Traffic management device, traffic management method, traffic management program, mobile body system, and mobile body control system

Abstract

To provide a traffic management device, a traffic management method, a traffic management program, a mobile body system, and a mobile body control system for managing the movement of a mobile body so as to improve movement efficiency.SOLUTION: A traffic management device 9 comprises an area management section 10, a reception section 12, a mobile body management section 11, a selection section 13, and a command section 14. The area management section 10 manages area information, including information on adjacent nodes 6, for each arbitration area 5. The reception section 12 receives an arbitration request from a mobile body 2, which is about to enter the arbitration area 5. The mobile body management section 11 manages information on the priority of the mobile body 2. The selection section 13 selects, for the arbitration area 5, a permitted node through which entry is permitted among the adjacent nodes 6 on the basis of the priority of the mobile body 2 entering from the adjacent node 6. The command section 14 outputs an entry instruction to the mobile body 2 entering from the permitted node selected by the selection section 13.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a traffic management device, a traffic management method, a traffic management program, a mobile body system, and a mobile body control system. [Background technology]

[0002] Patent Document 1 discloses an example of a system for managing the passage of mobile objects. The system acquires a digital certificate from each mobile object according to its purpose or service. The system uses the acquired digital certificate to determine which mobile object should be given priority for passage. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2023 / 013326 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the system of Patent Document 1, which mobile bodies passing through an area where movement is managed are allowed to enter is determined based on a one-to-one priority determination for each mobile body, and driving instructions are output to the mobile bodies based on the result of this determination. As a result, only one mobile body can enter the area at a time, which may reduce the movement efficiency of mobile bodies around the area.

[0005] The present disclosure relates to solving such problems, and provides a traffic management device, a traffic management method, a traffic management program, a mobile object system, and a mobile object control system that manage the movement of mobile objects so as to further improve travel efficiency. [Means for solving the problem]

[0006] The traffic management device of the present disclosure comprises an area management unit that manages area information for a predetermined arbitration area, including information on nodes adjacent to the arbitration area; a reception unit that receives arbitration requests requesting entry instructions from one or more mobile bodies each attempting to enter the arbitration area; a mobile body management unit that manages priority information for each of the one or more mobile bodies; a selection unit that selects an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of the mobile body entering from the adjacent node; and a command unit that outputs an entry instruction to at least one of the one or more mobile bodies entering from the allowed node selected by the selection unit.

[0007] The traffic management method of the present disclosure is a method in which a computer manages area information for a predetermined arbitration area, including information on nodes adjacent to the arbitration area; accepts arbitration requests for entry instructions from one or more mobile bodies each attempting to enter the arbitration area; manages priority information for each of the one or more mobile bodies; selects an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of the mobile body entering from the adjacent node; and outputs an entry instruction to at least one of the one or more mobile bodies entering from the selected allowed node.

[0008] The traffic management program of the present disclosure causes a computer to perform the following operations: manage area information for a predetermined arbitration area, including information on nodes adjacent to the arbitration area; accept arbitration requests for entry instructions from one or more mobile bodies each attempting to enter the arbitration area; manage priority information for each of the one or more mobile bodies; select an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of the mobile body entering from the adjacent node; and output an entry instruction to at least one of the one or more mobile bodies entering from the selected allowed node.

[0009] The mobile body system of the present disclosure comprises one or more mobile bodies each attempting to enter a predetermined arbitration area, an area management unit that manages area information for the arbitration area including information on nodes adjacent to the arbitration area, a reception unit that receives arbitration requests from the one or more mobile bodies requesting an entry instruction, a mobile body management unit that manages priority information for each of the one or more mobile bodies, a selection unit that selects an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of a mobile body entering from the adjacent node, and a command unit that outputs an entry instruction to at least one of the one or more mobile bodies entering from the allowed node selected by the selection unit.

