Operation control system and operation control method for moving body

Abstract

To provide an operation control system that prevents a collision with a preceding moving body, an obstacle, or the like, by easily acquiring position information without using a dedicated transponder, thereby eliminating the need for route information to be possessed on the moving body side and for high processing performance in a control part of the moving body.SOLUTION: An operation control system for a moving body includes a moving body control part mounted on the moving body to control the moving body, and a base side control part arranged on a base side to exchange information with the moving body. The moving body control part acquires absolute position information of the moving body from at least latitude and longitude information of a travel position of the moving body received from the outside and transmits the absolute position information to the base side control part. The moving body control part also creates a speed limit pattern of the moving body on the basis of instruction information transmitted from the base side control part. The base side control part calculates residual distance information up to a hindrance point that may cause hindrance to travel of the moving body on the basis of the absolute position information pf the moving body transmitted from the moving body control part, and transmits instruction information including the residual distance information to the moving body control part.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a driving control system and a driving control method for a moving body, and performs control to prevent collision with a preceding moving body or a facility.

Background Art

[0002] In a moving body such as a railway vehicle, travel control is performed by a signal system to prevent collision with a preceding moving body. Various methods have been proposed for this signal system. As one method, there is a method of grasping the position information of the moving body on the base side using a track circuit or the like, and then transmitting the allowable speed information at that location to the moving body. According to this method, a mechanism for detecting the location of the moving body such as a track circuit is required, and it has the drawback that the introduction cost and maintenance cost of the equipment are high.

[0003] To solve this problem, a technology called "CBTC (Communications-Based Train Control)" has been proposed. This technology divides the running route into virtual blocks, expresses the position of the moving body by the name of the block and the position within the block, and then communicates with a transponder installed in the block by short-range wireless communication. The moving body recognizes the block and the position within the block indicated by the transponder, and based on that position, the moving body indicates its own in-track position to the base, so that the base can recognize the in-track of the moving body.

[0004] In addition, when acquiring the position information of the moving body, instead of a dedicated transponder, "GNSS (Global Navigation Satellite System)" can be used. Here, what is described as GNSS refers to satellite positioning systems such as "GPS (Global Positioning System)" developed by the United States, "GLONASS" developed by Russia, "Galileo" developed by Europe, "Beidou" developed by China, and "Michibiki" developed by Japan.

Prior Art Documents

Patent Document

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the case of a general CBTC system, it is necessary for both the moving body side and the base side to possess common route information including virtual block information, and a dedicated transponder is required. As a result, not only is the equipment introduction cost high, but also the update of route information such as when changing the route shape becomes complicated. Furthermore, for the transponder, since it is necessary to output information that directly or indirectly indicates that the moving body is at a predetermined block and the position within the block, there is a need to define information dedicated to this system and a need to install a transponder at that position.

[0007] In addition, since the handling of route information data on the moving body side becomes complicated, the control unit on the moving body side requires relatively high processing performance. Moreover, it is necessary for the moving body side to possess the route information of the relevant route. In many cases, this route information is held as a database, so data search processing is required, increasing the processing burden on the moving body side. Conversely, a moving body that does not possess the route information of the relevant route cannot travel on that route.

[0008] On the other hand, when using the above-mentioned GNSS, the information that can be obtained from GNSS is information indicating a three-dimensional absolute position based on latitude, longitude, and altitude. Therefore, it is difficult to understand the positional relationship with the relevant route. In order to grasp this positional relationship and understand at which position on the route the moving body is located, it is necessary to represent the position of the moving body and the shape of the route in the same coordinate system.

[0009] Therefore, it is necessary to grasp the shape of the route as three-dimensional information based on latitude, longitude, and altitude. However, since this route information has a large amount of data, a large-capacity storage unit is required to hold it, and relatively high processing performance is required to handle and calculate three-dimensional information. However, on the moving body side, it is often difficult to provide a large-capacity storage unit or a calculation unit with relatively high processing performance.

[0010] An object of the present invention is to provide a system that eliminates the need for a dedicated transponder, eliminates the need for the moving body side control unit to hold route information, and eliminates the need for high processing performance in the moving body side control unit.

Means for Solving the Problems

[0011] To achieve the above object, the present invention configures a driving control system of a moving body from a moving body control unit that controls the moving body and a base side control unit that controls at a base. As a first feature of the present invention, the absolute position information acquired from GNSS is transmitted to the base side control unit in its original form, and speed control is performed based on the remaining distance information to the stop limit point acquired from the base side control unit.

