits movement of the mobile object 3 within the prohibition zone A based on the comparison result. Based on this, it is determined whether or not the moving body 3 exists within the prohibited area A, and when it is determined that the mobile body 3 exists within the prohibited area A, a prohibited signal P is output. This allows the moving object 3 to move through the predetermined area through a simple process of comparing the position of the moving object 3 with the prohibited area A.
  • Prohibited Zone A in an area that includes oncoming lanes, roadside, and sidewalks on Road 7, if an abnormality occurs in the control of an automated driving vehicle or if an elderly driver makes a mistake in driving operation, the above area will be blocked. It is possible to prevent the moving body 3 from entering and causing an accident. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.
  • the prohibited zone information includes information indicating a warning area B set around the prohibited zone A
  • the signal output processing unit 130 controls the mobile object based on the comparison result. 3 is present in the warning area B, and when it is determined that the mobile body 3 is present in the warning area B, the mobile body 3 executes a process of issuing an alarm to the mobile body 3. Output a signal. As a result, an alarm is generated when the prohibited area A is approached, so that the operator of the mobile object 3 and the like can grasp the possibility of the mobile object 3 entering the prohibited area A. Therefore, it becomes easy to avoid the moving body 3 from entering the prohibited area A.
  • the mobile body 3 is a mobile body 3 that can move autonomously. Therefore, even if an abnormality occurs in the driving of the automatic driving vehicle, the driving of the automatic driving vehicle in the prohibited area A can be suppressed.
  • the roadside device 1 is a roadside device 1 that includes each component of the processing unit 10, and is installed on or beside the road 4 on which the moving body 3 moves. Thereby, safe movement of the moving body 3 traveling on the road 4 can be supported with a simple configuration and processing.
  • the mobile control system S is capable of wireless communication with the mobile objects 3, and has a plurality of roadside machines 1 installed in different areas, and a control system communicatively connected to the plurality of roadside machines 1.
  • a mobile control system S comprising a server 2, wherein the control server 2 generates prohibited zone information indicating a prohibited zone A in which movement of the mobile object 3 is prohibited, and transmits it to each of the plurality of roadside machines 1.
  • the roadside device 1 includes a prohibited zone information management section 230 and compares the position information with the prohibited zone information received from the control server 2 with a position information acquisition section 112 that acquires position information indicating the position of the mobile object 3.
  • a prohibition signal P that prohibits movement of the moving object 3 within the prohibited area A based on the comparison result
  • the signal output processing unit 130 It is determined whether or not the mobile body 3 exists within the prohibited section A, and when it is determined that the mobile body 3 exists within the prohibited section A, a prohibition signal P is output. This makes it possible to prevent the moving object 3 from moving in an area where there is a risk of danger by a simple process of comparing the position of the moving object 3 with the prohibited area A.
  • Prohibited Zone A in an area that includes oncoming lanes, roadside, and sidewalks on Road 7, if an abnormality occurs in the control of an automated driving vehicle or if an elderly driver makes a mistake in driving operation, the above area will be blocked. It is possible to prevent the moving body 3 from entering and causing an accident. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.
  • the prohibited zone information includes information indicating a warning area B set around the prohibited zone A, and the signal output processing unit 130 of the roadside device 1 performs a comparison.
  • An alarm that determines whether or not the mobile body 3 exists in the warning area B based on the result, and when it is determined that the mobile body 3 exists in the warning area B, causes the mobile body 3 to execute a process of generating an alarm. Output a signal.
  • an alarm is generated when the prohibited area A is approached, so that the operator of the mobile object 3 and the like can grasp the possibility of the mobile object 3 entering the prohibited area A. Therefore, it becomes easy to avoid the moving body 3 from entering the prohibited area A.
  • the prohibited zone information management unit 230 of the control server 2 generates different prohibited zone information depending on the time zone. Thereby, the position, size, etc. of the prohibited area A can be changed in consideration of traffic conditions that change depending on the time of day, so the mobile object 3 can be moved more safely.
  • the mobile body 3 is a mobile body 3 that can move autonomously. Therefore, even if an abnormality occurs in the driving of the automatic driving vehicle, the driving of the automatic driving vehicle in the prohibited area A can be suppressed.
  • the mobile object 3 is in an automatic driving mode in which it automatically travels along a set travel route, and in which it travels based on a remote control signal for remotely controlling the mobile object 3.
  • the control server 2 has an operation mode switching signal that switches the operation mode of the mobile body 3 to the remote operation mode when the prohibition signal P is output by the signal output processing unit 130. It further includes a mode switching signal output processing section 240 that outputs a mode switching signal output processing section 240.
  • the program according to the present embodiment provides a computer included in the roadside device 1 with a position information acquisition function for acquiring position information indicating the position of the mobile object 3, and a prohibited zone where movement of the mobile object 3 is prohibited. A, and a signal output processing function that outputs a prohibition signal P that prohibits movement of the mobile object 3 in the prohibition zone A based on the comparison result. Based on the comparison result, it is determined whether or not the moving object 3 exists within the prohibited section A, and when it is determined that the moving object 3 exists within the prohibited section A, a prohibiting signal P is output. This makes it possible to prevent the moving object 3 from moving in an area where there is a risk of danger by a simple process of comparing the position of the moving object 3 with the prohibited area A.
  • Prohibited Zone A in an area that includes oncoming lanes, roadside, and sidewalks on Road 7, if an abnormality occurs in the control of an automated driving vehicle or if an elderly driver makes a mistake in driving operation, the above area will be blocked. It is possible to prevent the moving body 3 from entering and causing an accident. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.
  • the movement control method is a movement control method executed by the roadside machine 1, which includes a position information acquisition step of acquiring position information indicating the position of the mobile body 3, the position information, and the movement of the mobile body 3. a signal output processing step of comparing the prohibited section information indicating the prohibited section A in which the mobile object 3 is prohibited, and outputting a prohibition signal P for prohibiting the movement of the moving body 3 based on the comparison result, the signal output processing step Then, based on the comparison result, it is determined whether or not the mobile object 3 exists within the prohibited section A, and when it is determined that the mobile object 3 exists within the prohibited section A, a prohibition signal P is output.
  • the mobile object 3 includes a wireless communication section 32 that communicates with the processing section 10, a self-position estimation section 310 that estimates its own position, a drive section 35, and controls the driving of the drive section 35.
  • the self-position estimation section 310 transmits the estimated self-position information to the processing section 10 using the wireless communication section 32
  • the movement control section 340 transmits the estimated self-position information to the processing section 10 using the wireless communication section 32.
  • the wireless communication unit 32 receives the prohibition signal P
  • the drive unit 35 is controlled to perform an operation corresponding to the prohibition signal P.
  • the mobile object 3 in the above embodiment is a self-driving vehicle, it may be a vehicle that does not have a self-driving function. Further, the vehicle may be a four-wheeled motor vehicle or a two-wheeled motor vehicle. Furthermore, the mobile object 3 is not limited to a vehicle, and may be an unmanned flying object such as a drone, for example. Particularly in the case of unmanned flying vehicles, 3D map information mainly using latitude, longitude, and altitude information is used.
  • FIG. 12 is a schematic diagram showing an example of a flight path of an unmanned flying vehicle to which a movement control system S according to a modification of the present embodiment is applied.
  • the unmanned aerial vehicle inspects the condition of electric wires 51 suspended on steel towers 50, inspects the condition of roads and walls in tunnels, inspects the condition of structures that extend over rivers, canals, railroad tracks, roads, etc., and inspects the condition of buildings. It is used for inspections of rivers, cliffs, the sea, etc. during disasters.
  • the state of the electric wire 51 of the steel tower 50 is inspected using an autonomously movable unmanned flying object.
  • the prohibited area A in which unmanned aerial vehicles can fly is defined by latitude, longitude, and altitude. Further, although the shape of the prohibited section A is a prismatic shape in the example shown in FIG. 12, it is not limited to this shape, and various shapes such as a cylindrical shape can be considered. In the example shown in FIG. 12, the prohibited area A is set to surround the steel tower 50 and the electric wire 51.
  • roadside machines 1D, 1E, and 1F manage prohibited zone A.
  • the roadside aircraft 1D, 1E, and 1F acquire position information from the unmanned aerial vehicle, compare the prohibited zone information indicating the prohibited zone A that they have stored with the position information of the unmanned aerial vehicle, and determine whether the unmanned aerial vehicle is in the prohibited zone A. If the unmanned aircraft is flying within the area, a prohibition signal P is sent to the unmanned aircraft. Further, when the unmanned flying object enters the prohibited area A, the drone may operate an autonomous evacuation program to land outside the prohibited area A using a safe route, or may make an emergency landing on the opposite side of the steel tower 50. Thereby, it is possible to prevent the unmanned aircraft from coming into contact with the steel tower 50 or the electric wires 51 when inspecting the electric wires 51.
  • the moving body 3 may be a working robot.
  • a prohibited section may be set as a prohibited area using 3D map information using latitude, longitude, and altitude information. This makes it possible to provide safety support by, for example, stopping the operation of the robot when the robot enters a prohibited area.
  • the mobile object 3 can also be a V2X communication terminal, also called V2P (Vehicle-to-Pedestrian), owned by a pedestrian or a worker. In this case, for example, when a worker enters a prohibited area set as a dangerous area, a warning can be issued to the worker from the V2X communication terminal.
  • V2X communication terminal also called V2P (Vehicle-to-Pedestrian)
  • the roadside device 1 has the signal output processing unit 130, but the control server 2 acquires the position information of the mobile object 3 via the roadside device 1, and combines the position information with the prohibited zone information. Based on the comparison, the first mode switching signal, prohibition signal P, or warning signal may be output.
  • control server 2 outputs the second mode switching signal for switching the driving mode of the mobile object 3, but the roadside device 1 switches the driving mode of the mobile object 3 between the automatic driving mode and the remote driving mode. It may be configured to output a mode switching signal.
  • FIG. 13 is a schematic diagram showing an example of a movement control system S according to a modification of the present embodiment and a road 4 to which the movement control system S is applied.
  • the movement control system S is installed around the road 4 such as on the road 4 or on the side of the road 4, and has a plurality of roadside devices including roadside devices 1G and 1H capable of wirelessly communicating with a mobile object 3, which is a vehicle traveling on the road 4.
  • the roadside device 1 includes a control server 2 that is communicably connected to each of the plurality of roadside devices 1 via a communication network NW.
  • the roadside machine 1G and the roadside machine 1H have the same configuration.
  • the plurality of roadside machines 1G are arranged along the road 4 at predetermined intervals.
  • the roadside machine 1H is arranged at a position facing the roadside machine 1G across the road 4.
  • the roadside unit 1G and the roadside unit 1H may be configured such that a plurality of them are arranged along the road 4 so as to cover the entire length of the prohibited zone A, or one roadside unit may be arranged along the road 4 only in a specific location. Alternatively, a plurality of units may be arranged.
  • the specific location is a location arbitrarily designated by the operator, such as a construction site.
  • the prohibited area A is set by overlapping all of the prohibited areas A of each of the plurality of roadside machines 1, the prohibited area A is not limited to this.
  • the prohibited section A may be set to overlap.
  • the mobile body 3 will receive a plurality of prohibition signals P in the overlapping prohibition sections A.
  • the wireless communication unit 32 of the mobile body 3 receives a plurality of prohibition signals P regarding movement into the same prohibited zone A from different roadside devices 1.
  • the mobile body 3 transmits position information to the roadside machine 1G and the roadside machine 1H.
  • the roadside machine 1G transmits the position information received from the mobile object 3 to the control server 2.
  • the roadside device 1H transmits the position information received from the mobile object 3 to the control server 2.
  • the control server 2 generates a prohibition signal PG if the mobile object 3 is present in the prohibited zone A based on the position information received from the roadside device 1G, and transmits the generated prohibition signal PG to the roadside device 1G.
  • the roadside machine 1G then transmits the prohibition signal PG to the mobile body 3.
  • the control server 2 generates a prohibition signal PH if the mobile object 3 is present in the prohibited zone A based on the position information received from the roadside device 1H, and transmits the generated prohibition signal PH to the roadside device 1H. .
  • the roadside device 1H then transmits the prohibition signal PH to the mobile body 3.
  • the wireless communication unit 32 of the mobile body 3 receives a plurality of prohibition signals P regarding restrictions on movement into the same prohibited area A from different processing units 10.
  • the wireless communication unit 32 receives a prohibition signal P regarding restriction of movement into the same prohibited zone A from the roadside device 1G and the roadside device 1H.
  • the prohibition signal P may be generated by the roadside device 1.
  • the control server 2 transmits to each roadside device 1 at a predetermined timing the latest information on the prohibited zone A that is suitable for the location where each roadside device 1 is located.
  • the roadside device 1G and the roadside device 1H Based on the position information received from the mobile object 3, the roadside device 1G and the roadside device 1H generate a prohibition signal P if the mobile object 3 exists in the prohibited area A, and send the generated prohibition signal P to the mobile object 3. Send to.
  • the movement control unit 340 of the mobile body 3 may control the drive unit 35 to perform an operation corresponding to the prohibition signal P when a predetermined number of prohibition signals P are received by the wireless communication unit 32. . Specifically, when the predetermined number is “1”, the movement control unit 340 of the moving body 3 controls the drive unit 35 to be driven when the prohibition signal PG or the prohibition signal PH is received. do. Further, when the predetermined number is "2", the movement control unit 340 of the moving body 3 controls the drive unit 35 to be driven when the prohibition signal PG and the prohibition signal PH are received. Good too.
  • the movement control system S can be used, for example, when the roadside devices 1 are running parallel to a large moving object (such as a truck).
  • a large moving object such as a truck
  • the positional information of the target moving object 3 can be reliably acquired by the roadside device 1 disposed on one side, and blind spot countermeasures can be taken.
  • the movement control system S since multiple roadside devices 1 are arranged at different positions for the same prohibited area A, even if any roadside device 1 breaks down, other roadside devices 1 It is possible to reliably acquire the position information of the moving body 3, and it is possible to take measures against equipment failure.
  • Control server 3 Mobile body 10 Processing unit (control device, first control device) 20 Processing unit (control device, second control device) 32 Wireless communication unit 35 Drive unit 112 Position information acquisition unit 130 Signal output processing unit 230 Prohibited area information management unit 310 Self-position estimation unit 340 Movement control unit A Prohibited area P Prohibited signal S Movement control system

Abstract

The purpose of the present invention is to provide a coordination device, a roadside unit, a movement control system, a program, and a movement control method with which it is possible to safely support a moving body using a simple configuration and process. The roadside unit 1 comprises: a position-information-acquiring unit 112 that acquires position information that indicates a position of a moving body 3; and a signal output processing unit 130 that compares the position information and prohibited sector information that indicates a prohibited sector A in which movement of the moving body 3 is prohibited, and, on the basis of the compared result, outputs a prohibition signal P that prohibits movement of the moving body 3 in the prohibited sector A. The signal output processing unit 130 determines, on the basis of the compared result, whether or not the moving body 3 is present in the prohibited sector A, and outputs the prohibition signal when it has been determined that the moving body 3 is present in the prohibited sector A.

Description

管制装置、路側機、移動制御システム、プログラム、移動制御方法及び移動体Control device, roadside machine, movement control system, program, movement control method, and mobile object
　本発明は、管制装置、路側機、移動制御システム、プログラム、移動制御方法及び移動体に関する。 The present invention relates to a control device, a roadside machine, a movement control system, a program, a movement control method, and a mobile object.
　従来、移動体の移動を制御する装置が知られている。この種の技術が記載されているものとして例えば特許文献１がある。特許文献１には、自車両及び自車両周辺の状態に関する情報である自動走行情報を取得する取得手段と、自動走行情報に基づき自車両の進行方向及び速度を制御し、自動走行を行う自動走行手段と、自動走行情報に関する問題が生じたか否かを判定する判定手段と、問題が生じた場合には、該問題の内容に応じて、自車両の走行の状態、又は、他車両の走行の状態を変更させる変更手段と、を備える装置が記載されている。 Conventionally, devices for controlling the movement of moving bodies are known. For example, Patent Document 1 describes this type of technology. Patent Document 1 describes an acquisition means for acquiring automatic driving information, which is information about the state of the own vehicle and the surroundings of the own vehicle, and an automatic driving system that controls the traveling direction and speed of the own vehicle based on the automatic driving information and performs automatic driving. and a determination means for determining whether a problem related to automated driving information has occurred, and if a problem occurs, the driving state of the own vehicle or the driving state of another vehicle is determined depending on the content of the problem. A device is described comprising: changing means for changing a state.
特開２０１６－１８１０３１号公報Japanese Patent Application Publication No. 2016-181031
　しかしながら、特許文献１に記載の装置では、移動体の異常状態を適切に判定できる高性能で高額な装置を必要とする。このため、コスト制約により高性能な制御装置を移動体に搭載できない場合、制御装置の冗長化不足や計算能力不足により、移動体の異常状態を適切に判定できず、移動体を安全に移動させることができないおそれがある。 However, the device described in Patent Document 1 requires a high-performance and expensive device that can appropriately determine the abnormal state of a moving body. For this reason, if a high-performance control device cannot be installed on a moving object due to cost constraints, the abnormal state of the moving object cannot be appropriately determined due to lack of redundancy or calculation capacity of the control device, and the moving object cannot be moved safely. There is a possibility that you may not be able to do so.
　本発明は、これらの事情を鑑み、より簡易な構成と処理で移動体の安全な移動を支援できる管制装置、路側機、移動制御システム、プログラム及び移動制御方法を提供することを目的とする。また、本発明は、上記管制装置により管理および制御される移動体を提供することを目的とする。 In view of these circumstances, it is an object of the present invention to provide a control device, a roadside machine, a movement control system, a program, and a movement control method that can support the safe movement of moving objects with a simpler configuration and processing. Another object of the present invention is to provide a mobile body that is managed and controlled by the above-mentioned control device.