[0010] The mobile body control system of the present disclosure comprises a mobile body control unit that controls the movement of one or more mobile bodies each attempting to enter a predetermined arbitration area; an area management unit that manages area information for the arbitration area including information on nodes adjacent to the arbitration area; a reception unit that receives arbitration requests from the one or more mobile bodies requesting an entry instruction; a mobile body management unit that manages priority information for each of the one or more mobile bodies; a selection unit that selects an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of a mobile body entering from the adjacent node; and a command unit that outputs an entry instruction to at least one of the one or more mobile bodies entering from the allowed node selected by the selection unit. [Effects of the Invention]

[0011] According to the traffic management device, traffic management method, traffic management program, mobile body system, or mobile body control system disclosed herein, the movement of mobile bodies is managed so as to further improve movement efficiency. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a configuration diagram of a mobile body system according to a first embodiment. [Figure 2]1 is a plan view illustrating an example of an arbitration area in a mobile body system according to a first embodiment. [Figure 3] FIG. 4 is a sequence diagram showing an example of an operation of the mobile body system according to the first embodiment. [Figure 4] 4 is a flowchart showing an example of the operation of the mobile body system according to the first embodiment. [Figure 5] 1 is a hardware configuration diagram of a main part of a mobile body system according to a first embodiment. [Figure 6] FIG. 10 is a plan view illustrating an example of an arbitration area in a mobile body system according to a second embodiment. [Figure 7] 10 is a flowchart showing an example of the operation of the mobile body system according to the second embodiment. [Figure 8] 10 is a flowchart showing an example of the operation of the mobile body system according to the second embodiment. [Figure 9] 11 is a flowchart showing an example of the operation of the mobile body system according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] The following describes embodiments of the subject matter of the present disclosure with reference to the accompanying drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals, and redundant explanations are appropriately simplified or omitted. Note that the subject matter of the present disclosure is not limited to the following embodiments, and any component of the embodiments may be modified or omitted within the scope of the gist of the present disclosure.

[0014] Embodiment 1 FIG. 1 is a configuration diagram of a mobile system 1 according to the first embodiment.

[0015] The mobile system 1 is a system that provides services using mobile objects 2, which are mobile devices. In this example, the mobile system 1 is applied to a facility 3. The facility 3 includes, for example, one or more buildings. The facility 3 may be part or all of a building. The facility 3 may include one or both of the outdoor and indoor parts of a building. The facility 3 may be, for example, a commercial facility, an office building, an accommodation facility, a residential facility, a public facility, or other facility, or a complex of these. The mobile system 1 includes one or more mobile objects 2. In this example, the mobile system 1 includes multiple mobile objects 2.

[0016] Each mobile object 2 is a device that provides services by moving. The mobile object 2 is, for example, an autonomous mobile object that moves autonomously. The mobile object 2 may be, for example, a robot, a drone, mobility, an autonomous vehicle, or other mobile equipment. The mobile object 2 moves, for example, by running, walking, flying, navigating, or in other ways. Services provided by the mobile object 2 include, for example, transportation, guidance, security, or cleaning services.

[0017] Each mobile object 2 is equipped with a wireless communication function so that it can communicate information with external devices. Each mobile object 2 communicates with external devices directly or indirectly via a communication network 4 or the like. The communication network 4 includes, for example, the Internet, a telephone network, or an optical communication network. The communication network 4 may include a local network such as a LAN (Local Area Network) within the facility 3, or may include industrial communication such as short-range wireless communication. The communication network 4 may also include a wired or wireless intranet.

[0018] Some or all of the mobile objects 2 operating in the mobile object system 1 may be devices within the mobile object system 1, or may be devices outside the system that cooperate with the mobile object system 1. The mobile objects 2 may be devices that move within a predetermined range, such as within a facility 3, or may be devices with an unlimited range of movement, such as vehicles that travel on roads. In this case, the mobile object system 1 may be applied to an area including roads or other wide areas.

[0019] One or more arbitration areas 5 are set in an area to which the mobile object system 1 is applied, such as a facility 3. In this example, multiple arbitration areas 5 are set in advance. The arbitration area 5 is, for example, a narrow street or an intersection where mobile objects 2 may intersect. The arbitration area 5 may also be a space such as a room or an open space. The arbitration area 5 may also be a space including an elevator applied to the facility 3. In this case, the arbitration area 5 is set as, for example, an area including the inside of the elevator car and the halls of each floor. For each arbitration area 5, one or more adjacent nodes 6 are set in advance. Each node 6 corresponds, for example, to an entrance / exit to the arbitration area 5. For example, each node 6 adjacent to an arbitration area 5 such as an intersection corresponds to an aisle leading to the intersection.