[0012] Next, a second feature of the present invention is that the base side control unit grasps the position of the moving body on the route based on the two-dimensional or three-dimensional absolute position information acquired by the moving body control unit from GNSS and the two-dimensional or three-dimensional route information held by the base side control unit. Thereby, it is possible to eliminate the need for a dedicated transponder installed on the track and a transponder receiving device mounted on the moving body.

[0013] And a third feature of the present invention is that the base side control unit determines the driving permission range of the target moving body in consideration of the preceding moving body, surrounding moving bodies, obstacles, etc., and shows the allowable range as remaining distance information based on the route shape. Here, the remaining distance information is information indicating length, that is, one-dimensional information.

[0014] Further, the fourth feature of the present invention is that by including transmission delay time and control processing delay time, which can be obtained by comparing time stamps by inserting time stamp information based on absolute time into the transmission information between the movement control unit and the base control unit, in the remaining distance calculation, it allows for the inclusion of transmission delay time and control processing delay time, and reduces the impact of these delay times on the control result.

[0015] Furthermore, the fifth feature of the present invention is that the movement control unit recognizes and calculates the travel permission range based on one-dimensional remaining distance information without performing calculations regarding its own two-dimensional or three-dimensional position. Thereby, the functions of the system that require relatively low processing performance can be realized.

[0016] Based on the above features, in order to solve the above problems, one of the typical driving control systems for a moving body according to the present invention includes a movement control unit mounted on the moving body to control the moving body, and a base control unit arranged on the base side for transmitting and receiving information with the moving body. The movement control unit acquires the absolute position information of the moving body from at least the latitude and longitude information of the traveling position of the moving body received from the outside and transmits it to the base control unit. At the same time, based on the instruction information transmitted from the base control unit, it creates a speed limit pattern for the moving body. The base control unit calculates the remaining distance information to an obstacle that impedes the travel of the moving body based on the absolute position information of the moving body transmitted from the movement control unit, and transmits instruction information including the remaining distance information to the movement control unit.

Advantages of the Invention

[0017] According to the present invention, by using the simple position information acquisition means and relatively low information processing ability provided by the movement control unit, a driving control system for preventing collisions with preceding moving bodies and installations can be realized. Problems, configurations, and effects other than those described above will be clarified by the description in the following embodiments for implementation.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Mode for Carrying Out the Invention

[0019] Hereinafter, with reference to the drawings, an embodiment which is the best mode for carrying out the present invention will be described. Note that the present invention is not limited by this embodiment. Also, in the description of the drawings, the same parts are denoted by the same reference numerals.

Embodiment

[0020] FIG. 1 is a diagram showing an overall configuration of an operation control system of a moving body according to an embodiment of the present invention and an example of a control mode of the moving body. In FIG. 1, an operation control system in the case where the moving body is a railway vehicle is taken as an example. However, the moving body is not limited to a railway vehicle.

[0021] Specifically, the moving body 10a is a railway vehicle, and the moving body control unit 11a is a control unit of an on-vehicle security device mounted on the railway vehicle. The base station 30 is an equipment room such as a station, and the base station side control unit 31 is a control unit of a ground security device installed in the equipment room. The track 60 is a railway track.

[0022] FIG. 2 is a block diagram showing an example of the configuration of the moving body control unit 11a (11b, 21). The moving body control unit 11a (11b, 21) includes a moving body control arithmetic unit 501, a GNSS receiver 504, and a moving body transmission / reception unit 506.

[0023] The GNSS receiver 504 receives at least the position information of latitude and longitude or the three-dimensional position information obtained by adding altitude to them from the GNSS antenna 505 mounted on the moving body 10a (10b, 20). Here, although the position of the moving body can be obtained from the position information of latitude and longitude received from GNSS, more accurate position information can be obtained by receiving the three-dimensional position information obtained by adding altitude to them. The mobile body transceiver 506 transmits and receives information via the mobile body wireless antenna 507 mounted on the mobile body 10a (10b, 20).

[0024] In addition, the moving body 10a (10b, 20) is equipped with a speed sensor 509, a speed and distance acquisition unit 508 that acquires the speed information and distance information of the moving body from the output of the sensor, a brake command unit 510 that generates a brake command according to the output signal from the movement control unit 11a (11b, 21), and a brake device 511 that operates according to this brake command.