　（１）管制装置は、移動体の位置を示す位置情報を取得する位置情報取得部と、前記位置情報と、前記移動体の移動が禁止される禁止区画を示す禁止区画情報とを比較し、その比較結果に基づいて前記禁止区画内における前記移動体の移動を禁止する禁止信号を出力する信号出力処理部と、を備え、前記信号出力処理部は、前記比較結果に基づいて前記移動体が前記禁止区画内に存在するか否かを判定し、前記移動体が前記禁止区画内に存在すると判定した場合に、前記禁止信号を出力する。 (1) The control device compares a position information acquisition unit that acquires position information indicating the position of the mobile object with prohibited zone information indicating a prohibited zone in which movement of the mobile body is prohibited; a signal output processing section that outputs a prohibition signal that prohibits movement of the mobile object within the prohibited section based on the comparison result; It is determined whether or not the moving body exists within the prohibited area, and when it is determined that the mobile object exists within the prohibited area, the prohibited signal is outputted.
　（２）（１）に記載の管制装置において、前記禁止区画情報には、前記禁止区画の周囲に設定される警報領域を示す情報が含まれ、前記信号出力処理部は、前記比較結果に基づいて前記移動体が前記警報領域に存在するか否かを判定し、前記移動体が前記警報領域内に存在すると判定した場合に、前記移動体に対して該移動体が警報を発生する処理を実行させる警報信号を出力する。 (2) In the control device according to (1), the prohibited zone information includes information indicating a warning area set around the prohibited zone, and the signal output processing section is configured to control the prohibited zone based on the comparison result. to determine whether or not the mobile body is present in the warning area, and when it is determined that the mobile body is present in the warning area, the mobile body issues a warning to the mobile body. Outputs an alarm signal to be executed.
　（３）（１）に記載の管制装置において、前記移動体は自律移動可能な移動体である。 (3) In the control device according to (1), the mobile body is a mobile body capable of autonomous movement.
　（４）（１）～（３）のいずれか１つに記載の管制装置の各構成要素を含む路側機であって、前記移動体が移動する道路上または道路脇に設置される路側機である。 (4) A roadside machine that includes each component of the control device according to any one of (1) to (3), and is installed on or beside a road on which the mobile object moves. be.
　（５）移動制御システムは、移動体と無線通信可能とされており、それぞれ異なるエリアに設置される複数の第１管制装置と、複数の前記第１管制装置と通信可能に接続される第２管制装置と、を備える移動制御システムであって、前記第２管制装置は、前記移動体の移動が禁止される禁止区画を示す禁止区画情報を生成し、複数の前記第１管制装置のそれぞれに送信する禁止区画情報管理部を有し、前記第１管制装置は、前記移動体の位置を示す位置情報を取得する位置情報取得部と、前記位置情報と、前記第２管制装置から受信した前記禁止区画情報とを比較し、その比較結果に基づいて前記禁止区画内における前記移動体の移動を禁止する禁止信号を出力する信号出力処理部と、を有し、前記信号出力処理部は、前記比較結果に基づいて前記移動体が前記禁止区画内に存在するか否かを判定し、前記移動体が前記禁止区画内に存在すると判定した場合に、前記禁止信号を出力する。 (5) The mobile control system is capable of wireless communication with mobile objects, and includes a plurality of first control devices installed in different areas, and a second control device communicatively connected to the plurality of first control devices. A movement control system comprising: a control device; the second control device generates prohibited zone information indicating a prohibited zone in which movement of the mobile object is prohibited; The first control device includes a location information acquisition section that obtains location information indicating the location of the mobile object, and the first control device includes a location information acquisition section that obtains location information indicating the location of the mobile object, and a location information management section that transmits the prohibited zone information received from the second control device. and a signal output processing unit that outputs a prohibition signal that prohibits movement of the moving object within the prohibited area based on the comparison result, the signal output processing unit Based on the comparison result, it is determined whether or not the mobile object exists within the prohibited section, and when it is determined that the mobile object exists within the prohibited section, the prohibition signal is outputted.
　（６）（５）に記載の移動制御システムにおいて、前記禁止区画情報には、前記禁止区画内の周囲に設定される警報領域を示す情報が含まれ、前記第１管制装置の前記信号出力処理部は、前記比較結果に基づいて前記移動体が前記警報領域に存在するか否かを判定し、前記移動体が前記警報領域内に存在すると判定した場合に、前記移動体に警報を発生させる処理を実行させる警報信号を出力する。 (6) In the movement control system according to (5), the prohibited zone information includes information indicating an alarm area set around the prohibited zone, and the signal output process of the first control device The unit determines whether or not the mobile body is present in the warning area based on the comparison result, and when it is determined that the mobile body is present in the warning area, causes the mobile body to issue an alarm. Outputs an alarm signal that causes processing to be executed.
　（７）（６）に記載の移動制御システムにおいて、前記第２管制装置の前記禁止区画情報管理部は、時間帯に応じて異なる前記禁止区画情報を生成する。 (7) In the movement control system described in (6), the prohibited zone information management unit of the second control device generates the prohibited zone information that differs depending on the time zone.
　（８）（５）～（７）のいずれか１つに記載の移動制御システムにおいて、前記移動体は自律移動可能な移動体である。 (8) In the movement control system according to any one of (5) to (7), the mobile body is a mobile body capable of autonomous movement.
　（９）（８）に記載の移動制御システムにおいて、前記移動体は設定された走行経路に沿って自動で走行する自動運転モードと、前記移動体を遠隔操作するための遠隔操作信号に基づいて走行する遠隔運転モードと、を含む運転モードを有し、前記第２管制装置は、前記信号出力処理部によって前記禁止信号が出力された場合に、前記移動体の前記運転モードを前記遠隔運転モードに切り替える運転モード切替信号を出力するモード切替信号出力処理部を更に備える。 (9) In the movement control system according to (8), the mobile object is operated in an automatic driving mode in which the mobile object automatically travels along a set travel route, and based on a remote control signal for remotely controlling the mobile object. and a remote operation mode in which the mobile body travels, and the second control device changes the operation mode of the mobile body to the remote operation mode when the prohibition signal is output by the signal output processing unit. The apparatus further includes a mode switching signal output processing section that outputs an operation mode switching signal for switching to.
　（１０）プログラムは、管制装置に含まれるコンピュータに、移動体の位置を示す位置情報を取得する位置情報取得機能と、前記位置情報と、前記移動体の移動が禁止される禁止区画を示す禁止区画情報とを比較し、その比較結果に基づいて前記禁止区画における前記移動体の移動を禁止する禁止信号を出力する信号出力処理機能と、を実行させ、前記信号出力処理機能では、前記比較結果に基づいて前記移動体が前記禁止区画内に存在するか否かを判定し、前記移動体が前記禁止区画内に存在すると判定した場合に、前記禁止信号を出力する。 (10) The program provides a computer included in the control device with a position information acquisition function that acquires position information indicating the position of a mobile object, and a prohibition that indicates the position information and a prohibited zone in which movement of the mobile object is prohibited. and a signal output processing function that outputs a prohibition signal that prohibits movement of the mobile object in the prohibited zone based on the comparison result, and the signal output processing function compares the comparison result with the zone information. It is determined whether the mobile object is present in the prohibited section based on the above, and when it is determined that the mobile object is present in the prohibited section, the prohibition signal is outputted.
　（１１）移動制御方法は、管制装置が実行する移動制御方法であって、移動体の位置を示す位置情報を取得する位置情報取得ステップと、前記位置情報と、前記移動体の移動が禁止される禁止区画を示す禁止区画情報とを比較し、その比較結果に基づいて前記移動体の移動を禁止する禁止信号を出力する信号出力処理ステップと、を含み、前記信号出力処理ステップでは、前記比較結果に基づいて前記移動体が前記禁止区画内に存在するか否かを判定し、前記移動体が前記禁止区画内に存在すると判定した場合に、前記禁止信号を出力する。 (11) The movement control method is a movement control method executed by a control device, which includes a position information acquisition step of acquiring position information indicating the position of a mobile object, and a step of acquiring the position information and prohibiting movement of the mobile object. a signal output processing step of outputting a prohibition signal that prohibits movement of the moving body based on the comparison result, and outputting a prohibition signal that prohibits the movement of the mobile object based on the comparison result, and in the signal output processing step, the comparison Based on the result, it is determined whether or not the mobile object exists within the prohibited section, and when it is determined that the mobile object exists within the prohibited section, the prohibition signal is outputted.
　（１２）移動体は、（１）～（４）のいずれか１つに記載の管制装置と通信を行う無線通信部と、自己の位置を推定する自己位置推定部と、駆動部と、前記駆動部の駆動の制御を行う移動制御部と、を備え、前記自己位置推定部は、前記無線通信部を利用して前記管制装置に推定した自己の位置情報を送信し、前記移動制御部は、前記管制装置から送信されてきた禁止信号を前記無線通信部により受信した場合に、前記禁止信号に対応した動作を行うように前記駆動部を制御する。 (12) The mobile body includes a wireless communication unit that communicates with the control device according to any one of (1) to (4), a self-position estimating unit that estimates its own position, a drive unit, and the a movement control section that controls driving of a drive section, the self-position estimating section transmits the estimated self-position information to the control device using the wireless communication section, and the movement control section , when the wireless communication unit receives a prohibition signal transmitted from the control device, the drive unit is controlled to perform an operation corresponding to the prohibition signal.
　（１３）（１２）に記載の移動体において、前記無線通信部は、同じ禁止区画内への移動の規制に関する禁止信号を異なる管制装置から複数受信する。 (13) In the mobile object described in (12), the wireless communication unit receives a plurality of prohibition signals regarding restriction of movement into the same prohibited zone from different control devices.
　（１４）（１３）に記載の移動体において、前記移動制御部は、前記無線通信部によりあらかじめ定められた数の禁止信号を受信した場合に、前記禁止信号に対応した動作を行うように前記駆動部を制御する。 (14) In the mobile body according to (13), when the movement control unit receives a predetermined number of prohibition signals from the wireless communication unit, the movement control unit controls the movement control unit to perform an operation corresponding to the prohibition signal. Control the drive unit.
　本発明によれば、より簡易な構成と処理で移動体の安全な移動を支援できる。 According to the present invention, safe movement of moving bodies can be supported with simpler configuration and processing.
本発明の一実施形態に係る移動制御システムと移動制御システムが適用される道路の一例を示す概略図であり、移動体が禁止区画外を移動する状態を示す図である。1 is a schematic diagram showing an example of a movement control system and a road to which the movement control system is applied according to an embodiment of the present invention, and is a diagram showing a state in which a mobile object moves outside a prohibited area. 本発明の一実施形態に係る移動制御システムと移動制御システムが適用される道路の一例を示す概略図であり、移動体が禁止区画内に位置する状態を示す図である。1 is a schematic diagram illustrating an example of a movement control system and a road to which the movement control system is applied according to an embodiment of the present invention, and is a diagram illustrating a state in which a mobile object is located within a prohibited area. 本発明の一実施形態に係る路側機のハードウェア及び機能ブロックの構成を示すブロック図である。FIG. 2 is a block diagram showing the configuration of hardware and functional blocks of a roadside machine according to an embodiment of the present invention. 本発明の一実施形態に係る移動制御システムにおける禁止区画と管制対象エリアの位置関係を示す模式図である。FIG. 2 is a schematic diagram showing the positional relationship between a prohibited section and a control target area in a movement control system according to an embodiment of the present invention. 本発明の一実施形態に係る移動制御システムにおける禁止区画と管制対象エリアの位置関係を示す模式図である。FIG. 2 is a schematic diagram showing the positional relationship between a prohibited section and a control target area in a movement control system according to an embodiment of the present invention. 本発明の一実施形態に係る管制サーバのハードウェア及び機能ブロックの構成を示すブロック図である。FIG. 2 is a block diagram showing the configuration of hardware and functional blocks of a control server according to an embodiment of the present invention. 本発明の一実施形態に係る移動制御システムにおける移動体のハードウェア及び機能ブロックの構成を示すブロック図である。FIG. 2 is a block diagram showing the configuration of hardware and functional blocks of a mobile object in a movement control system according to an embodiment of the present invention. 本発明の一実施形態における路側機１によって実行される移動制御の一例を示すフローチャートである。It is a flow chart which shows an example of movement control performed by roadside machine 1 in one embodiment of the present invention. 本発明の一実施形態における路側機１によって実行される移動制御の一例を示すフローチャートである。It is a flow chart which shows an example of movement control performed by roadside machine 1 in one embodiment of the present invention. 本発明の一実施形態における管制サーバ２によって実行される移動制御の一例を示すフローチャートである。It is a flowchart showing an example of movement control executed by the control server 2 in one embodiment of the present invention. 移動体３によって実行される移動制御の一例を示すフローチャートである。3 is a flowchart illustrating an example of movement control executed by the mobile object 3. FIG. 移動体３によって実行される移動制御の一例を示すフローチャートである。3 is a flowchart illustrating an example of movement control executed by the mobile object 3. FIG. 本発明の変形例における移動制御システムと移動制御システムが適用される無人飛行体の飛行経路の一例を示す概略図である。It is a schematic diagram showing an example of a flight route of an unmanned flying object to which a movement control system and a movement control system are applied in a modification of the present invention. 本発明の変形例における移動制御システムと移動制御システムが適用される道路の一例を示す概略図である。It is a schematic diagram showing an example of a movement control system in a modification of the present invention, and a road to which the movement control system is applied.
　以下、本発明の実施形態に係る移動制御システムＳについて説明する。なお、以下の実施の形態により本発明が限定されるものでない。また、以下の説明において参照する各図は、本開示の内容を理解でき得る程度に形状、大きさ、及び位置関係を概略的に示してあるに過ぎない。即ち、本発明は、各図で例示された形状、大きさ、及び位置関係のみに限定されるものでない。 Hereinafter, a movement control system S according to an embodiment of the present invention will be described. Note that the present invention is not limited to the following embodiments. Furthermore, the figures referred to in the following description merely schematically illustrate the shape, size, and positional relationship to the extent that the content of the present disclosure can be understood. That is, the present invention is not limited to the shapes, sizes, and positional relationships illustrated in each figure.
＜移動制御システムＳの構成と動作について＞
　本発明の一実施形態に係る移動制御システムＳの全体的な構成について図１を参照しながら説明する。図１は、本実施形態に係る移動制御システムＳが適用される道路４の一例を示す概略図である。 <About the configuration and operation of the mobile control system S>
The overall configuration of a movement control system S according to an embodiment of the present invention will be described with reference to FIG. 1. FIG. 1 is a schematic diagram showing an example of a road 4 to which a movement control system S according to the present embodiment is applied.
　移動制御システムＳは、移動体３が道路４上の定められた区画内を移動しないように移動体３を制御するシステムである。移動制御システムＳは、道路４上を走行する車両である移動体３と無線通信可能であり、道路４上または道路４脇などの道路４の周辺に設置される複数の路側機１と、複数の路側機１のそれぞれと通信ネットワークＮＷを介して通信可能に接続される管制サーバ２と、を備える。複数の路側機１のそれぞれは後述する処理部１０（管制装置、第１管制装置）を含み、管制サーバ２は後述する処理部２０（管制装置、第２管制装置）を含む。即ち、移動制御システムＳは、複数の移動体３と無線通信可能とされている複数の処理部１０と、複数の処理部１０と通信可能に接続される処理部２０と、を備える。図図１に示すように、本実施形態では、車両の自動運転を制御するシステムを例に説明する。 The movement control system S is a system that controls the mobile body 3 so that the mobile body 3 does not move within a predetermined section on the road 4. The movement control system S is capable of wireless communication with a mobile object 3, which is a vehicle running on a road 4, and communicates with a plurality of roadside devices 1 installed around the road 4, such as on the road 4 or on the side of the road 4. The control server 2 is communicably connected to each of the roadside machines 1 via the communication network NW. Each of the plurality of roadside machines 1 includes a processing section 10 (control device, first control device) described later, and the control server 2 includes a processing section 20 (control device, second control device) described below. That is, the movement control system S includes a plurality of processing units 10 that are capable of wireless communication with a plurality of moving objects 3, and a processing unit 20 that is communicably connected to the plurality of processing units 10. As shown in FIG. 1, in this embodiment, a system for controlling automatic driving of a vehicle will be described as an example.
　移動体３は、例えば自律移動可能な自動運転車両である。移動体３は、目的地の位置情報等に基づいて設定された走行経路に沿って自動で走行する自動運転モードと、移動体３を遠隔操作するための遠隔操作信号に基づいて走行する遠隔運転モードを含む運転モードを有する。移動体３は、自動運転モードにおいて、時々刻々と変化する、推定した自己の位置情報と、移動体３が存在する周囲のマップ情報に基づいて、所定の場所まで自動運転を行う。所定の場所とは、予め設定された目的地、または、予め設定された目的地までの経路上の場所である。移動体３は、路側機１と無線通信可能に構成される。 The mobile object 3 is, for example, an automatic driving vehicle that can move autonomously. The mobile object 3 operates in an automatic driving mode in which the mobile object 3 automatically travels along a travel route set based on location information of the destination, etc., and in a remote driving mode in which the mobile object 3 travels based on a remote control signal for remotely controlling the mobile object 3. It has driving modes including modes. In the automatic driving mode, the mobile object 3 automatically drives to a predetermined location based on the estimated self-position information that changes from moment to moment and the map information of the surrounding area in which the mobile object 3 exists. The predetermined location is a preset destination or a location on a route to the preset destination. The mobile body 3 is configured to be able to communicate wirelessly with the roadside machine 1.