[0020] The mobile body system 1 includes a mobile body control system 7. The mobile body control system 7 is a system that controls the movement of mobile bodies 2, the execution of service tasks, and the like, as well as arbitrates between mobile bodies 2. The mobile body control system 7 includes a mobile body control device 8 and a traffic management device 9.

[0021] The mobile object control device 8 is a part that controls the movement of the mobile object 2 and the operation of the mobile object 2, such as the execution of tasks. The mobile object control device 8 is an example of a mobile object control unit. The mobile object control device 8 communicates with external devices via the communication network 4 or the like. The mobile object control device 8 may control the operation of multiple mobile objects 2. Multiple mobile object control devices 8 may be provided in the mobile object control system 7. Each mobile object control device 8 may be managed by, for example, a different administrator. The administrator of the mobile object control device 8 may be, for example, the manufacturer or management company of the corresponding mobile object 2. The same administrator may manage multiple mobile object control devices 8. Some or all of the mobile object control devices 8 may be devices within the mobile object system 1, or may be devices outside the system that cooperates with the mobile object system 1. Each mobile object control device 8 is, for example, a computer system consisting of one or more server devices. Here, a computer system consisting of one or more devices may simply be referred to as a computer. The multiple server devices that make up the mobile object control device 8 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via the communication network 4. Some or all of the functions of the mobile body control device 8 may be implemented, for example, by processing or storage resources on a cloud service. Note that some or all of the mobile bodies 2 operating in the mobile body system 1 may operate autonomously without being controlled by the mobile body control device 8.

[0022] The traffic management device 9 is a part that performs processes such as arbitrating movement between mobile objects 2. The traffic management device 9 communicates with external devices via the communication network 4 or the like. The traffic management device 9 is, for example, a computer system including one or more server devices. The multiple server devices that make up the traffic management device 9 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via the communication network 4. Some or all of the functions of the traffic management device 9 may be implemented, for example, by processing or storage resources on a cloud service. Note that the traffic management device 9 may include some or all of the functions of the mobile object control device 8. The traffic management device 9 includes an area management unit 10, a mobile object management unit 11, a reception unit 12, a selection unit 13, a command unit 14, and a notification unit 15.

[0023] The area management unit 10 is a component equipped with a function for managing area information for each arbitration area 5. The area information for an arbitration area 5 includes, for example, the coordinates, range, identifier, name, attributes, number of mobile objects 2 currently in the arbitration area 5, the identifiers of each of the mobile objects 2, and other information. The area information for an arbitration area 5 includes, for nodes 6 adjacent to the arbitration area 5, information such as an identifier identifying the arbitration area 5, as well as the coordinates, range, identifier, name, attributes, and other information for each node 6. The area management unit 10 manages the area information by storing it in, for example, a database. The area management unit 10 may also manage information on relationships between arbitration areas 5. Information on relationships between arbitration areas 5 includes connection information, such as whether travel between arbitration areas 5 is possible. Information management by the area management unit 10 includes adding, retaining, updating, modifying, and deleting information. The area management unit 10 manages changing area information by updating it as needed to reflect the current situation.

[0024] The mobile object management unit 11 is a part that has a function for managing information about each mobile object 2. The information about the mobile object 2 includes, for example, the identifier of the mobile object 2, the type of service provided by the mobile object 2, size information such as the width and weight of the mobile object 2, the identifier of the mobile object control device 8 that controls the mobile object 2, and other attributes of the mobile object 2. The information about the mobile object 2 includes, for example, the rated speed, maximum speed, turning radius, or other mobility performance information of the mobile object 2. The information about the mobile object 2 includes, for example, the current location, current speed, and current status of the mobile object 2. The status of the mobile object 2 includes, for example, information about whether the mobile object 2 is in an arbitration area 5, information about the identifier of the arbitration area 5, information about whether the mobile object 2 is executing a task, and information about the type of the task. The information about whether the mobile object 2 is currently in the arbitration area 5 may be, for example, information about the current location of the mobile object 2. Information about the current location of the mobile object 2 is acquired by the mobile object 2 itself or the mobile object control device 8, for example, using a satellite positioning system such as a GPS (Global Positioning System), an autonomous navigation system, an indoor positioning system, or other positioning systems. Information about the current location of the mobile object 2 is provided to the traffic management device 9 from the mobile object 2 itself or the mobile object control device 8 as needed. The mobile object management unit 11 manages the information about the mobile object 2 by storing the information in, for example, a database. The management of information by the mobile object management unit 11 includes adding, holding, updating, correcting, or deleting information. The mobile object management unit 11 manages changing information about the mobile object 2, updating it as needed to reflect the current situation.

[0025] In this example, the information about the moving object 2 managed by the moving object management unit 11 includes information about the priority of the moving object 2. The priority of the moving object 2 is, for example, a numerical value indicating the degree to which the moving object 2 should be given priority for entry into the arbitration area 5. The priority of the moving object 2 is set based on, for example, the mobility performance of the moving object 2, such as the maximum moving speed or turning radius, the size of the moving object 2, the type of service provided by the moving object 2, or other static attributes of the moving object 2. The priority of the moving object 2 is set based on, for example, the current location of the moving object 2, the remaining amount of energy, such as power or fuel, in a battery installed in the moving object 2, the type or urgency of a task being executed by the moving object 2, or other quasi-static, quasi-dynamic, or dynamic information.

[0026] The reception unit 12 is a part that has a function of receiving an arbitration request from each mobile body 2. The arbitration request from a mobile body 2 is transmitted via the communication network 4 or the like when the mobile body 2 attempts to enter one of the arbitration areas 5. The arbitration request from a mobile body 2 may be transmitted from the mobile body control device 8 corresponding to the mobile body 2. The arbitration request is a signal that requests an instruction to enter the arbitration area 5 from the traffic management system. The arbitration request includes information such as the identifier of the mobile body 2, the identifier of the arbitration area 5, and the identifier of the entry node, which is the node 6 that serves as the entrance to the arbitration area 5.

[0027] The selection unit 13 is a part that has a function of selecting an allowed node that permits entry of the mobile unit 2 for each arbitration area 5 for which an arbitration request has been made. When the reception unit 12 receives an arbitration request for any of the arbitration areas 5, the selection unit 13 selects one of the nodes 6 adjacent to the arbitration area 5 as an allowed node based on the area information of the arbitration area 5 managed by the area management unit 10.

[0028] The command unit 14 is a part that has a function of outputting an entry instruction to the moving body 2 to enter the arbitration area 5. The command unit 14 transmits the entry instruction to the moving body 2 via the communication network 4 or the like. The command unit 14 may transmit the entry instruction to the moving body 2 to the mobile body control device 8 corresponding to the moving body 2. The command unit 14 outputs an entry instruction to a moving body 2 that enters from an allowed node selected by the selection unit 13. When there are multiple moving bodies 2 entering from an allowed node, the command unit 14 may output the entry instruction to the multiple moving bodies 2 in sequence, or may output the entry instruction to all or some of the moving bodies 2 simultaneously when the multiple moving bodies 2 do not interfere with each other, for example.

[0029] The notification unit 15 is a part that has a function of sending a notification to the mobile body 2. The notification unit 15 transmits a notification to the mobile body 2 via the communication network 4 or the like. The notification unit 15 may transmit the notification to the mobile body 2 to the mobile body control device 8 corresponding to the mobile body 2. The notification unit 15 may, for example, notify the mobile body 2 that the reception unit 12 has received an arbitration request.

[0030] FIG. 2 is a plan view illustrating an example of the arbitration area 5 in the mobile body system 1 according to the first embodiment.