[0025] The movement control arithmetic unit 501 includes at least a position detection unit 502 and a speed limit pattern creation unit 503 inside. The position detection unit 502 detects the absolute position information of the moving body itself based on the position information from the GNSS receiver 504. The speed limit pattern creation unit 503 creates a speed limit pattern described later based on the information from the base control unit 31 received from the mobile body transceiver 506.

[0026] With the above configuration, the movement control unit 11a mounted on the moving body 10a receives at least the position information of its own latitude and longitude or the three-dimensional position information obtained by adding altitude to them from GNSS via the GNSS antenna 505 by the GNSS receiver 504. In addition, the movement control unit 11a acquires the speed information v1 of the moving body 10a from the speed sensor 509 mounted on the moving body 10a via the speed and distance acquisition unit 508. The position detection unit 502 included in the movement control arithmetic unit 501 acquires the absolute position information 12 of the moving body 10a from the received position information. Here, the case of receiving the three-dimensional position information with altitude added is assumed.

[0027] The mobile body control arithmetic unit 501 transmits the acquired absolute position information 12, together with the acquired time T1 and its own speed information v1, from the mobile body transmission / reception unit 506 to the base station side control unit 31 via the mobile body wireless antenna 507. Specifically, as shown in FIG. 1, as transmission information 40 from the mobile body 10a to the base station 30, the time T1 which is a time stamp, the absolute position information 12a (x, y, z) at the time T1, and the speed information v1 are transmitted. Also, this transmission is intermittently performed by the mobile body transmission / reception unit 506. Note that when the received position information is longitude and latitude information, the transmitted absolute position information 12a becomes (x, y).

[0028] At the base station side control unit 31, similar to the acquired information from the mobile body 10a, the absolute position information, time, and speed information of the mobile body 20 that travels ahead of the mobile body 10a are acquired and held from the GNSS of the mobile body 20 that travels ahead of the mobile body 10a as well.

[0029] Since the mobile body 10a is traveling, its in-line position changes over time and becomes the mobile body 10b as shown in FIG. 1. The mobile body 10b is the same mobile body as the mobile body 10a, and is the one where the mobile body 10a has moved to a different location over time.

[0030] FIG. 3 is a block diagram showing an example of the configuration of the base station side control unit 31. The base station side control unit 31 is composed of a base station side control arithmetic unit 601 and a base station side transmission / reception unit 606. The base station side transmission / reception unit 606 transmits and receives information with each mobile body etc. via the base station side wireless antenna 607 provided in the base station 30.

[0031] The base station side control arithmetic unit 601 internally includes at least a mobile body position management unit 602, a remaining distance calculation unit 603, a route information database 604, and a speed limit pattern creation instruction unit 605. Among them, the moving body position management unit 602 manages the positions of a plurality of moving bodies traveling on the route. The remaining distance calculation unit 603 calculates the remaining distance to an obstacle point that obstructs the travel of the specified moving body. The route information database (DB) 604 stores information on devices and facilities on the route, a correspondence table between absolute position information and position information on the route, and the like. The speed limit pattern creation instruction unit 605 instructs each moving body to create a speed limit pattern.

[0032] With the above configuration, the base station side control unit 31 receives at least the absolute position information of the moving body 10a from the moving body control unit 11a via the base station side wireless antenna 607 by the base station side transmission / reception unit 606. In the base station side control arithmetic unit 601, the moving body position management unit 602 refers to the above correspondence table and the like stored in the route information DB from the received absolute position information to acquire the position information of the moving body 10a on the route.

[0033] Furthermore, based on this position information on the route, the remaining distance calculation unit 603 calculates the remaining distance to a stop limit point, which is a position that does not collide with the moving body 20 preceding the moving body 10 (for example, a position based on the rear end of the preceding moving body 20), as an obstacle point that obstructs the travel of the moving body 10. Specifically, as shown in FIG. 1, the base station side control unit 31 calculates the remaining distance L1 to this rear end position by a remaining distance calculation using the time T1, which is a time stamp, the absolute position information (x, y, z) and speed information v1 at the time T1 received from the moving body control unit 11a, and the rear end position D of the preceding moving body 20. At this time, the base station side control unit 31 requires calculation processing time to calculate this remaining distance L1. Note that the rear end position D of the preceding moving body 20 is calculated by referring to the route information DB using the absolute position information, time, and speed information acquired from the moving body 20.

[0034] Also, as shown in FIG. 1, the base control unit 31 transmits, to the moving body 10b, the remaining distance information L1 up to the stop limit point of the moving body 20 that is ahead of the moving body 10a and is calculated and output by itself, via the base transceiver unit 606 and the base wireless antenna 607. At this time, it transmits together with the time stamp T1 acquired from the movement control unit 11a, the time stamp T2 at the timing when the base control unit 31 itself transmits, and the upper speed limit information V1. Specifically, as shown in FIG. 1, the time stamps T1 and T2, the remaining distance information L1, and the upper speed limit information V1 are transmitted as the transmission information 41 from the base 30 to the moving body 10b.

[0035] In the movement control unit 11b, the movement transceiver unit 506 receives the transmission information 41 acquired from the base control unit 31 via the moving body wireless antenna 507. The movement control arithmetic unit 501 obtains, from this transmission information 41, the remaining distance information L1 to the position (stop limit point) where there is no collision with the preceding moving body 20, the time stamp T1 of the moving body 10a at the time when the base control unit 31 calculates the remaining distance information L1, the time stamp T2 at the time when the base control unit 31 transmits the information, and the upper speed limit information V1.

[0036] Also, the movement control unit 11b can obtain the calculation processing time and the propagation delay time in the base control unit 31 by obtaining these two time stamp information T1 and T2. Then, by subtracting the distance L2 traveled by itself during that period (from time T1 to time T2) from the remaining distance information L1 acquired from the base control unit 31, it is possible to exclude the travel distance of the moving body 10 caused by the calculation processing time and the propagation delay time in the base control unit 31.

[0037] That is, since it is possible to exclude the travel distance of the moving body 10 caused by the calculation processing time and the propagation delay time, it becomes possible to tolerate delays and fluctuations in the processing speed and the transmission speed.

[0038] In the movement control unit 11b, the speed limit pattern creation unit 503 generates a speed limit pattern 50 starting from the position of the remaining distance value L3 (= L1 - L2) obtained by subtracting the distance L2 traveled by the moving body 10 itself from the time T1 to T2 from the remaining distance information L1 acquired from the base station side control unit 31 (this is the trailing position of the preceding moving body 20 as the stop limit point). At this time, the upper speed limit information V1 required around the position where information is acquired from the base station side control unit 31 is set as the speed upper limit in the speed limit pattern 50.

[0039] When the moving body 10b travels and the traveling speed exceeds the speed limit pattern 50 set by the movement control unit 11b itself, a brake command is sent to the brake device 511 via the brake command unit 510 to apply a brake to the moving body 10b. Thereby, the moving body 10 does not exceed the stop limit point, and it becomes possible to avoid a collision with the preceding moving body 20.

[0040] In addition, in the above, the case where the obstacle that hinders the traveling of the moving body is the stop limit point of the preceding moving body has been described. However, not only that, but the driving control system of the present invention described above can also be applied to obstacles existing in the traveling direction of the moving body, stop indication signals, obstacle points such as branch devices in a non-travelable state, etc. In that case, for example, it is assumed that information regarding obstacles, signals, branch devices, etc. is extracted from the route information database or other security systems provided in the base station side control unit.

[0041] According to the above-described embodiments, the present invention includes at least the following aspects. <Aspect 1> A driving control system for a moving body, comprising a moving body control unit mounted on the moving body to control the moving body, and a base side control unit arranged on the base side for transmitting and receiving information with the moving body. The moving body control unit acquires absolute position information of the moving body from at least the latitude and longitude information of the traveling position of the moving body received from the outside and transmits it to the base side control unit. At the same time, based on the instruction information transmitted from the base side control unit, the moving body control unit creates a speed limit pattern. The base side control unit calculates the remaining distance information to an obstacle point that obstructs the traveling of the moving body based on the absolute position information of the moving body transmitted from the moving body control unit, and transmits the instruction information including the remaining distance information to the moving body control unit.

[0042] <Aspect 2> The driving control system for a moving body according to the above Aspect 1, wherein the moving body control unit transmits the absolute position information of the moving body, the first time information at the time when the absolute position information is acquired, and the speed information of the moving body to the base side control unit together. The base side control unit includes the second time information at the time when the instruction information is transmitted in the instruction information. Further, the moving body control unit creates a speed limit pattern by subtracting the distance traveled by the moving body between the first time information and the second time information from the remaining distance information included in the instruction information.

[0043] <Aspect 3> The driving control system for a moving body according to the above Aspect 1 or the above Aspect 2, wherein the obstacle point is a stop limit point for another moving body preceding the moving body.

[0044] <Aspect 4> The driving control system for a moving body according to any one of the above Aspects 1 to 3, wherein the moving body is a railway vehicle and the base side is the ground device side.

[0045] <Aspect 5> The driving control system for a moving body according to any one of the above Aspects 1 to 4, wherein the moving body control unit receives the latitude and longitude information from GNSS (Global Navigation Satellite System).

[0046] <Aspect 6> The driving control system of the moving body described in the above aspect 5, wherein the movement control unit further receives height information from the GNSS and adds the height information to the absolute position information of the moving body.

[0047] <Aspect 7> The driving control system of the moving body described in any one of the above aspects 1 to 6, wherein the base station side control unit includes a route information database storing information on the route on which the moving body travels, and calculates remaining distance information to an obstacle point based on the absolute position information of the moving body and the information on the route.

[0048] <Aspect 8> A processing device for a moving body, comprising: a GNSS receiving unit that receives information on at least the latitude and longitude of the traveling position of the moving body from a GNSS (Global Navigation Satellite System); a transmission / reception unit that transmits and receives information to and from a base station side; and a control unit that acquires absolute position information of the moving body from the latitude and longitude information, transmits it to the base station side, and creates a speed limit pattern to an obstacle point that obstructs the traveling of the moving body based on the instruction information received from the base station side.

[0049] <Aspect 9> A processing device on the base station side that transmits and receives information to and from a moving body, comprising: a transmission / reception unit that transmits and receives information to and from the moving body; a route information database storing information on the route on which the moving body travels; and a control unit that calculates remaining distance information to an obstacle point that obstructs the traveling of the moving body as instruction information to be transmitted to the moving body based on the absolute position information of the moving body transmitted from the moving body and the information on the route.

[0050] <Aspect 10> A method for controlling the operation of a moving body, comprising, on the side of the moving body: a first step of receiving information on at least the latitude and longitude of the traveling position of the moving body, obtaining absolute position information of the moving body from the information on the latitude and longitude, and transmitting the absolute position information to the base side; a second step, on the base side, of calculating remaining distance information to an obstacle point that obstructs the traveling of the moving body based on the absolute position information of the moving body transmitted from the moving body, and transmitting the remaining distance information to the moving body included in instruction information for the moving body; and a third step, on the side of the moving body, of creating a speed limit pattern of the moving body based on the instruction information transmitted from the base side.

[0051] <Aspect 11> The method for controlling the operation of a moving body according to the above Aspect 10, wherein, in the first step on the side of the moving body, together with the absolute position information of the moving body, the first time information at the time when the absolute position information is obtained and the speed information of the moving body are transmitted to the base side; in the second step on the base side, the second time information at the time when the instruction information is transmitted is included in the instruction information and transmitted to the moving body; and in the third step on the side of the moving body, a speed limit pattern is created by subtracting the distance traveled by the moving body between the first time information and the second time information from the remaining distance information included in the instruction information.

[0052] <Aspect 12> The method for controlling the operation of a moving body according to the above Aspect 10 or the above Aspect 11, wherein the obstacle point is a stop limit point for another moving body preceding the moving body.

[0053] The embodiments described above are directed to a train control system, but with a similar configuration, the present invention is also applicable to a mobile body control system such as an automatic conveyance system and vehicle control. Further, the present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present invention.

Explanation of Signs

[0054] 10a, 10b Moving bodies, 11a, 11b Mobile body control units 12 Information obtained from GNSS (absolute position information), 12a Absolute position information at time T1, 12b Message reception position at time T2, 20 Preceding moving body, 21 Movement control unit of the preceding moving body, 30 Base, 31 Base side control unit, 40 Transmission information (moving body → base), 41 Transmission information (base → moving body), 50 Speed limit pattern, 60 Route, 501 Movement control calculation unit, 502 Position detection unit, 503 Speed limit pattern creation unit, 504 GNSS receiver, 505 GNSS antenna, 506 Moving body transceiver, 507 Moving body wireless antenna, 508 Speed and distance acquisition unit, 509 Speed sensor, 510 Brake command unit, 511 Brake device, 601 Base side control calculation unit, 602 Moving body position management unit, 603 Remaining distance calculation unit, 604 Route information database, 605 Speed limit pattern creation instruction unit, 606 Base side transceiver, 607 Base side wireless antenna

Claims

1. A driving control system for a moving object, A moving body control unit mounted on the moving body and controlling the moving body; a base side control unit disposed at a base side that transmits and receives information to and from the mobile object; Equipped with The moving object control unit includes: acquiring absolute position information of the moving object from at least latitude and longitude information of the moving object's traveling position received from an external source, and transmitting the information to the base-side control unit; and creating a speed limit pattern for the moving object based on instruction information transmitted from the base-side control unit; The base side control unit Calculating remaining distance information to an obstacle point that will cause an obstacle to the traveling of the moving body based on the absolute position information of the moving body transmitted from the moving body control unit, and transmitting the instruction information including the remaining distance information to the moving body control unit. A driving control system for a moving object.

2. The driving control system for a moving body according to claim 1, the mobile object control unit transmits, together with the absolute position information of the mobile object, first time information at a time point when the absolute position information was acquired and speed information of the mobile object to the base side control unit; the base-side control unit includes second time information of a time point at which the instruction information is transmitted in the instruction information; Furthermore, the moving object control unit creates the speed limit pattern by subtracting the distance traveled by the moving object between the first time information and the second time information from the remaining distance information included in the instruction information. A driving control system for a moving object.

3. The driving control system for a moving body according to claim 2, The obstacle point is a stopping limit point for another moving object preceding the moving object. A driving control system for a moving object.

4. A driving control system for a moving body according to any one of claims 1 to 3, The moving body is a railway vehicle, and the base side is a ground device side. A train control system for a moving object.

5. A driving control system for a moving body according to any one of claims 1 to 3, The mobile unit control unit receives the latitude and longitude information from a Global Navigation Satellite System (GNSS). A driving control system for a moving object.

6. The driving control system for a moving body according to claim 5, The moving object control unit further receives height information from the GNSS and adds the height information to the absolute position information of the moving object. A driving control system for a moving object.

7. A driving control system for a moving body according to any one of claims 1 to 3, The base-side control unit includes a route information database that stores information about a route on which the mobile object travels, and calculates remaining distance information to the obstacle point based on absolute position information of the mobile object and the information about the route. A driving control system for a moving object.

8. A processing device for a mobile body, a GNSS receiving unit that receives at least latitude and longitude information of a traveling position of the moving object from a Global Navigation Satellite System (GNSS); A transmitting / receiving unit for transmitting and receiving information to and from the base side; a control unit that acquires absolute position information of the moving object from the latitude and longitude information, transmits the information to the base side, and creates a speed limit pattern up to an obstacle point that causes an obstacle to the traveling of the moving object based on instruction information received from the base side; A processing device for a mobile body comprising:

9. A processing device on a base side that transmits and receives information to and from a mobile object, A transceiver unit for transmitting and receiving information to and from the mobile object; A route information database storing information about the route on which the moving object travels; a control unit that calculates remaining distance information to an obstacle point that will cause an obstacle to the traveling of the moving body as instruction information to be transmitted to the moving body based on absolute position information of the moving body and information about the route transmitted from the moving body; A processing device at a base station.

10. A method for controlling operation of a moving object, comprising: a first step of receiving, at the mobile object side, at least latitude and longitude information of a traveling position of the mobile object, acquiring absolute position information of the mobile object from the latitude and longitude information, and transmitting the absolute position information to a base side; a second step of calculating, at the base station, information on a remaining distance to an obstacle point that impedes the travel of the moving body based on the absolute position information of the moving body transmitted from the moving body, and including the information on the remaining distance in instruction information for the moving body and transmitting the information to the moving body; a third step of creating, in the mobile unit, a speed limit pattern for the mobile unit based on the instruction information transmitted from the base unit; A driving control method for a moving object comprising the steps of:

11. A method for controlling operation of a moving body according to claim 10, In the first step on the moving object side, first time information at a time point when the absolute position information of the moving object was acquired and speed information of the moving object are transmitted to the base side together with the absolute position information of the moving object, In the second step on the base side, the instruction information is transmitted to the mobile body including second time information of a time point at which the instruction information is transmitted; In the third step on the moving body side, the speed limit pattern is created by subtracting the distance traveled by the moving body between the first time information and the second time information from the remaining distance information included in the instruction information. A method for controlling operation of a moving object, comprising:

12. A method for controlling operation of a moving body according to claim 10 or 11, comprising: The obstacle point is a stopping limit point for another moving object preceding the moving object. A method for controlling operation of a moving object, comprising:

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