　通信ネットワークＮＷは、プライベートネットワークやインターネットを含むような広域通信網ＷＡＮ（wide area network）が考えられる。前者のプライベートネットワークでは、例えばＯＬＴ（optical line terminal）、ＯＬＴと光回線を介して接続される複数のＯＮＵ（optical network unit）等によって形成されたＰＯＮアクセスシステムや、レイヤ２スイッチやレイヤ３スイッチなどで構成することができる。一方でＷＡＮの例では、ＭＰＬＳ（Multiprotocol Label Switching）ネットワークなどで構成される。 The communication network NW may be a wide area network (WAN) that includes a private network and the Internet. The former private network includes, for example, an OLT (optical line terminal), a PON access system formed by multiple ONUs (optical network units) connected to the OLT via optical lines, a layer 2 switch, a layer 3 switch, etc. It can be composed of On the other hand, in an example of a WAN, it is configured with an MPLS (Multiprotocol Label Switching) network.
　路側機１は、ＲＳＵ（road side unit）等とも呼ばれる。複数の路側機１は、道路４の周辺（路側）等におけるそれぞれ異なるエリアに設置される。エリアとは、各路側機１が各移動体３との通信を担当する範囲を意味し、例えば道路４に沿って設定された地理的範囲を示す。図１に示す例では、複数の路側機１は、道路４に沿って互いに所定の間隔を空けて設置される。 The roadside unit 1 is also called an RSU (roadside unit) or the like. The plurality of roadside devices 1 are installed in different areas around the road 4 (roadside) and the like. The term "area" refers to a range in which each roadside device 1 is in charge of communication with each mobile body 3, and indicates, for example, a geographical range set along a road 4. In the example shown in FIG. 1, the plurality of roadside machines 1 are installed along the road 4 at predetermined intervals.
　路側機１は、道路４を走行する移動体３や周囲に存在する各種装置と無線通信することでＶ２Ｘ（vehicle-to-everything）通信サービスを提供する。また路側機１は、無線通信が可能なエリア（以下、通信可能エリア）内を走行する移動体３や各種装置との無線通信等によって取得したデータを、通信ネットワークＮＷを介して管制サーバ２に送信する。路側機１に含まれる処理部１０は、移動体３に対して各種制御信号を出力することで移動体３の移動制御を実行する。各種制御信号は、各路側機１が記憶する禁止区画情報に基づいて出力される。禁止区画情報は、図１に示すように道路４上における所定の区画を示す禁止区画Ａに関する情報である。禁止区画情報の詳細については後述する。 The roadside device 1 provides V2X (vehicle-to-everything) communication service by wirelessly communicating with the moving object 3 traveling on the road 4 and various devices existing in the surrounding area. In addition, the roadside device 1 transmits data acquired through wireless communication with mobile objects 3 and various devices traveling within a wireless communication area (hereinafter referred to as a communication area) to the control server 2 via the communication network NW. Send. A processing unit 10 included in the roadside machine 1 executes movement control of the mobile body 3 by outputting various control signals to the mobile body 3. Various control signals are output based on prohibited zone information stored in each roadside machine 1. The prohibited zone information is information regarding a prohibited zone A indicating a predetermined zone on the road 4 as shown in FIG. Details of the prohibited zone information will be described later.
　管制サーバ２は、通信ネットワークＮＷを介して複数の路側機１と通信可能に接続される。本実施形態における管制サーバ２は、複数の路側機１のそれぞれが記憶する禁止区画情報を生成し、生成した禁止区画情報を路側機１に送信するタイミングなどを管理する。管制サーバ２の構成及び禁止区画情報の詳細については後述する。 The control server 2 is communicably connected to a plurality of roadside machines 1 via the communication network NW. The control server 2 in this embodiment generates prohibited zone information stored in each of the plurality of roadside machines 1, and manages the timing of transmitting the generated prohibited zone information to the roadside machine 1. Details of the configuration of the control server 2 and the prohibited zone information will be described later.
＜路側機１の構成と動作について＞
　次に、移動制御における路側機１の機能的構成について説明する。図２は、移動制御システムＳと移動制御システムＳが適用される道路４の一例を示す概略図であり、移動体３が禁止区画Ａ外に位置する状況を示す図である。図３は、路側機１のハードウェア及び機能ブロックの構成を例示するブロック図である。 <About the configuration and operation of roadside unit 1>
Next, the functional configuration of the roadside machine 1 in movement control will be explained. FIG. 2 is a schematic diagram showing an example of the movement control system S and a road 4 to which the movement control system S is applied, and is a diagram showing a situation where the mobile object 3 is located outside the prohibited zone A. FIG. 3 is a block diagram illustrating the configuration of hardware and functional blocks of the roadside device 1.
　路側機１は、図３に示すように処理部１０と、記憶部１１と、通信Ｉ／Ｆ１２と、無線通信部１３と、を備える。 The roadside device 1 includes a processing section 10, a storage section 11, a communication I/F 12, and a wireless communication section 13, as shown in FIG.
　処理部１０は、ＣＰＵ等のプロセッサによって構成される演算装置であり、後述の記憶部１１から各種プログラム、データを読み込んで実行し、移動制御の機能を実現する。本実施形態では、処理部１０は、移動体情報取得部１１０と、禁止区画情報取得部１２０と、信号出力処理部１３０の各機能部のデータ処理を実行する。各機能部の動作については後述する。各機能部の動作については後述する。なお、処理部１０の移動制御の機能は、ハードウェアで実現されてもよいし、ソフトウェアで実現されていてもよい。 The processing unit 10 is an arithmetic device constituted by a processor such as a CPU, and reads and executes various programs and data from the storage unit 11, which will be described later, to realize a movement control function. In this embodiment, the processing unit 10 executes data processing of each functional unit: a moving object information acquisition unit 110, a prohibited zone information acquisition unit 120, and a signal output processing unit 130. The operation of each functional section will be described later. The operation of each functional section will be described later. Note that the movement control function of the processing unit 10 may be realized by hardware or software.
　記憶部１１は、ハードウェア群を路側機１として機能させるための各種プログラム、及び各種データなどの記憶領域であり、ＲＯＭ、ＲＡＭ、フラッシュメモリ、半導体ドライブ（ＳＳＤ）又はハードウェア（ＨＤＤ）などで構成することができる。具体的には、記憶部１１は、本実施形態の各機能を処理部１０に実行させるためのプログラム、路側機１の制御プログラム、各種パラメータ、移動体３の移動制御に利用されるデータ、路側機１のＩＰアドレスやＭＡＣアドレス等の識別情報、通信可能エリアを含む地理的なマップ情報に関する情報、通信可能エリア内の後述する禁止区画情報や後述する管制モードの対象となるエリアの位置を示す情報が記憶される。 The storage unit 11 is a storage area for various programs and various data for making the hardware group function as the roadside device 1, and is a storage area for ROM, RAM, flash memory, semiconductor drive (SSD), hardware (HDD), etc. Can be configured. Specifically, the storage unit 11 stores a program for causing the processing unit 10 to execute each function of the present embodiment, a control program for the roadside machine 1, various parameters, data used for movement control of the mobile object 3, and a roadside machine. Identification information such as the IP address and MAC address of aircraft 1, information on geographical map information including the communication area, information on prohibited areas within the communication area, and the location of the area subject to the control mode described below. Information is stored.
　通信Ｉ／Ｆ１２は、路側機１が通信ネットワークＮＷを介して通信するためのインターフェイスである。路側機１は、通信Ｉ／Ｆ１２を介して管制サーバ２と通信可能に接続される。 The communication I/F 12 is an interface for the roadside device 1 to communicate via the communication network NW. The roadside device 1 is communicably connected to the control server 2 via the communication I/F 12.
　無線通信部１３は、路側機１が周囲の装置と無線によりＶ２Ｘ通信するための処理を実行する。無線通信部１３は、路側機１の通信可能エリア内を走行する移動体３と無線通信を行う。無線通信部１３は、例えば移動体３を識別する識別情報、移動体３の位置を示す位置情報、移動体３の走行情報等を受信する。 The wireless communication unit 13 executes processing for the roadside device 1 to wirelessly perform V2X communication with surrounding devices. The wireless communication unit 13 performs wireless communication with the mobile object 3 traveling within the communicable area of the roadside device 1 . The wireless communication unit 13 receives, for example, identification information for identifying the mobile body 3, position information indicating the position of the mobile body 3, traveling information of the mobile body 3, and the like.
　次に、処理部１０が移動体３の移動制御を実行するための機能的構成について説明する。 Next, a functional configuration for the processing unit 10 to execute movement control of the mobile body 3 will be described.
　移動体情報取得部１１０は、路側機１の通信可能エリア内を走行する移動体３に関する情報を取得する処理を実行する。移動体情報取得部１１０は、識別情報取得部１１１と、位置情報取得部１１２と、走行情報取得部１１３と、を備える。 The mobile object information acquisition unit 110 executes a process of acquiring information regarding the mobile object 3 traveling within the communicable area of the roadside device 1. The mobile object information acquisition section 110 includes an identification information acquisition section 111 , a position information acquisition section 112 , and a travel information acquisition section 113 .
　識別情報取得部１１１は、無線通信部１３を介して受信された移動体３の識別情報を取得する処理を実行する。識別情報取得部１１１によって取得される識別情報には、例えば移動体３のサイズや移動体３に搭載される車載装置の識別ＩＤや車載装置に接続される車載端末装置等のＭＡＣアドレスやＩＰｖ６アドレス、ナンバープレート情報等が含まれてもよい。 The identification information acquisition unit 111 executes a process of acquiring the identification information of the mobile body 3 received via the wireless communication unit 13. The identification information acquired by the identification information acquisition unit 111 includes, for example, the size of the moving object 3, the identification ID of the in-vehicle device mounted on the moving object 3, and the MAC address and IPv6 address of the in-vehicle terminal device connected to the in-vehicle device. , license plate information, etc. may be included.
　位置情報取得部１１２は、無線通信部１３を介して受信された移動体３の位置情報を取得する処理を実行する。位置情報としては、例えば移動体３が存在する位置の緯度、経度、高度等が挙げられる。本実施形態では、位置情報取得部１１２は、位置情報として少なくとも緯度及び経度の情報を取得する。 The location information acquisition unit 112 executes a process of acquiring the location information of the mobile object 3 received via the wireless communication unit 13. Examples of the location information include the latitude, longitude, altitude, etc. of the location where the mobile object 3 is located. In this embodiment, the location information acquisition unit 112 acquires at least latitude and longitude information as location information.
　走行情報取得部１１３は、無線通信部１３を介して受信された移動体３の走行情報を取得する処理を実行する。走行情報には、例えば移動体３の走行速度や走行方向等に関する情報が含まれる。移動体情報取得部１１０は、取得した移動体３の識別情報と、位置情報と、走行情報と、を関連付けて移動体情報として記憶する。 The driving information acquisition unit 113 executes a process of acquiring the driving information of the mobile object 3 received via the wireless communication unit 13. The traveling information includes, for example, information regarding the traveling speed, traveling direction, etc. of the moving body 3. The mobile object information acquisition unit 110 associates the acquired identification information, position information, and travel information of the mobile object 3 and stores them as mobile object information.
　禁止区画情報取得部１２０は、禁止区画情報を取得する処理を実行する。禁止区画情報は、図１及び図２に示すような路側機１の通信可能エリア内に設けられる禁止区画Ａの位置を示す情報である。禁止区画Ａとは、道路４上において、詳細は後述する管制モードの移動体３の移動が禁止される地理的な範囲である。禁止区画情報は、例えば緯度、経度、高度等によって示される。図１及び図２において、路側機１Ａが有する禁止区画情報が示す禁止区画Ａを破線で示している。図１及び図２の例では、路側機１の禁止区画Ａは、道路４の両側の領域（路側及びその周辺の領域）に形成される。図１及び図２において、紙面下側の禁止区画Ａは道路４上における禁止区画Ａの位置関係を示しており、紙面上側の禁止区画Ａ及び移動体３は、後述する処理部１０による移動体３の位置情報と禁止区画Ａの比較処理の内容を仮想的に示している。 The prohibited zone information acquisition unit 120 executes processing to acquire prohibited zone information. The prohibited zone information is information indicating the position of a prohibited zone A provided within the communicable area of the roadside device 1 as shown in FIGS. 1 and 2. The prohibited area A is a geographical area on the road 4 in which movement of the mobile object 3 in the control mode, the details of which will be described later, is prohibited. The prohibited section information is indicated by latitude, longitude, altitude, etc., for example. In FIGS. 1 and 2, the prohibited zone A indicated by the prohibited zone information included in the roadside device 1A is indicated by a broken line. In the example of FIGS. 1 and 2, the prohibited zone A for the roadside device 1 is formed in areas on both sides of the road 4 (the area on the roadside and its surrounding area). In FIGS. 1 and 2, the prohibited zone A on the lower side of the page shows the positional relationship of the prohibited zone A on the road 4, and the prohibited zone A and the moving object 3 on the upper side of the page are the moving objects created by the processing unit 10, which will be described later. The contents of the comparison process between the position information of No. 3 and the prohibited section A are hypothetically shown.
　また禁止区画情報には、禁止区画Ａの周囲に設定される警報領域Ｂを示す情報が含まれる。即ち、警報領域Ｂは、移動体３が移動を継続すると、禁止区画Ａ外に移動する可能性が高い領域である。本実施形態では、警報領域Ｂは、平面視で禁止区画Ａを囲うように設けられる。 The prohibited zone information also includes information indicating a warning area B set around the prohibited zone A. That is, the warning area B is an area where there is a high possibility that the mobile object 3 will move outside the prohibited area A if it continues to move. In this embodiment, the warning area B is provided so as to surround the prohibited area A in plan view.
　禁止区画情報取得部１２０は、管制サーバ２又は記憶部１１から禁止区画情報を取得する処理を実行する。本実施形態では、禁止区画情報取得部１２０は、管制サーバ２からの禁止区画情報を受信すると、記憶部１１に記憶された禁止区画情報を受信した禁止区画情報に更新する。 The prohibited zone information acquisition unit 120 executes a process of acquiring prohibited zone information from the control server 2 or the storage unit 11. In this embodiment, upon receiving the prohibited zone information from the control server 2, the prohibited zone information acquisition unit 120 updates the prohibited zone information stored in the storage unit 11 to the received prohibited zone information.
　信号出力処理部１３０は、移動体３の位置情報等に基づいて、移動体３を制御するための各種信号を出力する処理を実行する。信号出力処理部１３０は、モード切替信号出力処理部１３１と、禁止信号出力処理部１３２と、警報信号出力処理部１３３と、を有する。 The signal output processing unit 130 executes a process of outputting various signals for controlling the mobile body 3 based on the position information of the mobile body 3 and the like. The signal output processing section 130 includes a mode switching signal output processing section 131, a prohibition signal output processing section 132, and an alarm signal output processing section 133.
　モード切替信号出力処理部１３１は、移動体３の位置情報と禁止区画情報に基づいて、第１モード切替信号を出力する処理を実行する。第１モード切替信号は、移動体３が移動するモードを管制モード又は非管制モードに切り替えるモード切替を実行させる命令を含む制御信号である。管制モードとは、路側機１から送信される禁止信号Ｐ、警報信号等の制御信号に従って移動体３の動作が制御されるモードである。非管制モードとは、路側機１から送信される禁止信号Ｐ、警報信号等の制御信号によって移動体３の動作が制御されないモードである。 The mode switching signal output processing unit 131 executes a process of outputting a first mode switching signal based on the position information of the moving object 3 and the prohibited zone information. The first mode switching signal is a control signal that includes a command to execute mode switching to switch the mode in which the mobile body 3 moves to a controlled mode or a non-controlled mode. The control mode is a mode in which the operation of the mobile body 3 is controlled according to control signals such as a prohibition signal P and an alarm signal transmitted from the roadside device 1. The non-control mode is a mode in which the operation of the mobile body 3 is not controlled by control signals such as the prohibition signal P and the alarm signal transmitted from the roadside device 1.
　ここで、管制モードの対象となるエリア（以下、管制対象エリアＣと称する）と、禁止区画Ａとの関係について説明する。図４Ａ及び図４Ｂは、管制対象エリアＣと禁止区画Ａとの関係についての説明に供する図である。なお、図４Ａ及び図４Ｂにおいて、禁止区画Ａを一点鎖線で示し、管制対象エリアＣを破線で示している。図４Ａに示すように、管制対象エリアＣは、道路４上の移動体３の進行方向において禁止区画Ａの入口と出口よりも外側であり、また、２つの禁止区画Ａの幅よりも広くなるように設定されている。また、図３Ｂに示すように、管制対象エリアＣは、禁止区画Ａの周囲に存在する警報領域Ｂの入口と出口と同じ場所であり、また、２つの禁止区画Ａの幅よりも広くなるように設定されていてもよい。 Here, the relationship between the area to be controlled in the control mode (hereinafter referred to as control target area C) and the prohibited section A will be explained. 4A and 4B are diagrams for explaining the relationship between the control target area C and the prohibited section A. In addition, in FIG. 4A and FIG. 4B, the prohibited area A is shown by a dashed-dotted line, and the control target area C is shown by a broken line. As shown in FIG. 4A, the control target area C is outside the entrance and exit of the prohibited section A in the traveling direction of the moving object 3 on the road 4, and is wider than the width of the two prohibited sections A. It is set as follows. Furthermore, as shown in FIG. 3B, the control target area C is located at the same location as the entrance and exit of the warning area B that exists around the prohibited area A, and is wider than the width of the two prohibited areas A. It may be set to .
　モード切替信号出力処理部１３１は、例えば移動体３の位置情報により、移動体３が管制対象エリアＣに進入したと判定した場合、非管制モードから管制モードへのモード切替を実行させる第１モード切替信号を出力する。またモード切替信号出力処理部１３１は、移動体３の位置情報により、移動体３が管制対象エリアＣから退出したと判定した場合、管制モードから非管制モードへのモード切替を実行させる第１モード切替信号を出力する。 When the mode switching signal output processing unit 131 determines that the moving object 3 has entered the control target area C based on the position information of the moving object 3, for example, the mode switching signal output processing unit 131 is configured to perform a mode switching from a non-controlled mode to a controlled mode. Outputs switching signal. In addition, when the mode switching signal output processing unit 131 determines that the moving object 3 has exited the control target area C based on the position information of the moving object 3, the mode switching signal output processing unit 131 sets a first mode to execute mode switching from the controlled mode to the non-controlled mode. Outputs switching signal.
　禁止信号出力処理部１３２は、管制モードの移動体３の移動を禁止する禁止信号Ｐを出力する処理を実行する。禁止信号出力処理部１３２は、移動体３の位置情報と、禁止区画情報とを比較し、その比較結果に基づいて禁止信号Ｐを出力する。具体的には、禁止信号出力処理部１３２は、移動体３の位置情報と禁止区画情報との比較結果に基づいて、移動体３が禁止区画Ａ内に存在するか否かを判定し、移動体３が禁止区画Ａ内に存在すると判定した場合に、禁止信号Ｐを出力する。例えば禁止信号出力処理部１３２は、識別情報である移動体３のサイズに関する情報を利用し、移動体３全体が禁止区画Ａ内に位置する場合のみ移動体３が禁止区画Ａ内に存在すると判定してもよい。また例えば禁止信号出力処理部１３２は、移動体３の少なくとも一部が禁止区画Ａ内に位置する場合に移動体が禁止区画Ａ内に存在すると判定してもよい。また移動体３の車体中心が禁止区画Ａ内に位置する場合に移動体が禁止区画Ａ内に存在すると判定してもよい。移動体３は、例えば管制モードにおいて禁止信号Ｐを受信した場合は継続した走行を規制する制御を受け、禁止信号Ｐを受信していない場合は継続した走行が可能となる。 The prohibition signal output processing unit 132 executes a process of outputting a prohibition signal P that prohibits movement of the mobile object 3 in the control mode. The prohibition signal output processing unit 132 compares the position information of the moving body 3 and the prohibition zone information, and outputs the prohibition signal P based on the comparison result. Specifically, the prohibition signal output processing unit 132 determines whether or not the mobile body 3 exists in the prohibited zone A based on the comparison result between the position information of the mobile body 3 and the prohibited zone information, and prohibits movement. When it is determined that the object 3 is present in the prohibited section A, a prohibited signal P is output. For example, the prohibition signal output processing unit 132 uses information regarding the size of the moving object 3, which is identification information, and determines that the moving object 3 exists within the prohibited section A only when the entire moving object 3 is located within the prohibited section A. You may. Further, for example, the prohibition signal output processing unit 132 may determine that the mobile object exists within the prohibition section A when at least a portion of the mobile object 3 is located within the prohibition section A. Alternatively, if the center of the vehicle body of the moving object 3 is located within the prohibited section A, it may be determined that the moving object exists within the prohibited section A. For example, when the mobile body 3 receives the prohibition signal P in the control mode, it is controlled to restrict continued travel, and when the prohibition signal P is not received, the mobile body 3 is allowed to continue traveling.
　警報信号出力処理部１３３は、移動体３の位置情報と禁止区画情報とに基づいて、警報信号を出力する処理を実行する。警報信号は、移動体３の操作者に注意を喚起する警報を発生させる処理を移動体３に実行させる命令を含む制御信号である。警報信号出力処理部１３３は、位置情報と禁止区画情報に含まれる警報領域Ｂを示す情報とを比較し、その比較結果に基づいて移動体３が警報領域Ｂに存在するか否かを判定する。そして、警報信号出力処理部１３３は、移動体３が警報領域Ｂ内に存在すると判定した場合に、移動体３に対して移動体３が警報領域Ｂ内に存在することを示す警報信号を出力する。 The alarm signal output processing unit 133 executes a process of outputting an alarm signal based on the position information of the moving object 3 and the prohibited zone information. The alarm signal is a control signal that includes a command that causes the moving body 3 to execute a process of generating an alarm to alert the operator of the moving body 3. The alarm signal output processing unit 133 compares the position information and information indicating the alarm area B included in the prohibited zone information, and determines whether the mobile object 3 exists in the alarm area B based on the comparison result. . Then, when it is determined that the mobile body 3 exists within the warning area B, the alarm signal output processing unit 133 outputs an alarm signal to the mobile body 3 indicating that the mobile body 3 exists within the warning area B. do.
＜管制サーバ２の構成と動作について＞
　次に、移動制御における管制サーバ２の機能的構成について説明する。図５は、管制サーバ２のハードウェア及び機能ブロックの構成を例示するブロック図である。 <About the configuration and operation of control server 2>
Next, the functional configuration of the control server 2 in movement control will be explained. FIG. 5 is a block diagram illustrating the hardware and functional block configuration of the control server 2. As shown in FIG.
　管制サーバ２は、図５に示すように処理部２０と、記憶部２１と、通信Ｉ／Ｆ２２と、を備える。 The control server 2 includes a processing section 20, a storage section 21, and a communication I/F 22, as shown in FIG.
　処理部２０は、ＣＰＵ等のプロセッサによって構成される演算装置であり、後述の記憶部２１から各種プログラム、データを読み込んで実行し、移動制御の機能を実現する。本実施形態では、処理部２０は、路側機情報取得部２１０と、マップ情報管理部２２０と、禁止区画情報管理部２３０と、モード切替信号出力処理部２４０との各機能部のデータ処理を実行する。各機能部の動作については後述する。なお、処理部２０の移動制御の機能は、ハードウェアで実現されてもよいし、ソフトウェアで実現されていてもよい。 The processing unit 20 is an arithmetic device constituted by a processor such as a CPU, and reads and executes various programs and data from a storage unit 21, which will be described later, to realize a movement control function. In this embodiment, the processing unit 20 executes data processing of each functional unit: a roadside machine information acquisition unit 210, a map information management unit 220, a prohibited zone information management unit 230, and a mode switching signal output processing unit 240. do. The operation of each functional section will be described later. Note that the movement control function of the processing unit 20 may be realized by hardware or software.
　記憶部２１は、ハードウェア群を管制サーバ２として機能させるための各種プログラム、及び各種データなどの記憶領域であり、ＲＯＭ、ＲＡＭ、フラッシュメモリ、半導体ドライブ（ＳＳＤ）又はハードウェア（ＨＤＤ）などで構成することができる。具体的には、記憶部２１は、本実施形態の各機能を処理部２０に実行させるためのプログラム、管制サーバ２の制御プログラム、各種パラメータ、移動体３の移動制御に利用されるデータ、管制サーバ２に通信可能に接続される複数の路側機１のＩＰアドレスやＭＡＣアドレス等の識別情報、複数の路側機１の通信可能エリアを含む地理的なマップ情報、複数の路側機１それぞれの通信可能エリア内の禁止区画情報が記憶される。 The storage unit 21 is a storage area for various programs and various data for making the hardware group function as the control server 2, and is a storage area for ROM, RAM, flash memory, semiconductor drive (SSD), hardware (HDD), etc. Can be configured. Specifically, the storage unit 21 stores a program for causing the processing unit 20 to execute each function of the present embodiment, a control program for the control server 2, various parameters, data used for movement control of the mobile object 3, and control Identification information such as IP addresses and MAC addresses of the plurality of roadside devices 1 communicably connected to the server 2, geographical map information including communication areas of the plurality of roadside devices 1, and communication of each of the plurality of roadside devices 1. Prohibited section information within the permitted area is stored.
　通信Ｉ／Ｆ２２は、管制サーバ２が通信ネットワークＮＷを介して通信するためのインターフェイスである。管制サーバ２は、通信Ｉ／Ｆ２２を介して複数の路側機１や他の通信装置と通信可能に接続される。 The communication I/F 22 is an interface for the control server 2 to communicate via the communication network NW. The control server 2 is communicably connected to a plurality of roadside machines 1 and other communication devices via a communication I/F 22.
　次に、処理部２０が移動体３の移動制御を実行するための機能的構成について説明する。 Next, a functional configuration for the processing unit 20 to execute movement control of the mobile body 3 will be described.
　路側機情報取得部２１０（位置情報取得部）は、複数の路側機１それぞれから送信される路側機情報を取得する処理を実行する。路側機情報としては、例えば複数の路側機１それぞれが取得した移動体情報や道路４上におけて発生するイベントに関する情報、路側機１による各種制御信号の出力状況に関する情報が挙げられる。イベントに関する情報とは、例えば交通事故、交通渋滞、車両の故障、緊急車両の走行、路面異常、火災、道路４の保守車両の走行等が挙げられる。即ち、路側機情報取得部２１０は、各路側機１の通信可能エリアを走行する移動体３の識別情報や位置情報、走行情報等の情報や道路４での交通事故の発生状況に関する情報等を取得する。各種制御信号の出力状況に関する情報とは、例えば第１モード切替信号や警報信号、禁止信号Ｐ等の出力の有無等が挙げられる。 The roadside machine information acquisition unit 210 (position information acquisition unit) executes a process of acquiring roadside machine information transmitted from each of the plurality of roadside machines 1. The roadside device information includes, for example, moving object information acquired by each of the plurality of roadside devices 1, information regarding an event occurring on the road 4, and information regarding the output status of various control signals by the roadside device 1. Information related to events includes, for example, traffic accidents, traffic jams, vehicle breakdowns, running of emergency vehicles, road abnormalities, fires, running of maintenance vehicles on the road 4, and the like. That is, the roadside device information acquisition unit 210 obtains information such as identification information, position information, and travel information of the mobile object 3 traveling in the communication area of each roadside device 1, information regarding the occurrence status of traffic accidents on the road 4, etc. get. The information regarding the output status of various control signals includes, for example, whether or not a first mode switching signal, an alarm signal, a prohibition signal P, etc. are output.
　マップ情報管理部２２０は、外部から取得された情報に基づいてマップ情報を生成し、随時更新する。マップ情報としては、例えばダイナミックマップであってもよい。ダイナミックマップは、路面情報、車線情報、構造物等の静的な情報と、交通規制、工事、渋滞、車両、歩行者、信号等の動的な情報を組み合わせたものであり、緯度、経度、高度の情報を有する三次元のデジタルマップである。マップ情報管理部２２０は、外部から取得した情報に基づいて随時ダイナミックマップを更新し、複数の路側機１それぞれに送信する。なお、各路側機１に送信されたマップ情報は、路側機１から走行中の移動体３に送信される。 The map information management unit 220 generates map information based on information acquired from the outside and updates it as needed. The map information may be, for example, a dynamic map. Dynamic maps are a combination of static information such as road surface information, lane information, and structures, and dynamic information such as traffic regulations, construction, congestion, vehicles, pedestrians, and traffic lights. It is a three-dimensional digital map with high-level information. The map information management unit 220 updates the dynamic map as needed based on information acquired from the outside, and transmits it to each of the plurality of roadside machines 1. Note that the map information transmitted to each roadside machine 1 is transmitted from the roadside machine 1 to the moving body 3 that is running.
　禁止区画情報管理部２３０は、複数の路側機１それぞれに対する禁止区画情報を生成し、管理する処理を実行する。具体的には、禁止区画情報管理部２３０は、通信ネットワークＮＷを介して取得した情報や記憶部２１に記憶され、予め定められたプログラムに基づいて複数の路側機１それぞれに対する禁止区画情報を生成する。そして、禁止区画情報管理部２３０は、生成した禁止区画情報を対応する路側機１に送信する。禁止区画情報管理部２３０は、例えば時間帯に応じて異なる禁止区画情報を生成してもよい。例えば禁止区画情報管理部２３０は、道路４の路側に禁止区画Ａを設け、子供が通学する朝や夕方等の時間帯（以下通学時間帯）の禁止区画Ａのサイズを他の時間帯よりも大きくしてもよい。また例えば、禁止区画情報管理部２３０は、通学時間帯のみ禁止区画Ａを設けてもよい。
禁止区画情報管理部２３０は、外部から取得した情報に基づいて異なる禁止区画情報を生成してもよい。例えば禁止区画情報管理部２３０は、路側機１から取得したイベントに関する情報に基づいて、禁止区画情報を変更してもよい。より具体的には、禁止区画情報管理部２３０は、道路４での交通事故の発生の情報を取得した場合に、事故発生箇所及びその周辺に設けられる禁止区画Ａを示す禁止区画情報を生成してもよい。また例えば、禁止区画情報管理部２３０は、高速道路において、保守車両が走行しているという情報を取得した場合に、保守車両が移動するための禁止区画情報を生成してもよい。 The prohibited zone information management unit 230 generates and manages prohibited zone information for each of the plurality of roadside machines 1. Specifically, the prohibited zone information management unit 230 generates prohibited zone information for each of the plurality of roadside machines 1 based on information acquired via the communication network NW and a predetermined program stored in the storage unit 21. do. Then, the prohibited zone information management unit 230 transmits the generated prohibited zone information to the corresponding roadside machine 1. The prohibited zone information management unit 230 may generate different prohibited zone information depending on the time period, for example. For example, the prohibited zone information management unit 230 establishes a prohibited zone A on the roadside of the road 4, and sets the size of the prohibited zone A during times such as mornings and evenings when children go to school (hereinafter referred to as school commuting hours) to be larger than other times. You can make it bigger. For example, the prohibited zone information management unit 230 may set the prohibited zone A only during school commuting hours.
The prohibited zone information management unit 230 may generate different prohibited zone information based on information acquired from the outside. For example, the prohibited zone information management unit 230 may change the prohibited zone information based on the information regarding the event acquired from the roadside device 1. More specifically, when the prohibited zone information management unit 230 acquires information about the occurrence of a traffic accident on the road 4, the prohibited zone information management unit 230 generates prohibited zone information indicating the prohibited zone A provided at the accident location and its surroundings. It's okay. For example, when the prohibited zone information management unit 230 obtains information that a maintenance vehicle is traveling on an expressway, the prohibited zone information management unit 230 may generate prohibited zone information for movement of the maintenance vehicle.
　モード切替信号出力処理部２４０は、第２モード切替信号（運転モード切替信号）を出力する処理を実行する。第２モード切替信号は、移動体３の運転モードを自動運転モード又は遠隔運転モードに切り替える運転モード切替を実行させる命令を含む制御信号である。モード切替信号出力処理部２４０は、例えば路側機１の信号出力処理部１３０によって禁止信号Ｐの出力状況に基づいて、第２モード切替信号を出力してもよい。具体的には、モード切替信号出力処理部２４０は、路側機１から禁止信号Ｐが出力されたと判定した場合に、移動体３の運転モードを自動運転モードから遠隔運転モードへの運転モード切替を実行させる第２モード切替信号を出力してもよい。またモード切替信号出力処理部２４０は、例えば禁止信号Ｐが出力されてから所定の時間経過後に、移動体３の位置情報が禁止区画Ａ外であると判定した場合に、移動体３の運転モードを遠隔運転モードから自動運転モードへの運転モード切替を実行させる第２モード切替信号を出力してもよい。 The mode switching signal output processing unit 240 executes a process of outputting a second mode switching signal (operating mode switching signal). The second mode switching signal is a control signal that includes a command to execute driving mode switching to switch the driving mode of the mobile body 3 to automatic driving mode or remote driving mode. The mode switching signal output processing section 240 may output the second mode switching signal based on the output status of the prohibition signal P by the signal output processing section 130 of the roadside device 1, for example. Specifically, when it is determined that the prohibition signal P has been output from the roadside device 1, the mode switching signal output processing unit 240 switches the driving mode of the mobile object 3 from the automatic driving mode to the remote driving mode. A second mode switching signal for execution may be output. Further, the mode switching signal output processing unit 240 changes the driving mode of the moving body 3 when it is determined that the position information of the moving body 3 is outside the prohibited zone A after a predetermined time has elapsed since the prohibition signal P was output. A second mode switching signal may be output that causes the operation mode to be switched from the remote operation mode to the automatic operation mode.
＜移動体３の構成と動作について＞
　次に、移動体３の機能的構成について説明する。図６は、移動体３のハードウェア及び機能ブロックの構成を例示するブロック図である。 <About the configuration and operation of the mobile body 3>
Next, the functional configuration of the moving body 3 will be explained. FIG. 6 is a block diagram illustrating the configuration of the hardware and functional blocks of the mobile object 3. As shown in FIG.
　移動体３は、図６に示すように処理部３０と、記憶部３１と、無線通信部３２と、センサ部３３と、ＧＮＳＳ部３４と、駆動部３５と、を備える。 As shown in FIG. 6, the mobile body 3 includes a processing section 30, a storage section 31, a wireless communication section 32, a sensor section 33, a GNSS section 34, and a drive section 35.
　処理部３０は、ＣＰＵ等のプロセッサによって構成される演算装置であり、後述の記憶部３１から各種プログラム、データを読み込んで実行し、移動制御の機能を実現する。本実施形態では、処理部３０は、自己位置推定部３１０と、信号取得部３２０と、モード切替部３３０と、移動制御部３４０と、警報制御部３５０と、の各機能部のデータ処理を実行する。各機能部の動作については後述する。 The processing unit 30 is an arithmetic device constituted by a processor such as a CPU, and reads and executes various programs and data from a storage unit 31, which will be described later, to realize a movement control function. In the present embodiment, the processing unit 30 executes data processing of each functional unit: a self-position estimation unit 310, a signal acquisition unit 320, a mode switching unit 330, a movement control unit 340, and an alarm control unit 350. do. The operation of each functional section will be described later.
　記憶部３１は、ハードウェア群を移動体３として機能させるための各種プログラム、及び各種データなどの記憶領域であり、ＲＯＭ、ＲＡＭ、フラッシュメモリ、半導体ドライブ（ＳＳＤ）又はハードウェア（ＨＤＤ）などで構成することができる。具体的には、記憶部３１は、本実施形態の各機能を処理部３０に実行させるためのプログラム（移動体３の制御プログラム）、各種パラメータ、移動体３の移動制御に利用されるデータ、移動体３の識別ＩＤやＩＰアドレス等の識別情報、マップ情報等が記憶される。マップ情報としては、例えばダイナミックマップ等が挙げられる。 The storage unit 31 is a storage area for various programs and various data for making the hardware group function as the mobile body 3, and is a ROM, RAM, flash memory, semiconductor drive (SSD), hardware (HDD), etc. Can be configured. Specifically, the storage unit 31 stores a program for causing the processing unit 30 to execute each function of the present embodiment (control program for the mobile body 3), various parameters, data used for movement control of the mobile body 3, Identification information such as the identification ID and IP address of the mobile body 3, map information, etc. are stored. Examples of the map information include a dynamic map and the like.
　無線通信部３２は、移動体３が路側機１と無線により通信するための処理を実行する。無線通信部３２は、例えば移動体３を識別する識別情報、移動体３の位置を示す位置情報、移動体３の走行情報等を路側機１に送信し、第１モード切替信号や禁止信号Ｐ、警報信号等の各種制御信号、管制サーバ２によって生成されたマップ情報等を路側機１から受信する。無線通信部３２は、路側機１の無線通信部１３を介して処理部１０と通信を行う。 The wireless communication unit 32 executes processing for the mobile body 3 to communicate with the roadside machine 1 wirelessly. The wireless communication unit 32 transmits, for example, identification information for identifying the mobile body 3, position information indicating the position of the mobile body 3, traveling information of the mobile body 3, etc. to the roadside device 1, and transmits a first mode switching signal and a prohibition signal P. , various control signals such as alarm signals, map information generated by the control server 2, etc. from the roadside device 1. The wireless communication unit 32 communicates with the processing unit 10 via the wireless communication unit 13 of the roadside device 1.
　センサ部３３は、移動体３自身の周囲の情報を検出するための装置である。センサ部３３としては、例えば移動体３の周囲に送信した送信波と反射された受信波に基づいて、移動体３の周囲に存在する物体との距離、方向、相対速度等を検出するレーダやＬＩＤＡＲ（light detection and ranging）であってもよく、カメラ等であってもよい。本実施形態では、センサ部３３として移動体３の周囲にレーザ光を照射し、周囲の物体を点群データとして検出するＬＩＤＡＲを用いている。ＬＩＤＡＲにより、高い精度で周囲の物体の位置や形状等を検出できる。センサ部３３は、検出した点群データを処理部３０に送信する。 The sensor unit 33 is a device for detecting information around the moving body 3 itself. The sensor unit 33 may be, for example, a radar or the like that detects the distance, direction, relative speed, etc. to objects existing around the moving object 3 based on the transmitted waves transmitted around the moving object 3 and the reflected received waves. It may be LIDAR (light detection and ranging), a camera, or the like. In this embodiment, LIDAR is used as the sensor unit 33, which irradiates the area around the moving body 3 with laser light and detects surrounding objects as point cloud data. LIDAR can detect the position and shape of surrounding objects with high precision. The sensor unit 33 transmits the detected point cloud data to the processing unit 30.
　ＧＮＳＳ（Global Navigation Satellite System）部３４は、アンテナを含み、ＧＮＳＳ信号等を受信する。ＧＮＳＳ信号は、ＧＰＳ（Global Positioning System）又は準天頂衛星システム等のＧＮＳＳを構成する航法衛星等から送信される。ＧＮＳＳ部３４は、受信したＧＮＳＳ信号を処理部３０に送信する。 The GNSS (Global Navigation Satellite System) unit 34 includes an antenna and receives GNSS signals and the like. The GNSS signal is transmitted from a navigation satellite, etc. that constitutes GNSS, such as a GPS (Global Positioning System) or a quasi-zenith satellite system. The GNSS section 34 transmits the received GNSS signal to the processing section 30.
　駆動部３５は、例えばエンジンやモータ、ブレーキ等の移動体３の駆動に係わる部位である。 The drive unit 35 is a part that is involved in driving the moving body 3, such as an engine, a motor, and a brake.
　次に、処理部３０が移動体３の移動制御を実行するための機能的構成について説明する。 Next, a functional configuration for the processing unit 30 to execute movement control of the mobile object 3 will be described.
　自己位置推定部３１０は、移動体３自身の位置を示す位置情報を推定する処理を実行する。例えば自己位置推定部３１０は、管制サーバ２から受信したマップ情報やセンサ部３３から受信した移動体３の周囲の点群データ、ＧＮＳＳ部３４から受信したＧＮＳＳ信号等に基づいて、移動体３の位置情報を推定してもよい。より具体的には、自己位置推定部３１０は、マップ情報に移動体３の周囲の点群データを照合して移動体３の位置情報を推定してもよい。自己位置推定部３１０によって推定された位置情報は、無線通信部３２を介して路側機１に送信される。 The self-position estimating unit 310 executes a process of estimating position information indicating the position of the mobile body 3 itself. For example, the self-position estimating unit 310 estimates the position of the mobile body 3 based on map information received from the control server 2, point cloud data around the mobile body 3 received from the sensor unit 33, GNSS signals received from the GNSS unit 34, etc. Location information may also be estimated. More specifically, the self-position estimating unit 310 may estimate the position information of the mobile body 3 by comparing point cloud data around the mobile body 3 with map information. The position information estimated by the self-position estimation unit 310 is transmitted to the roadside device 1 via the wireless communication unit 32.
　信号取得部３２０は、無線通信部３２を介して路側機１から第１モード切替信号や第２モード切替信号、禁止信号Ｐ、警報信号等の各種制御信号を取得する処理を実行する。 The signal acquisition unit 320 executes processing to acquire various control signals such as a first mode switching signal, a second mode switching signal, a prohibition signal P, and an alarm signal from the roadside device 1 via the wireless communication unit 32.
　モード切替部３３０は、信号取得部３２０によって第１モード切替信号が取得されると、移動体３の移動モードを切り替える。具体的には、モード切替部３３０は、移動体３の移動モードが非管制モードである状態で、非管制モードから管制モードへのモード切替を実行させる第１モード切替信号が取得されると、移動モードを管制モードに切り替える。反対にモード切替部３３０は、移動体３の移動モードが管制モードである状態で、管制モードから非管制モードへのモード切替を実行させる第１モード切替信号が取得されると、移動モードを管制モードから非管制モードに切り替える。 The mode switching unit 330 switches the movement mode of the mobile body 3 when the first mode switching signal is acquired by the signal acquisition unit 320. Specifically, when the mode switching unit 330 receives a first mode switching signal that causes the mode switching from the non-control mode to the control mode while the movement mode of the mobile object 3 is the non-control mode, Switch movement mode to control mode. On the other hand, when the first mode switching signal that causes the mode switching from the controlled mode to the non-controlled mode is acquired while the moving mode of the mobile object 3 is the controlled mode, the mode switching unit 330 controls the moving mode. mode to uncontrolled mode.
　またモード切替部３３０は、信号取得部３２０によって第２モード切替信号が取得されると、移動体３の運転モードを切り替える。具体的には、モード切替部３３０は、移動体３の運転モードが自動運転モードである状態で第２モード切替信号が取得されると、運転モードを遠隔運転モードに切り替える。反対にモード切替部３３０は、移動体３の運転モードが遠隔運転モードである状態で第２モード切替信号が取得されると、運転モードを遠隔運転モードから自動運転モードに切り替える。 Further, the mode switching unit 330 switches the driving mode of the mobile body 3 when the second mode switching signal is acquired by the signal acquisition unit 320. Specifically, when the second mode switching signal is acquired while the driving mode of the mobile body 3 is the automatic driving mode, the mode switching unit 330 switches the driving mode to the remote driving mode. On the contrary, when the second mode switching signal is acquired while the driving mode of the mobile body 3 is the remote driving mode, the mode switching unit 330 switches the driving mode from the remote driving mode to the automatic driving mode.
　移動制御部３４０は、移動体３の運転モードが自動運転モードである場合に、自己位置推定部３１０によって推定された位置情報等に基づいて移動体３の移動を制御する処理を実行する。具体的には、移動制御部３４０は、移動体３の位置情報や走行情報、記憶部３１に記憶されるマップ情報等に基づいて駆動部３５の駆動を制御することで設定された目的地までの移動を制御する。 The movement control unit 340 executes processing for controlling the movement of the mobile body 3 based on the position information etc. estimated by the self-position estimating unit 310 when the driving mode of the mobile body 3 is the automatic driving mode. Specifically, the movement control unit 340 controls the driving of the drive unit 35 based on the position information and travel information of the mobile object 3, the map information stored in the storage unit 31, etc. to the set destination. control the movement of
　移動制御部３４０は、移動体３の運転モードが遠隔運転モードである場合に、自動運転を停止し、遠隔操作信号に基づいて移動体３の移動を制御する処理を実行する。例えば、遠隔操作信号は、例えば管制サーバ２等を有する交通管制センター等の施設から通信ネットワークＮＷを介して移動体３に送信されてもよい。遠隔操作信号は、例えば管制サーバ２を介して取得された移動体３の位置情報やマップ情報、禁止区画情報、移動体３や路側機１によって撮像された画像等に基づいて、移動体３が禁止区画Ａ外に移動するような信号に生成されてもよい。 When the operation mode of the mobile body 3 is the remote operation mode, the movement control unit 340 executes a process of stopping automatic operation and controlling the movement of the mobile body 3 based on the remote operation signal. For example, the remote control signal may be transmitted to the mobile body 3 via the communication network NW from a facility such as a traffic control center having the control server 2 and the like. The remote control signal is based on, for example, the location information of the mobile body 3 acquired via the control server 2, map information, prohibited zone information, images captured by the mobile body 3 or the roadside machine 1, etc. A signal may be generated to move outside the prohibited area A.
　また移動制御部３４０は、移動体３の移動モードが管制モードである場合、信号取得部３２０による禁止信号Ｐの取得状況に基づいて、移動体３の駆動を制御する処理を実行する。移動制御部３４０は、路側機１の処理部１０から送信されてきた禁止信号Ｐを無線通信部３２により受信した場合に、禁止信号Ｐに対応した動作を行うように駆動部３５を制御する。禁止信号Ｐに対応した動作とは、例えば移動体３の駆動を停止する動作や移動体３が禁止区画Ａから退出する動作である。移動制御部３４０は、信号取得部３２０によって禁止信号Ｐが取得された場合に、移動体３を停止させるための制御を実行してもよく、禁止区画Ａ内の移動体３が禁止区画Ａから退出するように移動体３を制御してもよい。移動体３を停止させるための制御とは、例えば所定の速度まで減速させた後に停止させる制御であってもよい。また例えば移動制御部３４０は、判定期間内に所定の回数以上の禁止信号Ｐが取得された場合に、移動体３を停止させるための制御や禁止区画Ａから退出させる制御を実行してもよい。 Furthermore, when the movement mode of the mobile body 3 is the control mode, the movement control unit 340 executes processing for controlling the drive of the mobile body 3 based on the acquisition status of the prohibition signal P by the signal acquisition unit 320. The movement control unit 340 controls the drive unit 35 to perform an operation corresponding to the prohibition signal P when the wireless communication unit 32 receives the prohibition signal P transmitted from the processing unit 10 of the roadside device 1. The operation corresponding to the prohibition signal P is, for example, an operation of stopping the drive of the mobile body 3 or an operation of the mobile body 3 leaving the prohibition area A. The movement control unit 340 may execute control to stop the moving body 3 when the signal acquisition unit 320 acquires the prohibition signal P, and the movement control unit 340 may perform control to stop the moving body 3 in the prohibited area A. The mobile body 3 may be controlled to leave. The control for stopping the moving body 3 may be, for example, control for decelerating the moving body 3 to a predetermined speed and then stopping the moving body 3. For example, the movement control unit 340 may execute control to stop the moving body 3 or control to cause it to exit from the prohibited area A when the prohibition signal P is acquired a predetermined number of times or more within the determination period. .
　警報制御部３５０は、移動体３の移動モードが管制モードである場合、信号取得部３２０によって警報信号が取得されると、警報を発生させるための処理を実行する。警報は、移動体３の操作者に禁止区画Ａ内に進入する可能性がある状況を知らせるための音声情報や文字情報等であってもよい。例えば警報制御部３５０は、移動体３に配置される液晶ディスプレイやミラー等に警報を表示させてもよく、移動体３内に配置されるスピーカから音声情報を発生させてもよい。 When the movement mode of the mobile object 3 is the control mode, the alarm control unit 350 executes processing for generating an alarm when the signal acquisition unit 320 acquires the alarm signal. The warning may be audio information, text information, etc. for notifying the operator of the mobile body 3 of a situation in which there is a possibility of entering the prohibited area A. For example, the alarm control unit 350 may display an alarm on a liquid crystal display, a mirror, or the like disposed in the movable body 3, or may generate audio information from a speaker disposed within the movable body 3.
　次に、移動制御システムＳによる道路４上での移動制御の一例について図１及び図２を参照しながら説明する。 Next, an example of movement control on the road 4 by the movement control system S will be described with reference to FIGS. 1 and 2.
　図１に示す状況では、移動体３が道路４における２つの禁止区画Ａの間を走行している。図１に示すように、路側機１の禁止信号出力処理部１３２による比較結果では、移動体３が禁止区画Ａの外側に位置することになるので、禁止信号Ｐは出力されない。このため、移動体３が継続して走行している。 In the situation shown in FIG. 1, a moving object 3 is traveling between two prohibited sections A on a road 4. As shown in FIG. 1, the comparison result by the prohibition signal output processing unit 132 of the roadside device 1 indicates that the mobile object 3 is located outside the prohibition area A, so the prohibition signal P is not output. Therefore, the moving body 3 continues to travel.
　一方で図２に示す状況の場合、路側機１の禁止信号出力処理部１３２による比較結果では、移動体３が禁止区画Ａ内に位置することになるので、禁止信号Ｐが移動体３に送信される。この結果、例えば図２に示すように移動体３が減速し、停止することになる。 On the other hand, in the case of the situation shown in FIG. 2, the comparison result by the prohibition signal output processing unit 132 of the roadside device 1 indicates that the mobile object 3 is located within the prohibition zone A, so the prohibition signal P is transmitted to the mobile object 3. be done. As a result, the moving body 3 decelerates and comes to a stop, as shown in FIG. 2, for example.
　次に、本実施形態に係る移動制御システムＳによる移動体３の移動制御の流れについて説明する。なお、以下の動作説明における処理の内容は一例であって、同様な結果を得ることが可能な様々な処理を適宜に利用できる。 Next, the flow of movement control of the mobile body 3 by the movement control system S according to this embodiment will be explained. Note that the contents of the processing in the following operation description are merely examples, and various processing that can obtain similar results can be used as appropriate.
　まず路側機１によって実行される移動制御の処理の流れについて図７及び図８を参照しながら説明する。図７は路側機１の処理部１０が実行する移動制御のうち第１モード切替信号の出力までの処理の一例を示すフローチャートであり、図８は管制モードの移動体３を制御する処理の一例を示すフローチャートである。処理部１０は、例えば記憶部１１等に記憶されたプログラムに基づいて図７及び図８の処理を実行する。図７及び図８に例示する処理フローは、設置された路側機１が起動したときに処理を開始し、その後路側機１の動作中は処理を継続する。 First, the flow of the movement control process executed by the roadside machine 1 will be described with reference to FIGS. 7 and 8. FIG. 7 is a flowchart showing an example of the process up to the output of the first mode switching signal in the movement control executed by the processing unit 10 of the roadside device 1, and FIG. 8 is an example of the process for controlling the mobile object 3 in the control mode. It is a flowchart which shows. The processing unit 10 executes the processes shown in FIGS. 7 and 8 based on a program stored in the storage unit 11 or the like, for example. The process flow illustrated in FIGS. 7 and 8 starts the process when the installed roadside machine 1 starts up, and then continues the process while the roadside machine 1 is in operation.
　図７に示すように、ステップＳ１１において、位置情報取得部１１２は、無線通信部１３を介して受信された移動体３の位置情報を取得する。 As shown in FIG. 7, in step S11, the location information acquisition unit 112 acquires the location information of the mobile object 3 received via the wireless communication unit 13.
　ステップＳ１２において、モード切替信号出力処理部１３１は、ステップＳ１１で取得した位置情報と記憶部１１に記憶された管制対象エリアＣの位置を示す情報とを比較し、移動体３が管制対象エリアＣ内に進入したか否かを判定する。モード切替信号出力処理部１３１は、移動体３が管制対象エリアＣ内に進入した判定した場合（ステップＳ１２；ＹＥＳ）、処理をステップＳ１３に移行させる。一方で、モード切替信号出力処理部１３１は、移動体３が管制対象エリアＣ外であると判定した場合（ステップＳ１２；ＮＯ）、ステップＳ１１の処理を繰り返す。 In step S12, the mode switching signal output processing unit 131 compares the position information acquired in step S11 with information indicating the position of the control target area C stored in the storage unit 11, and determines whether the mobile object 3 is in the control target area C. Determine whether the vehicle has entered the interior of the vehicle. When the mode switching signal output processing unit 131 determines that the mobile object 3 has entered the control target area C (step S12; YES), the process proceeds to step S13. On the other hand, when the mode switching signal output processing unit 131 determines that the mobile object 3 is outside the control target area C (step S12; NO), it repeats the process of step S11.
　ステップＳ１３において、モード切替信号出力処理部１３１は、移動体３を管制モードに切り替えるための第１モード切替信号を出力する。そして、第１モード切替信号は、無線通信部１３によって移動体３に送信される。 In step S13, the mode switching signal output processing unit 131 outputs a first mode switching signal for switching the mobile object 3 to the control mode. The first mode switching signal is then transmitted to the mobile body 3 by the wireless communication unit 13.
　図８に示すように、ステップＳ２１において、禁止区画情報取得部１２０は、記憶部１１から禁止区画情報を抽出する。 As shown in FIG. 8, in step S21, the prohibited zone information acquisition unit 120 extracts prohibited zone information from the storage unit 11.
　ステップＳ２２において、位置情報取得部１１２は、無線通信部１３を介して受信された移動体３の位置情報を取得する。 In step S22, the location information acquisition unit 112 acquires the location information of the mobile object 3 received via the wireless communication unit 13.
　ステップＳ２３において、禁止信号出力処理部１３２は、ステップＳ２１で取得した禁止区画情報とステップＳ２２で取得した位置情報とを比較し、移動体３が禁止区画Ａ内であるか否かを判定する。禁止信号出力処理部１３２は、移動体３が禁止区画Ａ内であると判定した場合（ステップＳ２３；ＹＥＳ）、処理をステップＳ２４に移行させる。一方で、禁止信号出力処理部１３２は、移動体３が禁止区画Ａ外であると判定した場合（ステップＳ２３；ＮＯ）、ステップＳ２２の処理を繰り返す。 In step S23, the prohibition signal output processing unit 132 compares the prohibited zone information acquired in step S21 with the position information acquired in step S22, and determines whether the mobile object 3 is within the prohibited zone A. When the prohibition signal output processing unit 132 determines that the moving body 3 is within the prohibition area A (step S23; YES), the process proceeds to step S24. On the other hand, when the prohibition signal output processing unit 132 determines that the mobile object 3 is outside the prohibition zone A (step S23; NO), it repeats the process of step S22.
　ステップＳ２４において、禁止信号出力処理部１３２は、禁止区画Ａにおける移動体３の移動を禁止する禁止信号Ｐを出力する。そして、禁止信号Ｐは、無線通信部１３によって移動体３に送信される。その後、処理部１０は、処理をステップＳ２２に戻す。 In step S24, the prohibition signal output processing unit 132 outputs a prohibition signal P that prohibits movement of the moving body 3 in the prohibition zone A. The prohibition signal P is then transmitted to the mobile body 3 by the wireless communication unit 13. After that, the processing unit 10 returns the process to step S22.
　次に、管制サーバ２によって実行される移動制御の処理の流れについて図９を参照しながら説明する。図９は管制サーバ２の処理部２０が実行する移動制御の処理の一例を示すフローチャートである。処理部２０は、例えば記憶部２１等に記憶されたプログラムに基づいて図９の処理を実行する。図９に例示する処理フローは、設置された管制サーバ２が起動したときに処理を開始し、その後管制サーバ２の動作中は処理を継続する。 Next, the flow of movement control processing executed by the control server 2 will be described with reference to FIG. 9. FIG. 9 is a flowchart illustrating an example of movement control processing executed by the processing unit 20 of the control server 2. The processing unit 20 executes the process shown in FIG. 9 based on a program stored, for example, in the storage unit 21 or the like. The process flow illustrated in FIG. 9 starts the process when the installed control server 2 starts up, and then continues the process while the control server 2 is in operation.
　図９に示すように、ステップＳ３１において、路側機情報取得部２１０は、複数の路側機１それぞれから送信され、各路側機１による禁止信号Ｐの出力状況や移動体３の位置情報を含む路側機情報を取得する。 As shown in FIG. 9, in step S31, the roadside device information acquisition unit 210 receives roadside device information that is transmitted from each of the plurality of roadside devices 1 and includes the output status of the prohibition signal P by each roadside device 1 and the position information of the mobile object 3. Get machine information.
　ステップＳ３２において、モード切替信号出力処理部２４０は、ステップＳ３１で取得された路側機情報に基づいて、路側機１によって禁止信号Ｐが出力されたか否かを判定する。モード切替信号出力処理部２４０は、路側機１によって禁止信号Ｐが出力されたと判定した場合（ステップＳ３２；ＹＥＳ）、処理をステップＳ３３に移行させる。一方で、モード切替信号出力処理部２４０は、路側機１によって禁止信号Ｐが出力されないと判定した場合（ステップＳ３２；ＮＯ）、処理をステップＳ３１に戻す。 In step S32, the mode switching signal output processing unit 240 determines whether the prohibition signal P has been output by the roadside device 1 based on the roadside device information acquired in step S31. When the mode switching signal output processing unit 240 determines that the prohibition signal P has been output by the roadside device 1 (step S32; YES), the process proceeds to step S33. On the other hand, when the mode switching signal output processing unit 240 determines that the prohibition signal P is not output by the roadside device 1 (step S32; NO), the process returns to step S31.
　ステップＳ３３において、モード切替信号出力処理部２４０は、第２モード切替信号を出力する。そして、第２モード切替信号は、禁止信号Ｐを出力した路側機１及び無線通信部１３を介して移動体３に送信される。 In step S33, the mode switching signal output processing section 240 outputs a second mode switching signal. The second mode switching signal is then transmitted to the mobile body 3 via the roadside device 1 that outputs the prohibition signal P and the wireless communication unit 13.
　次に、移動体３によって実行される移動制御の処理の流れについて図１０及び図１１を参照しながら説明する。図１０は移動体３が実行する移動モードを管制モードに切り替えるまでの処理の一例を示すフローチャートであり、図１１は管制モードにおける移動体３が実行する処理の一例を示すフローチャートである。なお、図１０のフローの開始時における移動体３は、その移動モードが非管制モードであり、運転モードが自動運転モードであるとする。 Next, the flow of movement control processing executed by the mobile object 3 will be described with reference to FIGS. 10 and 11. FIG. 10 is a flowchart illustrating an example of a process executed by the mobile body 3 until the movement mode is switched to the control mode, and FIG. 11 is a flowchart illustrating an example of the process executed by the mobile body 3 in the control mode. It is assumed that the moving mode of the moving object 3 at the start of the flow in FIG. 10 is the uncontrolled mode, and the driving mode is the automatic driving mode.
　図１０に示すように、ステップＳ４１において、自己位置推定部３１０は、移動体３自身の位置を示す位置情報を推定する。自己位置推定部３１０は、例えば管制サーバ２から路側機１を介して受信したマップ情報とセンサ部３３から受信した点群データに基づいて、移動体３自身の位置情報を推定する。 As shown in FIG. 10, in step S41, the self-position estimating unit 310 estimates position information indicating the position of the mobile object 3 itself. The self-position estimating unit 310 estimates the position information of the mobile body 3 itself, based on map information received from the control server 2 via the roadside device 1 and point cloud data received from the sensor unit 33, for example.
　ステップＳ４２において、無線通信部３２は、ステップＳ４１で推定された移動体３の位置情報を路側機１に送信する。 In step S42, the wireless communication unit 32 transmits the position information of the mobile object 3 estimated in step S41 to the roadside machine 1.
　ステップＳ４３において、モード切替部３３０は、路側機１からの第１モード切替信号を受信したか否かを判定する。モード切替部３３０は、信号取得部３２０によって第１モード切替信号が取得されたと判定した場合（ステップＳ４３；ＹＥＳ）、処理をステップＳ４４に移行させる。一方で、モード切替部３３０は、信号取得部３２０が第１モード切替信号を取得していないと判定した場合（ステップＳ４３；ＮＯ）、処理をステップＳ３１に戻す。 In step S43, the mode switching unit 330 determines whether the first mode switching signal from the roadside device 1 has been received. When the mode switching unit 330 determines that the first mode switching signal has been acquired by the signal acquisition unit 320 (step S43; YES), the mode switching unit 330 shifts the process to step S44. On the other hand, when the mode switching unit 330 determines that the signal acquisition unit 320 has not acquired the first mode switching signal (step S43; NO), the mode switching unit 330 returns the process to step S31.
　ステップＳ４４において、モード切替部３３０は、移動体３の移動モードを管制モードに切り替える。 In step S44, the mode switching unit 330 switches the movement mode of the mobile object 3 to the control mode.
　図１１に示すように、ステップＳ５１において、自己位置推定部３１０は、移動体３自身の位置を示す位置情報を推定する。自己位置推定部３１０は、例えば管制サーバ２から路側機１を介して受信したマップ情報とセンサ部３３から受信した点群データに基づいて、移動体３自身の位置情報を推定する。 As shown in FIG. 11, in step S51, the self-position estimation unit 310 estimates position information indicating the position of the mobile object 3 itself. The self-position estimating unit 310 estimates the position information of the mobile body 3 itself, based on map information received from the control server 2 via the roadside device 1 and point cloud data received from the sensor unit 33, for example.
　ステップＳ５２において、無線通信部３２は、ステップＳ５１で推定された移動体３の位置情報を路側機１に送信する。 In step S52, the wireless communication unit 32 transmits the position information of the mobile object 3 estimated in step S51 to the roadside machine 1.
　ステップＳ５３において、移動制御部３４０は、信号取得部３２０が禁止信号Ｐを受信したか否かを判定する。移動制御部３４０は、信号取得部３２０によって禁止信号Ｐが取得されたと判定した場合（ステップＳ５３；ＹＥＳ）、処理をステップＳ５４に移行させる。一方で、移動制御部３４０は、信号取得部３２０が禁止信号Ｐを取得していないと判定した場合（ステップＳ５３；ＮＯ）、処理をステップＳ５１に戻す。 In step S53, the movement control unit 340 determines whether the signal acquisition unit 320 has received the prohibition signal P. When the movement control unit 340 determines that the prohibition signal P has been acquired by the signal acquisition unit 320 (step S53; YES), the movement control unit 340 moves the process to step S54. On the other hand, if the movement control unit 340 determines that the signal acquisition unit 320 has not acquired the prohibition signal P (step S53; NO), the movement control unit 340 returns the process to step S51.
　ステップＳ５４において、移動制御部３４０は、駆動部３５を制御して移動体３の移動を停止させる。 In step S54, the movement control unit 340 controls the drive unit 35 to stop the movement of the moving body 3.
　ステップＳ５５において、処理部３０は、管制サーバ２から第２モード切替信号を受信する。そして、モード切替部３３０は、移動体３の運転モードを自動運転モードから遠隔運転モードに切り替える。 In step S55, the processing unit 30 receives the second mode switching signal from the control server 2. Then, the mode switching unit 330 switches the driving mode of the mobile body 3 from the automatic driving mode to the remote driving mode.
　以上説明した実施形態によれば、以下のような効果を奏する。 According to the embodiment described above, the following effects are achieved.
　本実施形態に係る処理部１０は、移動体３の位置を示す位置情報を取得する位置情報取得部１１２と、位置情報と、移動体３の移動が禁止される禁止区画Ａを示す禁止区画情報とを比較し、その比較結果に基づいて禁止区画Ａ内における移動体３の移動を禁止する禁止信号Ｐを出力する信号出力処理部１３０と、を備え、信号出力処理部１３０は、比較結果に基づいて移動体３が禁止区画Ａ内に存在するか否かを判定し、移動体３が禁止区画Ａ内に存在すると判定した場合に、禁止信号Ｐを出力する。これにより、移動体３の位置と禁止区画Ａを比較するという簡素な処理で、移動体３が定められたエリアを移動することを可能とする。例えば禁止区画Ａを道路７の対向車線や路側及び歩道を含むエリアに設けることで、仮に自動運転車両の制御に異常が発生した場合や高齢者ドライバが運転操作を誤った場合に、上記エリアに移動体３が進入し、事故が発生することを防止できる。よって、簡易な構成と処理で、移動体３の安全な移動を支援できる。 The processing unit 10 according to the present embodiment includes a position information acquisition unit 112 that acquires position information indicating the position of the moving body 3, and prohibited zone information indicating the prohibited zone A in which movement of the moving body 3 is prohibited. and a signal output processing unit 130 that outputs a prohibition signal P that prohibits movement of the mobile object 3 within the prohibition zone A based on the comparison result. Based on this, it is determined whether or not the moving body 3 exists within the prohibited area A, and when it is determined that the mobile body 3 exists within the prohibited area A, a prohibited signal P is output. This allows the moving object 3 to move through the predetermined area through a simple process of comparing the position of the moving object 3 with the prohibited area A. For example, by setting Prohibited Zone A in an area that includes oncoming lanes, roadside, and sidewalks on Road 7, if an abnormality occurs in the control of an automated driving vehicle or if an elderly driver makes a mistake in driving operation, the above area will be blocked. It is possible to prevent the moving body 3 from entering and causing an accident. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.
　また本実施形態に係る処理部１０において、禁止区画情報には、禁止区画Ａの周囲に設定される警報領域Ｂを示す情報が含まれ、信号出力処理部１３０は、比較結果に基づいて移動体３が警報領域Ｂに存在するか否かを判定し、移動体３が警報領域Ｂ内に存在すると判定した場合に、移動体３に対して移動体３が警報を発生する処理を実行させる警報信号を出力する。これにより、禁止区画Ａに近づくと警報が発生することになるので、移動体３の操作者等が、移動体３の禁止区画Ａ内への進入の可能性を把握することが可能となる。よって、移動体３の禁止区画Ａへの進入を回避することが容易になる。 Further, in the processing unit 10 according to the present embodiment, the prohibited zone information includes information indicating a warning area B set around the prohibited zone A, and the signal output processing unit 130 controls the mobile object based on the comparison result. 3 is present in the warning area B, and when it is determined that the mobile body 3 is present in the warning area B, the mobile body 3 executes a process of issuing an alarm to the mobile body 3. Output a signal. As a result, an alarm is generated when the prohibited area A is approached, so that the operator of the mobile object 3 and the like can grasp the possibility of the mobile object 3 entering the prohibited area A. Therefore, it becomes easy to avoid the moving body 3 from entering the prohibited area A.
　また本実施形態に係る処理部１０において、移動体３は自律移動可能な移動体３である。これにより、仮に自動運転車両の走行に異常が発生した場合でも禁止区画Ａにおける自動運転車両の走行を抑制できる。 Furthermore, in the processing unit 10 according to the present embodiment, the mobile body 3 is a mobile body 3 that can move autonomously. Thereby, even if an abnormality occurs in the driving of the automatic driving vehicle, the driving of the automatic driving vehicle in the prohibited area A can be suppressed.
　また本実施形態に係る路側機１は、処理部１０の各構成要素を含む路側機１であって、移動体３が移動する道路４上または道路４脇に設置される。これにより、道路４を走行する移動体３の安全な移動を簡易な構成と処理で支援できる。 Furthermore, the roadside device 1 according to the present embodiment is a roadside device 1 that includes each component of the processing unit 10, and is installed on or beside the road 4 on which the moving body 3 moves. Thereby, safe movement of the moving body 3 traveling on the road 4 can be supported with a simple configuration and processing.
　本実施形態に係る移動制御システムＳは、移動体３と無線通信可能とされており、それぞれ異なるエリアに設置される複数の路側機１と、複数の路側機１と通信可能に接続される管制サーバ２と、を備える移動制御システムＳであって、管制サーバ２は、移動体３の移動が禁止される禁止区画Ａを示す禁止区画情報を生成し、複数の路側機１のそれぞれに送信する禁止区画情報管理部２３０を有し、路側機１は、移動体３の位置を示す位置情報を取得する位置情報取得部１１２と、位置情報と、管制サーバ２から受信した禁止区画情報とを比較し、その比較結果に基づいて禁止区画Ａ内における移動体３の移動を禁止する禁止信号Ｐを出力する信号出力処理部１３０と、を有し、信号出力処理部１３０は、比較結果に基づいて移動体３が禁止区画Ａ内に存在するか否かを判定し、移動体３が禁止区画Ａ内に存在すると判定した場合に、禁止信号Ｐを出力する。これにより、移動体３の位置と禁止区画Ａを比較するという簡素な処理で、危険が発生するリスクがあるエリアにおける移動体３の移動を防止することを可能とする。例えば禁止区画Ａを道路７の対向車線や路側及び歩道を含むエリアに設けることで、仮に自動運転車両の制御に異常が発生した場合や高齢者ドライバが運転操作を誤った場合に、上記エリアに移動体３が進入し、事故が発生することを防止できる。よって、簡易な構成と処理で、移動体３の安全な移動を支援できる。 The mobile control system S according to the present embodiment is capable of wireless communication with the mobile objects 3, and has a plurality of roadside machines 1 installed in different areas, and a control system communicatively connected to the plurality of roadside machines 1. A mobile control system S comprising a server 2, wherein the control server 2 generates prohibited zone information indicating a prohibited zone A in which movement of the mobile object 3 is prohibited, and transmits it to each of the plurality of roadside machines 1. The roadside device 1 includes a prohibited zone information management section 230 and compares the position information with the prohibited zone information received from the control server 2 with a position information acquisition section 112 that acquires position information indicating the position of the mobile object 3. and a signal output processing unit 130 that outputs a prohibition signal P that prohibits movement of the moving object 3 within the prohibited area A based on the comparison result, and the signal output processing unit 130 It is determined whether or not the mobile body 3 exists within the prohibited section A, and when it is determined that the mobile body 3 exists within the prohibited section A, a prohibition signal P is output. This makes it possible to prevent the moving object 3 from moving in an area where there is a risk of danger by a simple process of comparing the position of the moving object 3 with the prohibited area A. For example, by setting Prohibited Zone A in an area that includes oncoming lanes, roadside, and sidewalks on Road 7, if an abnormality occurs in the control of an automated driving vehicle or if an elderly driver makes a mistake in driving operation, the above area will be blocked. It is possible to prevent the moving body 3 from entering and causing an accident. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.
　また本実施形態に係る移動制御システムＳにおいて、禁止区画情報には、禁止区画Ａ内の周囲に設定される警報領域Ｂを示す情報が含まれ、路側機１の信号出力処理部１３０は、比較結果に基づいて移動体３が警報領域Ｂに存在するか否かを判定し、移動体３が警報領域Ｂ内に存在すると判定した場合に、移動体３に警報を発生させる処理を実行させる警報信号を出力する。これにより、禁止区画Ａに近づくと警報が発生することになるので、移動体３の操作者等が、移動体３の禁止区画Ａ内への進入の可能性を把握することが可能となる。よって、移動体３の禁止区画Ａへの進入を回避することが容易になる。 In the movement control system S according to the present embodiment, the prohibited zone information includes information indicating a warning area B set around the prohibited zone A, and the signal output processing unit 130 of the roadside device 1 performs a comparison. An alarm that determines whether or not the mobile body 3 exists in the warning area B based on the result, and when it is determined that the mobile body 3 exists in the warning area B, causes the mobile body 3 to execute a process of generating an alarm. Output a signal. As a result, an alarm is generated when the prohibited area A is approached, so that the operator of the mobile object 3 and the like can grasp the possibility of the mobile object 3 entering the prohibited area A. Therefore, it becomes easy to avoid the moving body 3 from entering the prohibited area A.
　また本実施形態に係る移動制御システムＳにおいて、管制サーバ２の禁止区画情報管理部２３０は、時間帯に応じて異なる禁止区画情報を生成する。これにより、時間帯に応じて変化する交通状況等を加味して禁止区画Ａの位置やサイズ等を変更できるので、移動体３をより安全に移動させることができる。 In the movement control system S according to the present embodiment, the prohibited zone information management unit 230 of the control server 2 generates different prohibited zone information depending on the time zone. Thereby, the position, size, etc. of the prohibited area A can be changed in consideration of traffic conditions that change depending on the time of day, so the mobile object 3 can be moved more safely.
　また本実施形態に係る移動制御システムＳにおいて、移動体３は自律移動可能な移動体３である。これにより、仮に自動運転車両の走行に異常が発生した場合でも禁止区画Ａにおける自動運転車両の走行を抑制できる。 Furthermore, in the movement control system S according to the present embodiment, the mobile body 3 is a mobile body 3 that can move autonomously. Thereby, even if an abnormality occurs in the driving of the automatic driving vehicle, the driving of the automatic driving vehicle in the prohibited area A can be suppressed.
　また本実施形態に係る移動制御システムＳにおいて、移動体３は設定された走行経路に沿って自動で走行する自動運転モードと、移動体３を遠隔操作するための遠隔操作信号に基づいて走行する遠隔運転モードと、を含む運転モードを有し、管制サーバ２は、信号出力処理部１３０によって禁止信号Ｐが出力された場合に、移動体３の運転モードを遠隔運転モードに切り替える運転モード切替信号を出力するモード切替信号出力処理部２４０を更に備える。これにより、移動体３が禁止区画Ａに進入した場合であっても、例えば遠隔操作により、移動体３を禁止区画Ａ外に戻すことができ、移動体３の安全な移動を継続させることができる。よって、他の移動体３の移動を妨げずに安全に移動体３を移動させることができる。 Furthermore, in the movement control system S according to the present embodiment, the mobile object 3 is in an automatic driving mode in which it automatically travels along a set travel route, and in which it travels based on a remote control signal for remotely controlling the mobile object 3. The control server 2 has an operation mode switching signal that switches the operation mode of the mobile body 3 to the remote operation mode when the prohibition signal P is output by the signal output processing unit 130. It further includes a mode switching signal output processing section 240 that outputs a mode switching signal output processing section 240. As a result, even if the moving object 3 enters the prohibited area A, the moving object 3 can be returned to the outside of the prohibited area A by remote control, for example, and the safe movement of the moving object 3 can be continued. can. Therefore, the movable body 3 can be safely moved without interfering with the movement of other movable bodies 3.
　本実施形態に係るプログラムは、路側機１に含まれるコンピュータに、移動体３の位置を示す位置情報を取得する位置情報取得機能と、位置情報と、移動体３の移動が禁止される禁止区画Ａを示す禁止区画情報とを比較し、その比較結果に基づいて禁止区画Ａにおける移動体３の移動を禁止する禁止信号Ｐを出力する信号出力処理機能と、を実行させ、信号出力処理機能では、比較結果に基づいて移動体３が禁止区画Ａ内に存在するか否かを判定し、移動体３が禁止区画Ａ内に存在すると判定した場合に、禁止信号Ｐを出力する。これにより、移動体３の位置と禁止区画Ａを比較するという簡素な処理で、危険が発生するリスクがあるエリアにおける移動体３の移動を防止することを可能とする。例えば禁止区画Ａを道路７の対向車線や路側及び歩道を含むエリアに設けることで、仮に自動運転車両の制御に異常が発生した場合や高齢者ドライバが運転操作を誤った場合に、上記エリアに移動体３が進入し、事故が発生することを防止できる。よって、簡易な構成と処理で、移動体３の安全な移動を支援できる。 The program according to the present embodiment provides a computer included in the roadside device 1 with a position information acquisition function for acquiring position information indicating the position of the mobile object 3, and a prohibited zone where movement of the mobile object 3 is prohibited. A, and a signal output processing function that outputs a prohibition signal P that prohibits movement of the mobile object 3 in the prohibition zone A based on the comparison result. Based on the comparison result, it is determined whether or not the moving object 3 exists within the prohibited section A, and when it is determined that the moving object 3 exists within the prohibited section A, a prohibiting signal P is output. This makes it possible to prevent the moving object 3 from moving in an area where there is a risk of danger by a simple process of comparing the position of the moving object 3 with the prohibited area A. For example, by setting Prohibited Zone A in an area that includes oncoming lanes, roadside, and sidewalks on Road 7, if an abnormality occurs in the control of an automated driving vehicle or if an elderly driver makes a mistake in driving operation, the above area will be blocked. It is possible to prevent the moving body 3 from entering and causing an accident. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.
　本実施形態に係る移動制御方法は、路側機１が実行する移動制御方法であって、移動体３の位置を示す位置情報を取得する位置情報取得ステップと、位置情報と、移動体３の移動が禁止される禁止区画Ａを示す禁止区画情報とを比較し、その比較結果に基づいて移動体３の移動を禁止する禁止信号Ｐを出力する信号出力処理ステップと、を含み、信号出力処理ステップでは、比較結果に基づいて移動体３が禁止区画Ａ内に存在するか否かを判定し、移動体３が禁止区画Ａ内に存在すると判定した場合に、禁止信号Ｐを出力する。これにより、移動体３の位置と禁止区画Ａを比較するという簡素な処理で、危険が発生するリスクがあるエリアにおける移動体３の移動を防止することを可能とする。例えば禁止区画Ａを道路７の対向車線や路側及び歩道を含むエリアに設けることで、仮に自動運転車両の制御に異常が発生した場合や高齢者ドライバが運転操作を誤った場合に、上記エリアに移動体３が進入し、事故が発生することを防止できる。よって、簡易な構成と処理で、移動体３の安全な移動を支援できる。 The movement control method according to the present embodiment is a movement control method executed by the roadside machine 1, which includes a position information acquisition step of acquiring position information indicating the position of the mobile body 3, the position information, and the movement of the mobile body 3. a signal output processing step of comparing the prohibited section information indicating the prohibited section A in which the mobile object 3 is prohibited, and outputting a prohibition signal P for prohibiting the movement of the moving body 3 based on the comparison result, the signal output processing step Then, based on the comparison result, it is determined whether or not the mobile object 3 exists within the prohibited section A, and when it is determined that the mobile object 3 exists within the prohibited section A, a prohibition signal P is output. This makes it possible to prevent the moving object 3 from moving in an area where there is a risk of danger by a simple process of comparing the position of the moving object 3 with the prohibited area A. For example, by setting Prohibited Zone A in an area that includes oncoming lanes, roadside, and sidewalks on Road 7, if an abnormality occurs in the control of an automated driving vehicle or if an elderly driver makes a mistake in driving operation, the above area will be blocked. It is possible to prevent the moving body 3 from entering and causing an accident. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.
　本実施形態に係る移動体３は、処理部１０と通信を行う無線通信部３２と、自己の位置を推定する自己位置推定部３１０と、駆動部３５と、駆動部３５の駆動の制御を行う移動制御部３４０と、を備え、自己位置推定部３１０は、無線通信部３２を利用して処理部１０に推定した自己の位置情報を送信し、移動制御部３４０は、処理部１０から送信されてきた禁止信号Ｐを無線通信部３２により受信した場合に、禁止信号Ｐに対応した動作を行うように駆動部３５を制御する。これにより、処理部１０を含む路側機１により管理および制御される移動体３を提供できる。よって、簡易な構成と処理で、移動体３の安全な移動を支援できる。 The mobile object 3 according to the present embodiment includes a wireless communication section 32 that communicates with the processing section 10, a self-position estimation section 310 that estimates its own position, a drive section 35, and controls the driving of the drive section 35. The self-position estimation section 310 transmits the estimated self-position information to the processing section 10 using the wireless communication section 32, and the movement control section 340 transmits the estimated self-position information to the processing section 10 using the wireless communication section 32. When the wireless communication unit 32 receives the prohibition signal P, the drive unit 35 is controlled to perform an operation corresponding to the prohibition signal P. Thereby, it is possible to provide a mobile body 3 managed and controlled by the roadside machine 1 including the processing unit 10. Therefore, safe movement of the mobile object 3 can be supported with a simple configuration and processing.
　以上、本発明の実施形態について説明したが、本発明は、上述の実施形態に制限されるものではなく、適宜変更が可能である。 Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and can be modified as appropriate.
　上記実施形態の移動体３は自動運転車両であったが、自動運転機能を有しない車両であってもよい。また車両は自動四輪車であっても自動二輪車であってもよい。また移動体３は、車両に限られず、例えばドローン等の無人飛行体であってもよい。特に無人飛行体の場合には、主に緯度、経度および高度の情報を用いた３Ｄマップ情報が利用される。 Although the mobile object 3 in the above embodiment is a self-driving vehicle, it may be a vehicle that does not have a self-driving function. Further, the vehicle may be a four-wheeled motor vehicle or a two-wheeled motor vehicle. Furthermore, the mobile object 3 is not limited to a vehicle, and may be an unmanned flying object such as a drone, for example. Particularly in the case of unmanned flying vehicles, 3D map information mainly using latitude, longitude, and altitude information is used.
　ここで、移動体３が無人飛行体の場合における移動制御システムＳの構成について説明する。図１２は、本実施形態の変形例に係る移動制御システムＳが適用される無人飛行体の飛行経路の一例を示す概略図である。 Here, the configuration of the movement control system S in the case where the mobile object 3 is an unmanned flying object will be explained. FIG. 12 is a schematic diagram showing an example of a flight path of an unmanned flying vehicle to which a movement control system S according to a modification of the present embodiment is applied.
　無人飛行体は、鉄塔５０に懸架されている電線５１の状態の点検、トンネル内の道路や壁面の状態の点検、川、運河、鉄道線路、道路などの上にかけ渡す構築物の状態の点検、ビルの点検、河川、崖、海などの災害時の監視などに利用される。図１２に示す例では、自律移動可能な無人飛行体を用いて、鉄塔５０の電線５１の状態を点検している。 The unmanned aerial vehicle inspects the condition of electric wires 51 suspended on steel towers 50, inspects the condition of roads and walls in tunnels, inspects the condition of structures that extend over rivers, canals, railroad tracks, roads, etc., and inspects the condition of buildings. It is used for inspections of rivers, cliffs, the sea, etc. during disasters. In the example shown in FIG. 12, the state of the electric wire 51 of the steel tower 50 is inspected using an autonomously movable unmanned flying object.
　無人飛行体が飛行できる禁止区画Ａは、緯度、経度および高度で規定されている。また、禁止区画Ａの形状は、図１２に示す例では、角柱形状であるが、この形状に限定されず、円筒形状など様々な形状が考えられる。図１２に示す例では、禁止区画Ａは鉄塔５０および電線５１を囲うように設定される。 The prohibited area A in which unmanned aerial vehicles can fly is defined by latitude, longitude, and altitude. Further, although the shape of the prohibited section A is a prismatic shape in the example shown in FIG. 12, it is not limited to this shape, and various shapes such as a cylindrical shape can be considered. In the example shown in FIG. 12, the prohibited area A is set to surround the steel tower 50 and the electric wire 51.
　図１２に示す例では、路側機１Ｄ、１Ｅ、１Ｆが禁止区画Ａを管理している。路側機１Ｄ、１Ｅ、１Ｆは、無人飛行体から位置情報を取得し、自身が記憶する禁止区画Ａを示す禁止区画情報と無人飛行体の位置情報とを比較し、無人飛行体が禁止区画Ａ内を飛行していれば、禁止信号Ｐを無人飛行体に送信する。また、無人飛行体が禁止区画Ａに進入した場合、安全なルートで禁止区画Ａ外に着陸するドローン自律退避プログラムを稼働したり、鉄塔５０とは反対側に緊急着陸してもよい。これにより、電線５１の点検時における無人飛行体の鉄塔５０や電線５１への接触を防止することができる。 In the example shown in FIG. 12, roadside machines 1D, 1E, and 1F manage prohibited zone A. The roadside aircraft 1D, 1E, and 1F acquire position information from the unmanned aerial vehicle, compare the prohibited zone information indicating the prohibited zone A that they have stored with the position information of the unmanned aerial vehicle, and determine whether the unmanned aerial vehicle is in the prohibited zone A. If the unmanned aircraft is flying within the area, a prohibition signal P is sent to the unmanned aircraft. Further, when the unmanned flying object enters the prohibited area A, the drone may operate an autonomous evacuation program to land outside the prohibited area A using a safe route, or may make an emergency landing on the opposite side of the steel tower 50. Thereby, it is possible to prevent the unmanned aircraft from coming into contact with the steel tower 50 or the electric wires 51 when inspecting the electric wires 51.
　また移動体３は、作業用ロボットであってもよい。この場合には緯度、経度、高度の情報をもちいた３Ｄマップ情報を用い、進入禁止エリアとしての禁止区画を設定してもよい。これにより、例えば作業用ロボットが禁止区画に進入した場合にはロボットの動作を停止するといった安全支援が可能となる。また、移動体３は、Ｖ２Ｐ（Vehicle-to-Pedestrian）ともいわれる歩行者や作業者の有するＶ２Ｘ通信端末を対象とすることもできる。この場合には、例えば、作業者が危険エリアに設定された禁止区画に進入した場合に、Ｖ２Ｘ通信端末から作業者に警告を出すことができる。 Additionally, the moving body 3 may be a working robot. In this case, a prohibited section may be set as a prohibited area using 3D map information using latitude, longitude, and altitude information. This makes it possible to provide safety support by, for example, stopping the operation of the robot when the robot enters a prohibited area. The mobile object 3 can also be a V2X communication terminal, also called V2P (Vehicle-to-Pedestrian), owned by a pedestrian or a worker. In this case, for example, when a worker enters a prohibited area set as a dangerous area, a warning can be issued to the worker from the V2X communication terminal.
　上記実施形態では、路側機１が信号出力処理部１３０を有していたが、管制サーバ２が路側機１を介して移動体３の位置情報を取得し、該位置情報と禁止区画情報との比較に基づいて第１モード切替信号や禁止信号Ｐ、警告信号を出力してもよい。 In the embodiment described above, the roadside device 1 has the signal output processing unit 130, but the control server 2 acquires the position information of the mobile object 3 via the roadside device 1, and combines the position information with the prohibited zone information. Based on the comparison, the first mode switching signal, prohibition signal P, or warning signal may be output.
　上記実施形態では、管制サーバ２が移動体３の運転モードを切り替える第２モード切替信号を出力していたが、路側機１が移動体３の運転モードを自動運転モードと遠隔運転モードとに切り替えるモード切替信号を出力する構成であってもよい。 In the above embodiment, the control server 2 outputs the second mode switching signal for switching the driving mode of the mobile object 3, but the roadside device 1 switches the driving mode of the mobile object 3 between the automatic driving mode and the remote driving mode. It may be configured to output a mode switching signal.
　また、移動制御システムＳは、上述した構成に限定されず他の構成でもよい。図１３は、本実施形態の変形例に係る移動制御システムＳと移動制御システムＳが適用される道路４の一例を示す概略図である。移動制御システムＳは、道路４上または道路４脇などの道路４の周辺に設置され、道路４上を走行する車両である移動体３と無線通信可能な路側機１Ｇ、１Ｈを含む複数の路側機１と、複数の路側機１のそれぞれと通信ネットワークＮＷを介して通信可能に接続される管制サーバ２とを備える。路側機１Ｇと路側機１Ｈとは、同様の構成である。複数の路側機１Ｇは、道路４に沿って互いに所定の間隔を空けて配置される。路側機１Ｈは、道路４を挟んで路側機１Ｇに対向する位置に配置される。また路側機１Ｇと路側機１Ｈとは、禁止区画Ａの全長をカバーするように、道路４に沿って複数台配置される構成でもよいし、特定の場所のみに、道路４に沿って１台または複数台配置されてもよい。特定の場所とは、工事現場など運営者側が任意で指定する場所である。なお、上述では、複数の路側機１それぞれの禁止区画Ａの全部を重複して禁止区画Ａを設定すると説明したが、これに限定されず、複数の路側機１それぞれの禁止区画Ａの一部を重複して禁止区画Ａを設定してもよい。移動体３は、重複している禁止区画Ａにおいて、複数の禁止信号Ｐを受信することになる。 Furthermore, the movement control system S is not limited to the above-mentioned configuration, and may have other configurations. FIG. 13 is a schematic diagram showing an example of a movement control system S according to a modification of the present embodiment and a road 4 to which the movement control system S is applied. The movement control system S is installed around the road 4 such as on the road 4 or on the side of the road 4, and has a plurality of roadside devices including roadside devices 1G and 1H capable of wirelessly communicating with a mobile object 3, which is a vehicle traveling on the road 4. The roadside device 1 includes a control server 2 that is communicably connected to each of the plurality of roadside devices 1 via a communication network NW. The roadside machine 1G and the roadside machine 1H have the same configuration. The plurality of roadside machines 1G are arranged along the road 4 at predetermined intervals. The roadside machine 1H is arranged at a position facing the roadside machine 1G across the road 4. Further, the roadside unit 1G and the roadside unit 1H may be configured such that a plurality of them are arranged along the road 4 so as to cover the entire length of the prohibited zone A, or one roadside unit may be arranged along the road 4 only in a specific location. Alternatively, a plurality of units may be arranged. The specific location is a location arbitrarily designated by the operator, such as a construction site. In addition, although it was explained above that the prohibited area A is set by overlapping all of the prohibited areas A of each of the plurality of roadside machines 1, the prohibited area A is not limited to this. The prohibited section A may be set to overlap. The mobile body 3 will receive a plurality of prohibition signals P in the overlapping prohibition sections A.
　移動体３の無線通信部３２は、同じ禁止区画Ａ内への移動に関する禁止信号Ｐを異なる路側機１から複数受信する。図１３に示す例では、移動体３は、位置情報を路側機１Ｇと、路側機１Ｈに送信する。路側機１Ｇは、移動体３から受信した位置情報を管制サーバ２に送信する。また、路側機１Ｈは、移動体３から受信した位置情報を管制サーバ２に送信する。 The wireless communication unit 32 of the mobile body 3 receives a plurality of prohibition signals P regarding movement into the same prohibited zone A from different roadside devices 1. In the example shown in FIG. 13, the mobile body 3 transmits position information to the roadside machine 1G and the roadside machine 1H. The roadside machine 1G transmits the position information received from the mobile object 3 to the control server 2. Furthermore, the roadside device 1H transmits the position information received from the mobile object 3 to the control server 2.
　管制サーバ２は、路側機１Ｇから受信した位置情報に基づいて禁止区画Ａに移動体３が存在していれば禁止信号ＰＧを生成し、生成した禁止信号ＰＧを路側機１Ｇに送信する。そして路側機１Ｇは、禁止信号ＰＧを移動体３に送信する。また、管制サーバ２は、路側機１Ｈから受信した位置情報に基づいて禁止区画Ａに移動体３が存在していれば禁止信号ＰＨを生成し、生成した禁止信号ＰＨを路側機１Ｈに送信する。そして路側機１Ｈは、禁止信号ＰＨを移動体３に送信する。 The control server 2 generates a prohibition signal PG if the mobile object 3 is present in the prohibited zone A based on the position information received from the roadside device 1G, and transmits the generated prohibition signal PG to the roadside device 1G. The roadside machine 1G then transmits the prohibition signal PG to the mobile body 3. In addition, the control server 2 generates a prohibition signal PH if the mobile object 3 is present in the prohibited zone A based on the position information received from the roadside device 1H, and transmits the generated prohibition signal PH to the roadside device 1H. . The roadside device 1H then transmits the prohibition signal PH to the mobile body 3.
　移動体３の無線通信部３２は、同じ禁止区画Ａ内への移動の規制に関する禁止信号Ｐを異なる処理部１０から複数受信する。図１３に示す例では、無線通信部３２は、同じ禁止区画Ａ内への移動の規制に関する禁止信号Ｐを路側機１Ｇと路側機１Ｈから受信する。なお、禁止信号Ｐは、路側機１で生成される構成でもよい。この構成の場合、管制サーバ２は、各路側機１が配置されている場所に適合した最新の禁止区画Ａの情報を所定のタイミングで各路側機１に送信する。路側機１Ｇと路側機１Ｈは、移動体３から受信した位置情報に基づいて、禁止区画Ａに移動体３が存在していれば禁止信号Ｐを生成し、生成した禁止信号Ｐを移動体３に送信する。 The wireless communication unit 32 of the mobile body 3 receives a plurality of prohibition signals P regarding restrictions on movement into the same prohibited area A from different processing units 10. In the example shown in FIG. 13, the wireless communication unit 32 receives a prohibition signal P regarding restriction of movement into the same prohibited zone A from the roadside device 1G and the roadside device 1H. Note that the prohibition signal P may be generated by the roadside device 1. In the case of this configuration, the control server 2 transmits to each roadside device 1 at a predetermined timing the latest information on the prohibited zone A that is suitable for the location where each roadside device 1 is located. Based on the position information received from the mobile object 3, the roadside device 1G and the roadside device 1H generate a prohibition signal P if the mobile object 3 exists in the prohibited area A, and send the generated prohibition signal P to the mobile object 3. Send to.
　移動体３の移動制御部３４０は、無線通信部３２によりあらかじめ定められた数の禁止信号Ｐを受信した場合に、禁止信号Ｐに対応した動作を行うように駆動部３５を制御してもよい。具体的には、あらかじめ定められた数が「１」の場合には、移動体３の移動制御部３４０は、禁止信号ＰＧまたは禁止信号ＰＨを受信した場合、駆動部３５を駆動するように制御する。また、あらかじめ定められた数が「２」の場合には、移動体３の移動制御部３４０は、禁止信号ＰＧおよび禁止信号ＰＨを受信した場合に、駆動部３５を駆動するように制御してもよい。このようにして、移動制御システムＳは、道路４を挟んで路側機１を互いに対向する位置に配置することにより、例えば、大型の移動体（例えば、トラックなど）と並走している場合などでも、一方の側に配置されている路側機１により対象となる移動体３の位置情報を確実に取得しすることができ、死角対策を図ることができる。また、移動制御システムＳは、同じ禁止区画Ａに対して異なる位置に複数の路側機１が配置されているため、いずれかの路側機１が故障した場合でも、他の路側機１により対象となる移動体３の位置情報を確実に取得しすることができ、機器の故障対策を図ることができる。 The movement control unit 340 of the mobile body 3 may control the drive unit 35 to perform an operation corresponding to the prohibition signal P when a predetermined number of prohibition signals P are received by the wireless communication unit 32. . Specifically, when the predetermined number is “1”, the movement control unit 340 of the moving body 3 controls the drive unit 35 to be driven when the prohibition signal PG or the prohibition signal PH is received. do. Further, when the predetermined number is "2", the movement control unit 340 of the moving body 3 controls the drive unit 35 to be driven when the prohibition signal PG and the prohibition signal PH are received. Good too. In this way, by arranging the roadside devices 1 at positions facing each other across the road 4, the movement control system S can be used, for example, when the roadside devices 1 are running parallel to a large moving object (such as a truck). However, the positional information of the target moving object 3 can be reliably acquired by the roadside device 1 disposed on one side, and blind spot countermeasures can be taken. In addition, in the movement control system S, since multiple roadside devices 1 are arranged at different positions for the same prohibited area A, even if any roadside device 1 breaks down, other roadside devices 1 It is possible to reliably acquire the position information of the moving body 3, and it is possible to take measures against equipment failure.
　１　路側機
　２　管制サーバ
　３　移動体
　１０　処理部（管制装置、第１管制装置）
　２０　処理部（管制装置、第２管制装置）
　３２　無線通信部
　３５　駆動部
　１１２　位置情報取得部
　１３０　信号出力処理部
　２３０　禁止区画情報管理部
　３１０　自己位置推定部
　３４０　移動制御部
　Ａ　禁止区画
　Ｐ　禁止信号
　Ｓ　移動制御システム 1 Roadside machine 2 Control server 3 Mobile body 10 Processing unit (control device, first control device)
20 Processing unit (control device, second control device)
32 Wireless communication unit 35 Drive unit 112 Position information acquisition unit 130 Signal output processing unit 230 Prohibited area information management unit 310 Self-position estimation unit 340 Movement control unit A Prohibited area P Prohibited signal S Movement control system

Claims (14)

  1. 　移動体の位置を示す位置情報を取得する位置情報取得部と、
    　前記位置情報と、前記移動体の移動が禁止される禁止区画を示す禁止区画情報とを比較し、その比較結果に基づいて前記禁止区画内における前記移動体の移動を禁止する禁止信号を出力する信号出力処理部と、を備え、
    　前記信号出力処理部は、前記比較結果に基づいて前記移動体が前記禁止区画内に存在するか否かを判定し、前記移動体が前記禁止区画内に存在すると判定した場合に、前記禁止信号を出力する管制装置。     a position information acquisition unit that acquires position information indicating the position of the mobile object;
    Compare the position information with prohibited zone information indicating a prohibited zone in which movement of the mobile object is prohibited, and output a prohibition signal that prohibits movement of the mobile object within the prohibited zone based on the comparison result. A signal output processing section;
    The signal output processing unit determines whether or not the mobile object is present in the prohibited zone based on the comparison result, and when it is determined that the mobile body is present in the prohibited zone, the signal output processing section outputs the prohibited signal. A control device that outputs.
  2. 　前記禁止区画情報には、前記禁止区画の周囲に設定される警報領域を示す情報が含まれ、
    　前記信号出力処理部は、前記比較結果に基づいて前記移動体が前記警報領域に存在するか否かを判定し、前記移動体が前記警報領域内に存在すると判定した場合に、前記移動体に対して該移動体が警報を発生する処理を実行させる警報信号を出力する請求項１に記載の管制装置。     The prohibited zone information includes information indicating a warning area set around the prohibited zone,
    The signal output processing unit determines whether or not the mobile object is present in the warning area based on the comparison result, and when it is determined that the mobile body is present in the warning area, the signal output processing unit 2. The control device according to claim 1, wherein the mobile body outputs an alarm signal that causes the moving body to execute a process of generating an alarm.
  3. 　前記移動体は自律移動可能な移動体である請求項１に記載の管制装置。 The control device according to claim 1, wherein the mobile body is a mobile body capable of autonomous movement.
  4. 　前記請求項１～３のいずれか１項に記載の管制装置の各構成要素を含む路側機であって、前記移動体が移動する道路上または道路脇に設置される路側機。 A roadside machine comprising each component of the control device according to any one of claims 1 to 3, the roadside machine being installed on or beside a road on which the moving body moves.
  5. 　移動体と無線通信可能とされており、それぞれ異なるエリアに設置される複数の第１管制装置と、複数の前記第１管制装置と通信可能に接続される第２管制装置と、を備える移動制御システムであって、
    　前記第２管制装置は、前記移動体の移動が禁止される禁止区画を示す禁止区画情報を生成し、複数の前記第１管制装置のそれぞれに送信する禁止区画情報管理部を有し、
    　前記第１管制装置は、前記移動体の位置を示す位置情報を取得する位置情報取得部と、
    　前記位置情報と、前記第２管制装置から受信した前記禁止区画情報とを比較し、その比較結果に基づいて前記禁止区画内における前記移動体の移動を禁止する禁止信号を出力する信号出力処理部と、を有し、
    　前記信号出力処理部は、前記比較結果に基づいて前記移動体が前記禁止区画内に存在するか否かを判定し、前記移動体が前記禁止区画内に存在すると判定した場合に、前記禁止信号を出力する移動制御システム。     A mobile control device that includes a plurality of first control devices that are capable of wireless communication with mobile objects and are installed in different areas, and a second control device that is communicably connected to the plurality of first control devices. A system,
    The second control device includes a prohibited zone information management unit that generates prohibited zone information indicating a prohibited zone in which movement of the mobile object is prohibited, and transmits the generated prohibited zone information to each of the plurality of first control devices,
    The first control device includes a position information acquisition unit that acquires position information indicating the position of the mobile object;
    a signal output processing unit that compares the position information with the prohibited zone information received from the second control device, and outputs a prohibition signal that prohibits movement of the mobile object within the prohibited zone based on the comparison result; and,
    The signal output processing unit determines whether or not the mobile object is present in the prohibited zone based on the comparison result, and when it is determined that the mobile body is present in the prohibited zone, the signal output processing section outputs the prohibited signal. A movement control system that outputs.
  6. 　前記禁止区画情報には、前記禁止区画内の周囲に設定される警報領域を示す情報が含まれ、
    　前記第１管制装置の前記信号出力処理部は、前記比較結果に基づいて前記移動体が前記警報領域に存在するか否かを判定し、前記移動体が前記警報領域内に存在すると判定した場合に、前記移動体に警報を発生させる処理を実行させる警報信号を出力する請求項５に記載の移動制御システム。     The prohibited zone information includes information indicating a warning area set around the prohibited zone,
    The signal output processing unit of the first control device determines whether or not the mobile object exists in the warning area based on the comparison result, and if it is determined that the mobile object exists in the warning area. 6. The movement control system according to claim 5, wherein the movement control system outputs an alarm signal that causes the moving body to execute a process of generating an alarm.
  7. 　前記第２管制装置の前記禁止区画情報管理部は、時間帯に応じて異なる前記禁止区画情報を生成する請求項６に記載の移動制御システム。 The movement control system according to claim 6, wherein the prohibited zone information management unit of the second control device generates the prohibited zone information that differs depending on the time zone.
  8. 　前記移動体は自律移動可能な移動体である請求項５～７のいずれか１項に記載の移動制御システム。 The movement control system according to any one of claims 5 to 7, wherein the mobile body is a mobile body capable of autonomous movement.
  9. 　前記移動体は設定された走行経路に沿って自動で走行する自動運転モードと、前記移動体を遠隔操作するための遠隔操作信号に基づいて走行する遠隔運転モードと、を含む運転モードを有し、
    　前記第２管制装置は、前記信号出力処理部によって前記禁止信号が出力された場合に、前記移動体の前記運転モードを前記遠隔運転モードに切り替える運転モード切替信号を出力するモード切替信号出力処理部を更に備える請求項８に記載の移動制御システム。     The mobile body has a driving mode including an automatic driving mode in which the mobile body automatically travels along a set travel route, and a remote driving mode in which the mobile body travels based on a remote control signal for remotely controlling the mobile body. ,
    The second control device includes a mode switching signal output processing unit that outputs a driving mode switching signal for switching the driving mode of the mobile object to the remote driving mode when the prohibition signal is outputted by the signal output processing unit. The movement control system according to claim 8, further comprising:.
  10. 　管制装置に含まれるコンピュータに、
    　移動体の位置を示す位置情報を取得する位置情報取得機能と、
    　前記位置情報と、前記移動体の移動が禁止される禁止区画を示す禁止区画情報とを比較し、その比較結果に基づいて前記禁止区画における前記移動体の移動を禁止する禁止信号を出力する信号出力処理機能と、を実行させ、
    　前記信号出力処理機能では、前記比較結果に基づいて前記移動体が前記禁止区画内に存在するか否かを判定し、前記移動体が前記禁止区画内に存在すると判定した場合に、前記禁止信号を出力するプログラム。     In the computer included in the control device,
    a location information acquisition function that obtains location information indicating the location of a moving object;
    A signal that compares the position information with prohibited zone information indicating a prohibited zone in which movement of the mobile object is prohibited, and outputs a prohibition signal that prohibits movement of the mobile object in the prohibited zone based on the comparison result. Execute the output processing function,
    The signal output processing function determines whether or not the moving object exists within the prohibited area based on the comparison result, and when it is determined that the mobile object exists within the prohibited area, outputs the prohibited signal. A program that outputs .
  11. 　管制装置が実行する移動制御方法であって、
    　移動体の位置を示す位置情報を取得する位置情報取得ステップと、
    　前記位置情報と、前記移動体の移動が禁止される禁止区画を示す禁止区画情報とを比較し、その比較結果に基づいて前記移動体の移動を禁止する禁止信号を出力する信号出力処理ステップと、を含み、
    　前記信号出力処理ステップでは、前記比較結果に基づいて前記移動体が前記禁止区画内に存在するか否かを判定し、前記移動体が前記禁止区画内に存在すると判定した場合に、前記禁止信号を出力する移動制御方法。     A movement control method executed by a control device, the method comprising:
    a position information acquisition step of acquiring position information indicating the position of the mobile object;
    a signal output processing step of comparing the position information with prohibited zone information indicating a prohibited zone in which movement of the mobile body is prohibited, and outputting a prohibition signal prohibiting movement of the mobile body based on the comparison result; , including;
    In the signal output processing step, it is determined whether or not the mobile object exists within the prohibited area based on the comparison result, and when it is determined that the mobile object exists within the prohibited area, the prohibited signal is output. A movement control method that outputs
  12. 　前記請求項１に記載の管制装置と通信を行う無線通信部と、
    　自己の位置を推定する自己位置推定部と、
    　駆動部と、
    　前記駆動部の駆動の制御を行う移動制御部と、を備え、
    　前記自己位置推定部は、前記無線通信部を利用して前記管制装置に推定した自己の位置情報を送信し、
    　前記移動制御部は、前記管制装置から送信されてきた禁止信号を前記無線通信部により受信した場合に、前記禁止信号に対応した動作を行うように前記駆動部を制御する移動体。     a wireless communication unit that communicates with the control device according to claim 1;
    a self-position estimating unit that estimates the self-position;
    A drive unit;
    a movement control section that controls driving of the drive section;
    The self-position estimating unit transmits the estimated self-position information to the control device using the wireless communication unit,
    The movement control unit controls the drive unit to perform an operation corresponding to the prohibition signal when the wireless communication unit receives the prohibition signal transmitted from the control device.
  13. 　前記無線通信部は、同じ禁止区画内への移動の規制に関する禁止信号を異なる管制装置から複数受信する請求項１２に記載の移動体。 The mobile object according to claim 12, wherein the wireless communication unit receives a plurality of prohibition signals regarding restriction of movement into the same prohibited area from different control devices.
  14. 　前記移動制御部は、前記無線通信部によりあらかじめ定められた数の禁止信号を受信した場合に、前記禁止信号に対応した動作を行うように前記駆動部を制御する請求項１３に記載の移動体。 The mobile body according to claim 13, wherein the movement control unit controls the drive unit to perform an operation corresponding to the prohibition signal when a predetermined number of prohibition signals are received by the wireless communication unit. .
PCT/JP2023/016290 2022-06-10 2023-04-25 Coordination device, roadside unit, movement control system, program, movement control method, and moving body WO2023238539A1 (en)

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JP2016181031A (en) * 2015-03-23 2016-10-13 株式会社デンソー Automatic travel control device or automatic travel control system
JP2018185675A (en) * 2017-04-26 2018-11-22 京セラ株式会社 Roadside machine, method for controlling roadside machine, and control program
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* Cited by examiner, † Cited by third party
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JP2016181031A (en) * 2015-03-23 2016-10-13 株式会社デンソー Automatic travel control device or automatic travel control system
JP2018185675A (en) * 2017-04-26 2018-11-22 京セラ株式会社 Roadside machine, method for controlling roadside machine, and control program
WO2020189651A1 (en) * 2019-03-19 2020-09-24 株式会社小松製作所 Worksite management system and worksite management method

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