[0031] The arbitration area 5 is set, for example, within the range of an intersection where passageways intersect. Four adjacent nodes 6 are set in the arbitration area 5. Each node 6 corresponds to a passageway leading to the arbitration area 5. For example, when each moving body 2 approaches the arbitration area 5, it outputs an arbitration request to enter the arbitration area 5 to the traffic management device 9. Each moving body 2 may determine whether it has approached the arbitration area 5 using information such as its own current position and the distance to the arbitration area 5 based on that position. For example, when each moving body 2 arrives at a point just before the arbitration area 5 after outputting an arbitration request, it waits without entering the arbitration area 5 until it receives an entry instruction from the traffic management device 9.

[0032] In this example, three mobile units, namely, mobile unit 2a, mobile unit 2b, and mobile unit 2c, are attempting to enter the same arbitration area 5. Note that, for example, when there is no need to distinguish between mobile units 2a, 2b, and 2c, they may be simply referred to as mobile units 2. Mobile unit 2a enters from node 6 on the west side and passes through the arbitration area 5. Mobile unit 2b enters from node 6 on the north side and passes through the arbitration area 5. Mobile unit 2c enters from node 6 on the north side and passes through the arbitration area 5. For example, when the selection unit 13 selects node 6 on the west side as the permitted node, the command unit 14 outputs an entry instruction to mobile unit 2a, which is waiting to enter at node 6 on the west side. Upon receiving the entry instruction, mobile unit 2a enters the arbitration area 5 from node 6 on the west side, which is the permitted node, and passes through the arbitration area 5.

[0033] Next, an example of the operation of the mobile system 1 will be described with reference to FIGS. FIG. 3 is a sequence diagram showing an example of the operation of the mobile system 1 according to the first embodiment. FIG. 4 is a flowchart showing an example of the operation of the mobile body system 1 according to the first embodiment.

[0034] 3 shows an example of arbitration in the situation shown in FIG. 2. In this example, mobile units 2a, 2b, and 2c arrive at node 6 adjacent to arbitration area 5 in this order and output arbitration requests in this order. The priority of mobile unit 2b is lower than that of mobile unit 2a. The priority of mobile unit 2c is higher than that of mobile unit 2a.

[0035] When the moving object 2 a is about to enter the arbitration area 5 , it outputs an arbitration request to the traffic control device 9 .

[0036] The reception unit 12 of the traffic management device 9 receives an arbitration request from the mobile unit 2a. The notification unit 15 notifies the mobile unit 2a that the reception unit 12 has received the arbitration request. The selection unit 13 references the area information managed by the area management unit 10 and the information about the mobile unit 2 managed by the mobile unit management unit 11 based on information such as an identifier included in the arbitration request. The selection unit 13 selects one of the nodes 6 adjacent to the arbitration area 5 as an allowed node based on the referenced information. In this example, since there is no other mobile unit 2 other than the mobile unit 2a that has output an arbitration request, the selection unit 13 selects the node 6 on the west side where the mobile unit 2a is attempting to enter as an allowed node.

[0037] The command unit 14 outputs an entry instruction to the mobile unit 2 entering from the permission node selected by the selection unit 13. In this example, since only one mobile unit, 2a, is waiting to enter at the permission node, the command unit 14 outputs an entry instruction to the mobile unit 2a.

[0038] Upon receiving an entry instruction from the command unit 14, the mobile unit 2a enters the arbitration area 5 from the western node 6, which is an allowed node, and passes through the arbitration area 5. Meanwhile, the mobile unit 2b outputs an arbitration request to the traffic management device 9 when it attempts to enter the arbitration area 5.

[0039] The reception unit 12 of the traffic management device 9 receives an arbitration request from the mobile unit 2b. The notification unit 15 notifies the mobile unit 2b that the reception unit 12 has received the arbitration request. The selection unit 13 performs processing to select an allowed node. In this example, the selection unit 13 selects node 6 on the west side, where the mobile unit 2a is entering, as the allowed node. The selection unit 13 compares the priorities of the mobile unit 2a entering from node 6 on the west side and the mobile unit 2b entering from node 6 on the north side. Because the priority of the mobile unit 2a is higher than the priority of the mobile unit 2b, the selection unit 13 maintains the selection of node 6 on the west side, where the mobile unit 2a is entering, as the allowed node.

[0040] While moving body 2a is passing through arbitration area 5, moving body 2b waits at node 6 on the north side to enter arbitration area 5. Meanwhile, moving body 2c outputs an arbitration request to traffic management device 9 when it attempts to enter arbitration area 5.

[0041] The reception unit 12 of the traffic management device 9 receives an arbitration request from the mobile unit 2c. The notification unit 15 notifies the mobile unit 2c that the reception unit 12 has received the arbitration request. The selection unit 13 performs processing to select an allowed node. In this example, the selection unit 13 selects node 6 on the west side, where the mobile unit 2a is entering, as the allowed node. The selection unit 13 compares the priorities of the mobile unit 2a entering from node 6 on the west side and the mobile unit 2c entering from node 6 on the north side. Because the priority of the mobile unit 2c is higher than the priority of the mobile unit 2a, the selection unit 13 selects node 6 on the north side, where the mobile unit 2c is entering, as the allowed node.

[0042] In this example, since moving unit 2a has already entered arbitration area 5, command unit 14 waits to output an entry instruction until moving unit 2a has completed passing through arbitration area 5. During this time, moving units 2b and 2c wait at node 6 on the north side to enter arbitration area 5.

[0043] Thereafter, based on a notification from the mobile object 2a or the like, the traffic management device 9 determines that the mobile object 2a has completed passage through the arbitration area 5. The traffic management device 9 may determine that the mobile object 2a has completed passage based on information on the current location of the mobile object 2a managed by the mobile object management unit 11 or the like.

[0044] Thereafter, the command unit 14 outputs an entry instruction to the moving body 2 entering from the permission node selected by the selection unit 13. In this example, moving body 2b and moving body 2c are waiting to enter at the permission node. The command unit 14 outputs an entry instruction to moving body 2b in the order of arrival of the arbitration request, and then outputs an entry instruction to moving body 2c. At this time, the command unit 14 may output an entry instruction to the next moving body 2c before the preceding moving body 2b completes passage through the arbitration area 5. Note that the command unit 14 may also output an entry instruction to the moving bodies 2 in the order of arrival at the permission node.

[0045] While moving body 2a is passing through the arbitration area 5 and moving body 2b is waiting to enter the arbitration area 5, another moving body 2 entering from western node 6, which is an allowed node, may output an arbitration request before the arbitration request of moving body 2c. If the priority of the other moving body 2 is higher than that of moving body 2b, the selection unit 13 maintains the selection of western node 6, where the other moving body 2 is entering, as the allowed node. In this case, since the other moving body 2 enters from western node 6, which has been selected as the allowed node, the command unit 14 outputs an entry instruction to the other moving body 2. The command unit 14 may also output an entry instruction to the other moving body 2 before the preceding moving body 2a has completed passing through the arbitration area 5.

[0046] FIG. 4 shows an example of the operation of the traffic management device 9 regarding the selection of an allowed node and the output of an entry instruction.

[0047] In step S11, the selection unit 13 determines whether there is a mobile object 2 entering from the current permission node and passing through the arbitration area 5. The mobile object 2 includes, for example, a mobile object 2 waiting for an entry instruction at the permission node and a mobile object 2 entering from the permission node and passing through the arbitration area 5. This determination is made based on, for example, the arbitration request accepted by the acceptance unit 12, the entry instruction output by the command unit 14, and the position of the mobile object 2 managed by the mobile object management unit 11. If there is a mobile object 2 entering from the permission node and passing through the arbitration area 5, the processing of the traffic management device 9 proceeds to step S12. On the other hand, if there is no mobile object 2 entering from the permission node and passing through the arbitration area 5, the processing of the traffic management device 9 proceeds to step S13.

[0048] In step S12, the selection unit 13 determines whether there is a node 6, among the nodes 6 adjacent to the arbitration area 5, where a mobile body 2 with a higher priority than a mobile body 2 entering from the current permission node and passing through the arbitration area 5 is waiting for an entry instruction. When there are multiple mobile bodies 2 entering from the current permission node, the selection unit 13 compares, for example, the highest priority of the multiple mobile bodies 2 at the permission node with the priority of the mobile bodies 2 at the other nodes 6. When there is a node 6 where a mobile body 2 with a higher priority than the mobile body 2 at the current permission node is waiting for an entry instruction, the processing of the traffic management device 9 proceeds to step S13. On the other hand, when there is no node 6 where a mobile body 2 with a higher priority than the mobile body 2 at the current permission node is waiting for an entry instruction, the selection unit 13 maintains the current node 6 as the selected permission node. Thereafter, the processing of the traffic management device 9 proceeds to step S14.

[0049] In step S13, the selection unit 13 selects, as an allowed node, the node 6 of the nodes 6 adjacent to the arbitration area 5 that has the highest priority for the mobile unit 2 waiting there for an entry instruction. If there is a node 6 at which multiple mobile units 2 are waiting for an entry instruction, the selection unit 13 compares the nodes 6 using the highest priority of the multiple mobile units 2 at that node 6. If there are multiple nodes 6 at which the waiting mobile units 2 have the highest priority, the selection unit 13 may, for example, select, as an allowed node, the node 6 at which the mobile unit 2 that output the earliest arbitration request is waiting from among the multiple high-priority nodes 6. After selecting the allowed node, the processing of the traffic management device 9 proceeds to step S14.

[0050] In step S14, the command unit 14 outputs an entry instruction to the mobile body 2 waiting to enter from the permitted node. The command unit 14 may wait to output the entry instruction while a mobile body 2 that entered from another node 6 is passing through the arbitration area 5. When a mobile body 2 that entered earlier from the permitted node is passing through the arbitration area 5, the command unit 14 may output an entry instruction to the waiting mobile body 2 without waiting for the earlier mobile body 2 to complete its passage. After outputting the entry instruction, the processing of the traffic management device 9 proceeds to step S11.

[0051] As described above, the mobile body system 1 according to the first embodiment includes one or more mobile bodies 2 and a mobile body control system 7. The mobile body control system 7 includes a mobile body control device 8 and a traffic management device 9. The mobile body control device 8 controls the movement of the mobile bodies 2. The traffic management device 9 includes an area management unit 10, a reception unit 12, a mobile body management unit 11, a selection unit 13, and a command unit 14. The area management unit 10 manages area information for each arbitration area 5. The area information for the arbitration area 5 includes information on adjacent nodes 6. The reception unit 12 receives an arbitration request from each mobile body 2 attempting to enter the arbitration area 5. The mobile body management unit 11 manages priority information for each mobile body 2. The selection unit 13 selects an allowed node from among the adjacent nodes 6 to permit entry into the arbitration area 5, based on the priority of the mobile body 2 entering from the adjacent node 6. The command unit 14 outputs an entry instruction to the moving object 2 entering from the permitted node selected by the selection unit 13.

[0052] With this configuration, an permission node is selected, and an entry instruction is output from the permission node to the entering mobile unit 2. This reduces the possibility of blockages and other issues when entering the arbitration area 5, thereby preventing a decrease in the movement efficiency of the mobile units 2. Furthermore, the permission node can continuously output entry instructions to multiple mobile units 2 entering the arbitration area 5, which prevents traffic flow in the arbitration area 5 from being interrupted and reduces the delay in the movement of the mobile units 2. Furthermore, the permission node is selected based on the priority of the mobile units 2 waiting at each node 6, allowing mobile units 2 with higher priorities to pass through the arbitration area 5 more quickly. This further improves the quality of services provided by the mobile units 2. Furthermore, because the traffic management device 9 arbitrates the movement of multiple mobile units 2 in response to an arbitration request, even when direct cooperation between the mobile units 2 is difficult, such as when the mobile units 2 are made by different manufacturers, crossings between the mobile units 2 are less likely to occur. In this way, the movement efficiency of the mobile units 2 in the mobile unit system 1 is further improved.

[0053] Furthermore, the priority is set based on the mobility performance of each moving body 2. