Managing system

Abstract

To achieve an excellent reduction of energy consumption by a plurality of movable body.SOLUTION: According to this management system, in the arrival expected times at which a plurality of movable bodies are respectively expected to reach the destination, the latest time is defined as a reference time. Next, for each of the one or more movable bodies except the movable body expected to reach the destination at the reference time among the plurality of movable bodies, a running route and a running speed are set in such a way that the arrival expected time becomes close to the reference time and the energy consumption is reduced. Hence, the reduction of the energy consumption by the plurality of movable bodies as a whole can be achieved well.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a management system for managing the movement of a mobile object. [Background technology]

[0002] Patent Document 1 describes a driving state control device that compares the desired arrival time at a destination with the estimated arrival time for each of a plurality of vehicles, and controls the driving state of each of the plurality of vehicles based on the comparison results. In the driving state control device, when the estimated arrival time is later than the desired arrival time for each of the plurality of vehicles, a speed limit upper limit mode is set and the travel pace is increased, and when the estimated arrival time is earlier than the desired arrival time, a fuel saving driving mode is set and the travel pace is decreased. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-39592 Summary of the Invention

[0004] [Problem to be solved by the invention]

[0005] An object of the present invention is to effectively reduce the energy consumption of a plurality of moving objects. [Means for solving the problem]

[0006] In the management system according to the present invention, the latest of the estimated arrival times at which each of the multiple moving bodies is expected to arrive at the destination is set as a reference time. Then, for each of the multiple moving bodies, except for the moving body that is expected to arrive at the destination at the reference time, a travel route to the destination and a travel speed are determined so that the estimated arrival time approaches the reference time and energy consumption is reduced. This makes it possible to effectively reduce the energy consumption of the multiple moving bodies as a whole. [Brief description of the drawings]

[0007] [Figure 1] 1 is a plan view showing a schematic view of an area in which a plurality of moving objects move in a management system according to an embodiment of the present invention; [Diagram 2] 2 is a diagram conceptually illustrating the plurality of moving objects and a management device included in the management system. FIG. [Diagram 3] 11 is a diagram for explaining a method of acquiring an estimated arrival time in the management system. FIG. [Figure 4] 4A is a diagram showing an example of a method for determining the driving route. (4A) is a diagram showing an example of a provisionally determined driving route. (4B) is a diagram showing an example of a driving route determined by bringing the estimated arrival time closer to a reference time and reducing energy consumption. [Diagram 5] 4 is a flowchart showing a driving route etc. determination program stored in a management device of the management system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A management system according to an embodiment of the present invention will be described in detail below with reference to the drawings. The management system includes a management device M. The movements of a plurality of moving objects V are managed by the management device M. EXAMPLES

[0009] As shown in Fig. 1, area α is a predetermined area, and may be, for example, a factory, private property, etc. It is considered that no general pedestrians other than known people and no general moving objects other than known moving objects exist within area α.

[0010] Within the region α, multiple moving bodies v (v1, v2, v3, ...) are performing tasks such as transporting luggage. Each of the multiple moving bodies v moves to a destination E, which is set in common for the multiple moving bodies v. At destination E, the multiple moving bodies v each hand over and receive luggage. After handing over the luggage, the multiple moving bodies v usually move on to the next destination. Therefore, it is desirable for each of the multiple moving bodies v to have a short waiting time at destination E. It is also desirable for the multiple moving bodies v to consume as little energy as possible during their work.

[0011] A plurality of paths R are provided inside the area α. A point where two or more of the paths R intersect is an intersection N, and the intersection N is called a node N. A plurality of nodes N (nodes N1, N2, N3, etc.) exist inside the area α.

[0012] Each of the multiple moving bodies v may be, for example, an automatic guided vehicle v capable of traveling without a human driver. The multiple moving bodies v travel along a passage R inside the area α. The travel route of each of the multiple moving bodies v usually includes multiple nodes N. The multiple nodes N include at least one of a corner node where the moving body v turns and a straight node where the moving body v travels straight.

[0013] Each of the multiple moving bodies v includes a traveling device 15 including a driving device 10, a braking device 12, a steering device 14, etc., as shown in Fig. 2. The driving device 10 includes an electric motor 16. The moving body v is driven by the electric motor 16. The traveling state of the moving body v is controlled by controlling the traveling device 15.

[0014] The mobile body v also includes a task execution unit 18, a surrounding environment acquisition device 20, a GPS receiver 22, an inertial measurement unit 24, a mobile body communication device 26, a mobile body ECU 28, etc. The task execution unit 18 includes, for example, one or more arms (not shown) and performs tasks such as delivery and receipt of luggage using the arms, etc. The task execution unit 18 is controlled by the mobile body ECU 28 based on a predetermined task plan.

[0015] The surrounding environment acquisition device 20 includes a laser, a camera as an imaging device, etc. The surrounding environment acquisition device 20 acquires objects and the like located around the moving body v, and acquires the relative positional relationship between the moving body v and the objects.

[0016] The GPS (Global Positioning System) receiver 22 is an example of a GNSS (Global Navigation Satellite System) receiver. The GPS receiver 22 receives and processes GPS signals. In this embodiment, the current position of the moving object v is obtained based on the GPS signals received by the GPS receiver 22.

[0017] The inertial measurement device 24 detects acceleration and the like as inertial forces acting in the forward / backward, lateral, and upward / downward directions of the moving body v. Based on the detection values ​​by the inertial measurement device 24, it is possible to obtain the traveling speed and the like of the moving body v in the forward / backward direction.

[0018] The mobile communication device 26 is capable of wirelessly transmitting and receiving information. The mobile communication device 26 transmits mobile information and receives management information transmitted from the management device M. The mobile information is generated in the mobile ECU 28.

[0019] The mobile object ECU 28 is mainly a computer. The mobile object ECU 28 includes an execution unit, a storage unit, an input / output unit, etc. The surrounding environment acquisition device 20, the GPS receiver 22, the inertial measurement device 24, the mobile object communication device 26, the task execution unit 18, the traveling device 15, etc. are connected to the input / output unit of the mobile object ECU 28. In addition, the mobile object information creation unit 30, the traveling state control unit 32, the task execution unit control unit 34, etc. included in the mobile object ECU 28 each include an execution unit, a storage unit, an input / output unit, etc.

[0020] The mobile object information creation unit 30 creates mobile object information. The mobile object information includes position information, status information, work information, identification information ID, etc. The position information is information that indicates the current position of the mobile object v, and is acquired, for example, based on a GPS signal received by the GPS receiver 22. The status information includes information that indicates the running state of the mobile object v itself (mobile object v), such as its running speed, and information that indicates its loading state. The work information is information that indicates the progress of the mobile object v's own work, etc. When the mobile object v moves, the progress can be represented by the current position, etc. The identification information ID is stored in advance in the storage unit. The mobile object information created in the mobile object information creation unit 30 is output to the mobile object communication device 26 and transmitted.

[0021] The traveling state control unit 32 controls the traveling device 15 and controls the traveling state of itself (the moving body v). The traveling state control unit 32 controls the traveling device 15 based on a command transmitted from the management device M. The work execution unit control unit 34 controls the work execution unit 18 based on the work content determined by a predetermined work plan.

[0022] The management device M includes a management ECU 50 and a management communication device 52 .

[0023] The management communication device 52 communicates with each of the mobile communication devices 26 of the multiple mobile objects v. The management communication device 52 transmits management information created in the management ECU 50 and receives mobile object information transmitted by each of the mobile communication devices 26.

[0024] The management ECU 50 is mainly a computer, and includes an execution unit, a storage unit, an input / output unit, etc. A management communication device 52 is connected to the input / output unit of the management ECU 50. The management ECU 50 also includes a driving route etc. determination unit 60, a target stop position determination unit 62, a traveling-permitted area management unit 64, a management information creation unit 68, etc. Each of the driving route etc. determination unit 60, the target stop position determination unit 62, the traveling-permitted area management unit 64, the management information creation unit 68, etc. includes an execution unit, a storage unit, an input / output unit, etc.

[0025] The target stop position determination unit 62 determines a stop position at the destination E for each of the multiple moving bodies v. The stop position for each of the multiple moving bodies v can be determined to be, for example, a position suitable for handing over luggage.

[0026] The travel-permitted area management unit 64 manages the travel-permitted areas, which are areas where travel is permitted, at each of a plurality of nodes (intersections) N within the area α. There are no traffic lights at each of the nodes N within the area α. Therefore, at each node N, traffic control is carried out when there is a possibility that two or more moving bodies v may enter.

[0027] For example, when there is a possibility that two or more moving bodies v may enter a node N, a travel-permitted area determined according to a predetermined rule is set for each of the two or more moving bodies v. Each of the two or more moving bodies v passes through the node N according to the set travel-permitted area. The two or more moving bodies v may pass through the node N in order, or may pass through the node N at approximately the same time. In any case, the two or more moving bodies v can pass through the intersection (node) N without interfering with each other. Note that each of the two or more moving bodies v may be stopped temporarily before the node N. The travel-permitted areas may be set in order based on, for example, priority order or the like.

[0028] The travel route etc. determination unit 60 determines, for each of the multiple moving bodies v, a travel route from the current position to the destination E, the maximum speed and maximum acceleration on the travel route, etc. In this embodiment, acceleration also includes deceleration. The maximum speed is the maximum permitted speed permitted when traveling along the travel route, and the maximum acceleration is the maximum permitted acceleration permitted when traveling along the travel route. Hereinafter, the determined travel route, maximum speed, maximum acceleration, etc. are collectively referred to as the travel route etc. The moving body v travels along the travel route so that the actual travel speed and acceleration do not exceed the maximum speed and maximum acceleration. Note that the maximum acceleration refers to the acceleration with the largest absolute value.

[0029] The driving route etc. determination unit 60 includes a driving route etc. tentative determination unit 70, an estimated arrival time acquisition unit 72, a driving route etc. redetermining unit 74, and the like.

[0030] The travel route etc. provisional determination unit 70 provisionally determines a travel route for each of a plurality of moving bodies v. For example, the travel route etc. provisional determination unit 70 can determine a route (which can be referred to as a shortest time route hereinafter) that requires the shortest time to travel from the current position to the destination E (hereinafter referred to as a required time to the destination E) as the travel route. The shortest time route is a route determined according to a predetermined algorithm. The shortest time route can be a route determined by, for example, the Dijkstra algorithm or the like.

[0031] The maximum speed can be determined as the speed limit of the passage R included in the travel route. The maximum acceleration is a value determined based on the maximum speed, and is set to a larger value when the maximum speed is high than when it is low. The maximum acceleration can be determined taking into consideration the shape of the shortest time route.

[0032] The shortest time route may be a route that satisfies one or more of a number of conditions including, for example, the following (a), (b), and (c).

[0033] (a) The number of corner nodes N that each of the multiple moving objects v passes through before arriving at the destination E is small. When the moving object v turns at a corner node N, the moving object v usually decelerates, turns at a constant speed, and then accelerates. Therefore, when the moving object v turns at a corner node N, the time required to reach the destination E is longer than when the moving object v travels through a straight node N.

[0034] (b) The distance along the travel route from the current position to destination E (hereinafter simply referred to as the travel distance) is short. When the travel distance is long, the time required to reach destination E is longer than when the travel distance is short.

[0035] (c) There is a low possibility that each of the multiple moving objects v will approach an obstacle. An obstacle is often another moving object performing work within the area α, for example. If an obstacle is approached while traveling along the travel route, it is necessary to wait until the obstacle leaves the route. This increases the time required to reach the destination E.

[0036] The method of determining the shortest time route, the maximum speed, and the maximum acceleration in this embodiment are merely examples, and the method of determining the shortest time route, the maximum speed, and the maximum acceleration is not important. Similarly, the method of redetermining the travel route, etc., which will be described later, is also not important.

[0037] The estimated arrival time acquisition unit 72 acquires an estimated arrival time, which is the time when each of the multiple moving bodies v is expected to arrive at the destination E. The estimated arrival time is acquired based on the travel route, etc. provisionally determined by the travel route, etc. provisional determination unit 70. The estimated arrival time can be acquired based on the current time, which is the current time, and the required time to the destination E. The required time to the destination E can be acquired based on the travel distance K, the maximum speed Vh, the maximum acceleration αh, the turning speed Vw when traveling at a constant speed on the cornering machine N, and the required time ts, etc.

[0038] An example of determining the predicted arrival time will be described with reference to FIG. As shown in Fig. 3, the travel distance K is divided into distances Kp1, Kp2, Kp3, and Kp4 during acceleration and distances Kq1, Kq2, and Kq3 during constant speed travel. The sum of these distances is the travel distance K, and the required time to the destination E is obtained. The travel distance K is known. As shown in the formula below, distance Kp1 is the distance during acceleration from the current position until the maximum speed Vh is reached. Distance Kp2 is the distance during deceleration before turning Corner Noise N. Distance Kp3 is the distance during acceleration after turning Corner Noise N. Distance Kp4 is the distance during deceleration when stopping at the stopping position. These can be calculated based on the initial speed (0, Vh, Vw, Vh), final speed (Vh, Vw, Vh, 0), acceleration (α1, α2, α3, α4), etc. Acceleration α1, α2, α3, α4 can be set to the maximum acceleration αh.

[0039] Kp1=Vh 2 / (2*α1) Kp2=(Vw 2 -Vh 2 ) / (2*α2) Kp3=(Vh 2 -Vw 2 ) / (2*α3) Kp4=(-Vh 2 ) / (2*α4)

[0040] The distances Kq1 and Kq3 during constant speed travel are distances during constant speed travel at the speed limit, and the distance Kq2 is distance during constant speed travel when turning. The distances can be obtained based on the travel speed and time.

[0041] Kq1=Vh*t1 Kq2=Vw*ts Kq3=Vh*t2

[0042] K = ΣKpi + ΣKqj

[0043] From the above equation, the sum of times t1 and t2 can be obtained. On the other hand, times t3, t4, t5, and t6 during acceleration can be obtained based on the above-mentioned final velocity, initial velocity, and acceleration according to the following formula.

[0044] t3=Vh / α1 t4=(Vw-Vh) / α2 t5=(Vh-Vw) / α3 t6=-Vh / α4

[0045] From the above, the required time te to the destination E can be obtained according to the following formula. In addition, the expected arrival time Ta can be obtained based on the current time and the required time te to the destination E.

[0046] te=Σti+ts

[0047] The travel route etc. redetermining unit 74 compares the estimated arrival times Ta of the multiple moving bodies v and determines the latest time as the reference time Tb. Then, for the moving body v with the latest estimated arrival time Ta, the travel route etc. determined by the travel route etc. tentative determining unit 70 is redetermined (confirmed) as the travel route etc. of the moving body v.

[0048] Furthermore, for each of one or more moving bodies v among the multiple moving bodies v whose estimated arrival time Ta is earlier than the reference time Tb, the driving route, etc. are redetermined so that the estimated arrival time Ta approaches the reference time Tb and the power consumption as the energy consumption is reduced. One or more of the driving route, maximum speed, maximum acceleration, etc. determined by the driving route, etc. provisional determination unit 70 are changed, and the changed driving route, maximum speed, maximum acceleration, etc. are redetermined.

[0049] In this embodiment, the travel route, maximum speed, maximum acceleration, etc. are determined so that power consumption is minimized within a range in which the predicted arrival time Ta is not later than the reference time Tb. Also, when the drive device 10 includes the electric motor 16, the slower the travel speed, the less power consumption as energy consumption. Also, the fewer the number of accelerations and decelerations and the smaller the maximum acceleration, the less power consumption.

[0050] In the management system configured as above, a travel route etc. determination program shown in the flowchart of Fig. 5 is executed in the management device M. The travel route etc. determination program is executed before the departure of the multiple moving objects v.

[0051] In step 1 (hereinafter abbreviated as S1, the same applies to other steps), a driving route etc. provisional determination unit 70 provisionally determines the shortest time route etc. to a destination E for each of the multiple moving bodies v. In addition, an estimated arrival time acquisition unit 72 acquires an estimated arrival time Ta for each of the multiple moving bodies v based on the shortest time route etc.

[0052] In S2, the latest of the estimated arrival times Ta for each of the multiple moving bodies v is set as the reference time Tb, and for that moving body (v3), the shortest time route or the like is re-determined as the travel route or the like. In S3, for each of one or more moving bodies v1, v2, v4,..., excluding the moving body v3, from the multiple moving bodies v, a time difference ΔT between each of the estimated arrival times Tb and the reference time Ta is acquired. In other words, for each of the one or more moving bodies v1, v2, v4,..., among the multiple moving bodies v, whose estimated arrival times Ta are earlier than the reference time Tb, a time difference ΔT is acquired.

[0053] In S4, the travel route etc. redetermining unit 74 redetermines the travel route etc. for each of one or more moving bodies v so that the time difference ΔT is equal to or less than 0 and the power consumption is minimized. The shortest time route etc. is changed and determined.

[0054] An example of determining a driving route etc. is shown in Fig. 4. Fig. 4A shows an example of a case where a driving route etc. is provisionally determined to be the shortest time and distance. Fig. 4B shows an example of a case where a driving route etc. is redetermined.

[0055] In FIG. 4A, it is assumed that a moving object v1 travels along a route R1 from a current position to a destination E. A moving object v5 (an example of an obstacle) is stopped on a portion R11 of the route R1 and is performing a task. When the moving object v1 travels along the route R1, there is a high possibility that the moving object v1 will approach the moving object v5. Therefore, the moving object v1 needs to stop temporarily in front of the obstacle v5, which increases the time required to reach the destination E.

[0056] In contrast, there are no obstacles such as the mobile unit v5 on the detour route R12 that detours around the portion R11. Therefore, the time te required to reach the destination E via the detour route R12 is shorter than that via the portion R11. Therefore, in this embodiment, a route R1' that passes through the detour route R12 is set as the shortest route for the mobile unit v1. However, the route R1' that includes the detour route R12 consumes more power than the route R1 due to a larger number of corner nodes and a longer travel distance.

[0057] For example, in Figure 1, for a moving body v1, route RA that reaches destination E via nodes N4, N5, and N6 corresponds to route R1, and route RB that reaches destination E via nodes N4, N5, N8, and N9 corresponds to route R1'.

[0058] 4A, the route R2 is assumed for the moving object v2. However, at an intersection (corner rout) Nk included in the portion R21 of the route R2, there is a high possibility that other moving objects v6 and v7 will enter the intersection Nk at approximately the same time as the moving object v2. Therefore, there is a possibility that the moving object v2 will be stopped for a long time just before the intersection Nk.

[0059] In contrast, at an intersection (corner noose) Nr included in the detour route R22 that detours around the portion R21, it is unlikely that another moving body v will enter the intersection Nr at approximately the same time. Therefore, it is considered that the route R2' that passes through the detour route R22 will have more corner nooses and consume more power than the route R2 that includes the portion R21, but will have a shorter required time te to reach the destination E. Therefore, in this embodiment, the route R2' is set as the shortest time route.

[0060] For the moving body v3 and the moving body v4, routes R3 and R4 which have the shortest travel distance from the current position to the destination E are set as the shortest time routes, respectively.

[0061] Then, the estimated arrival times at which each of the moving bodies v1, v2, v3, and v4 is expected to arrive at the destination E when it travels to the destination E along the shortest time routes R1', R2', R3, and R4, respectively, are acquired as described above. The latest of the estimated arrival times of each of the moving bodies v1, v2, v3, and v4 is set as the reference time. If the estimated arrival time e:f of the moving body v3 is the latest, the estimated arrival time e:f is set as the reference time. Then, for each of the moving bodies v1, v2, and v4 that arrive at the destination E before the reference time e:f, at least a part of the provisionally determined travel route, etc. is changed, and the travel route, etc. is redetermined.

[0062] As shown in FIG. 4B, the travel route of the moving body v1 is changed from route R1' to route R1. Compared to route R1', route R1 has a shorter travel distance and a smaller number of corner nodes N. In addition, the maximum speed and maximum acceleration can be changed to values ​​smaller than the maximum speed and maximum acceleration determined by the provisional travel route etc. determination unit 70. Therefore, even if the moving body v1 approaches the moving body v5 in the portion R11 and is temporarily stopped, the power consumption can be reduced and the estimated arrival time can be brought closer to the reference time e:f, compared to the case of traveling along route R1'.

[0063] Furthermore, if the maximum speed and maximum acceleration are determined to be such that the moving body v1 approaches the portion R11 after the moving body v5 has left, the moving body v1 does not need to stop once, which makes it possible to further reduce power consumption.

[0064] The same is true for the moving body V2, and the travel route for the moving body V2 is changed from route R2' to route R2 and is determined. Even if the moving body v2 is stopped before the corner hole Nk, the maximum speed and maximum acceleration are reduced, so that the power consumption of the moving body v2 can be reduced and the estimated arrival time can be brought closer to the reference time.

[0065] Furthermore, if the maximum speed and maximum acceleration are determined to be such that the moving body v2 approaches the corner hole Nk after other moving bodies v6 and v7 have passed through the corner hole Nk, power consumption can be further reduced.

[0066] For the moving body V4, the travel route R4 is not changed, but the maximum speed and maximum acceleration are changed to values ​​smaller than those determined by the tentative travel route etc. determination unit 70. The maximum speed and maximum acceleration can be determined to small values ​​so that the estimated arrival time Ta for the moving body v4 approaches the reference time Tb within a range that is not later than the reference time Tb. This makes it possible to effectively reduce power consumption.

[0067] The travel of the multiple moving bodies v is managed based on the travel routes and the like determined as described above. In the management device M, the position of each of the multiple moving bodies v is acquired based on the moving body information. Then, management information including the travel route and the like determined based on the position of each of the multiple moving bodies v and the travel route and the like determined by the travel route and the like determination unit 60 is created and transmitted. Each of the moving bodies v controls the travel device 15 based on the travel route and the like included in the management information, and travels along the travel route.

[0068] In addition, when the management device M determines that it is necessary to change the driving route, etc. based on the position, etc. of the moving body obtained based on the moving body information, the driving route, etc. is changed as appropriate, and management information including the changed driving route, etc. is created and transmitted.

[0069] In this way, in this embodiment, the travel route etc. of each of the multiple moving bodies v is determined so that the estimated arrival time Ta approaches the reference time Tb and power consumption is minimized. Therefore, when moving to a destination, it is possible to effectively reduce the power consumption of the multiple moving bodies v. In addition, since the reference time Tb is set to the latest time among the estimated arrival times of each of the multiple moving bodies v, it is possible to effectively bring the estimated arrival time Ta of each of one or more moving bodies v close to the reference time Tb, and it is possible to effectively reduce power consumption.

[0070] In contrast, in the management system described in Patent Document 1, the moving pace of a moving object whose estimated arrival time is earlier than the desired arrival time is slowed down, so it is possible to reduce energy consumption. However, for a moving object whose estimated arrival time is later than the desired arrival time, the moving pace is increased, so it may be difficult to reduce energy consumption. For these reasons, in the management system of this embodiment, it is possible to reduce energy consumption better than in the management system described in Patent Document 1.

[0071] In the management system described in Patent Document 1, as described in paragraph

[0026] , the travel route provisional determination unit provisionally determines the travel route, etc. of each of the multiple moving bodies so that the estimated arrival time approaches the desired arrival time. The estimated arrival time is acquired based on the provisionally determined travel route, etc. Therefore, for a moving body whose estimated arrival time is later than the desired arrival time, depending on the speed limit, etc., preset on the travel route, it may be difficult to speed up the moving pace and make the estimated arrival time earlier.

[0072] In contrast, in this embodiment, the estimated arrival time Ta is acquired based on the shortest time route or the like, and the latest of the estimated arrival times Ta acquired for each of the multiple moving bodies v is set as the reference time Tb. Therefore, it is possible for all of the multiple moving bodies v to arrive at the destination E by the reference time Tb. In other words, the reference time Tb can be determined as the earliest time at which all of the multiple moving bodies v can arrive at the destination E. This makes it possible to improve work efficiency while shortening the waiting time for each of the multiple moving bodies v.

[0073] In this embodiment, the driving route etc. determination unit is constituted by the part of the management ECU 50 that stores and executes the driving route etc. determination program represented in the flowchart of Figure 5, and among these, the part that executes S1, the part that stores the program etc. constitutes the driving route etc. provisional determination unit and the estimated arrival time acquisition unit.

[0074] It is not essential that the driving route etc. redetermining unit 74 changes and determines both the driving route and the maximum speed; it is also possible to leave either the driving route or the maximum speed unchanged and change the other.

[0075] In the above embodiment, the maximum speed and maximum acceleration are set to the minimum values ​​so that the estimated arrival time is not later than the reference time, but the maximum speed and maximum acceleration can be set to the minimum values ​​so that the time difference ΔT obtained by subtracting the reference time from the estimated arrival time is smaller than a predetermined positive set value. It does not matter if the moving bodies v1, v2, and v4 arrive slightly later than the moving body v3.

[0076] Furthermore, in the above embodiment, the driving route, etc., was redetermined based on the estimated arrival time, the reference time, etc., but the time with the longest time required to reach destination E can be set as the reference time, and the driving route, etc. can be redetermined for each of one or more moving bodies v whose required time to reach destination E is shorter than the reference time so that the required time to reach destination E approaches the reference time and power consumption is reduced.

[0077] In addition, the present invention can be embodied in various forms with various modifications and improvements based on the knowledge of those skilled in the art. [Explanation of symbols]

[0078] 12: Electric motor 28: Mobile ECU 50: Management ECU 52: Management device communication device 60: Travel route etc. determination unit 70: Travel route etc. provisional determination unit 72: Estimated arrival time acquisition unit 74: Travel route etc. redetermining unit Patentable invention

[0079] (1) A management system for managing the movement of a plurality of moving objects, comprising: For each of the plurality of moving bodies, an estimated arrival time is obtained at which the moving body is expected to arrive at the destination, and the latest of these estimated arrival times is set as a reference time; A management system including a driving route determination unit that determines a driving route and a driving speed to the destination for each of one or more moving bodies among the multiple moving bodies whose estimated arrival time is before the reference time, so that the estimated arrival time approaches the reference time and energy consumption is reduced.

[0080] (2) A management system for managing the movement of a plurality of moving objects, comprising: provisionally determining a travel route and a travel speed to a destination for each of the plurality of moving objects; acquiring an estimated time of arrival at which each of the plurality of moving objects is expected to arrive at the destination based on the provisionally determined travel route and the travel speed; a latest time among the predicted arrival times acquired for each of the plurality of moving bodies is set as a reference time; A management system including a driving route determination unit that, for each of one or more moving bodies among the multiple moving bodies whose estimated arrival time is earlier than the reference time, changes at least one of the provisionally determined driving route and the driving speed, and re-determines the driving route and the driving speed so that the estimated arrival time approaches the reference time and energy consumption is reduced.

[0081] In many cases, the current positions of the multiple moving bodies are different from one another, and the multiple moving bodies depart from their current positions at approximately the same time (approximately simultaneously).

[0082] The estimated time of arrival at each of the multiple moving bodies at the destination is obtained based on the current time and the time required to travel from the current position to the destination (required time to the destination). Therefore, the acquisition of the estimated time of arrival is intended to include the acquisition of the required time to the destination. Also, an earlier estimated time of arrival corresponds to a shorter required time to the destination.

[0083] (3) The management system according to (1) or (2), wherein the driving route determination unit determines the driving speed to be a maximum speed that is the highest speed permitted on the driving route.

[0084] (4) A management system described in any one of (1) to (3), wherein the driving route determination unit determines a maximum acceleration, which is the maximum acceleration permitted when each of the multiple moving bodies travels along the driving route, based on at least one of the driving route and the driving speed.

[0085] (5) A management system as described in any one of (1) to (4), wherein the driving route etc. determination unit provisionally determines, for each of the plurality of moving bodies, a driving route and a driving speed to the destination so as to minimize a required time, which is the time required for the moving body to travel to the destination, and includes an estimated arrival time acquisition unit that acquires, for each of the plurality of moving bodies, an estimated arrival time at which the moving body is predicted to reach the destination based on the provisionally determined driving route and driving speed.

[0086] (6) The management system described in (5), wherein the estimated arrival time acquisition unit includes a provisional driving route etc. determination unit that provisionally determines the driving route and the driving speed based on one or more of the number of corner nodes to the destination, the possibility of approaching an obstacle, and a driving distance, which is the distance along the driving route between the current position and the destination.

[0087] The technical features described in this section can be applied to cases such as redetermining a driving route, etc.

[0088] (7) The travel route etc. determination unit provisionally determines a travel route and a travel speed to the destination for each of the plurality of moving objects, acquiring the estimated arrival time for each of the plurality of moving bodies based on the provisionally determined travel route and the travel speed; The management system described in any one of items (1) to (6) above, for each of one or more moving bodies among the plurality of moving bodies whose estimated arrival time is earlier than the reference time, changes at least one of the provisionally determined driving route and the driving speed, and redetermines the driving route and the driving speed so as to minimize energy consumption within a range in which the estimated arrival time is not later than the reference time.

[0089] (8) The travel route etc. determination unit provisionally determines a travel route and a travel speed to the destination for each of the plurality of moving objects, acquiring the estimated arrival time for each of the plurality of moving bodies based on the provisionally determined travel route and the travel speed; The management system described in any one of items (1) to (7) above, for each of one or more of the multiple moving bodies whose estimated arrival time is earlier than the reference time, changes at least one of the provisionally determined driving route and the driving speed, and redetermines the driving route and the driving speed so that energy consumption is minimized within a range in which a time difference, which is the value obtained by subtracting the reference time from the estimated arrival time, is less than or equal to a positive set value.

[0090] It is acceptable for some mobile objects to arrive at the destination slightly later than the reference time.

[0091] (9) The management system according to any one of (1) to (8), wherein the driving route determination unit determines the driving route for each of the plurality of moving bodies before the departure of the plurality of moving bodies.

[0092] (10) The management system according to any one of (1) to (9), wherein each of the plurality of moving bodies includes a drive device that consumes less energy as the traveling speed becomes slower. Each of the moving bodies is an electrically powered moving body and includes a drive device equipped with an electric motor.

[0093] (11) A management system for managing the movement of a plurality of moving objects, comprising: a travel route determination unit that determines a travel route and a travel speed of each of the plurality of moving objects; The travel route etc. determination unit, a travel route etc. provisional determination unit that provisionally determines a travel route and a travel speed to a destination for each of the plurality of moving objects; an estimated arrival time acquisition unit that acquires an estimated arrival time at which each of the plurality of moving bodies is estimated to arrive at the destination, based on the travel route and the travel speed for each of the plurality of moving bodies determined by the travel route etc. provisional determination unit; a travel route etc. redetermining unit that, using the latest time among the multiple estimated arrival times acquired by the estimated arrival time acquisition unit as a reference time, changes at least one of the travel route and the travel speed determined by the travel route etc. tentative determination unit so that each of the estimated arrival times approaches the reference time and energy consumption is reduced for each of one or more moving bodies among the multiple moving bodies whose estimated arrival times are earlier than the reference time, and redetermines the travel route and the travel speed; A management system including

[0094] The management system described in this section may employ any of the technical features described in (1) to (10).

Claims

1. A management system for managing the movement of a plurality of moving objects, For each of the plurality of moving bodies, an estimated arrival time is obtained at which the moving body is expected to arrive at the destination, and the latest of these estimated arrival times is set as a reference time; A management system including a driving route determination unit that determines a driving route and driving speed to the destination for each of one or more moving bodies among the plurality of moving bodies whose estimated arrival time is before the reference time, so that the estimated arrival time approaches the reference time and energy consumption is reduced.

2. The management system according to claim 1 , wherein the driving route determination unit determines the driving speed to be a maximum speed that is a maximum speed permitted on the driving route.

3. 3. The management system of claim 1 or 2, wherein the driving route etc. determination unit provisionally determines a driving route and driving speed to the destination for each of the plurality of moving bodies so as to minimize a required time, which is the time required to drive to the destination, and includes an estimated arrival time acquisition unit that acquires, for each of the plurality of moving bodies, an estimated arrival time at which the moving body is predicted to reach the destination based on the provisionally determined driving route and driving speed.

4. the travel route etc. determination unit provisionally determines a travel route and a travel speed to the destination for each of the plurality of moving bodies; acquiring the estimated arrival time for each of the plurality of moving bodies based on the provisionally determined travel route and the travel speed; 3. The management system of claim 1 or 2, wherein for each of one or more of the plurality of moving bodies whose estimated arrival time is earlier than the reference time, at least one of the provisionally determined driving route and the driving speed is changed so as to minimize energy consumption within a range in which the estimated arrival time is not later than the reference time, and the driving route and the driving speed are redetermined.

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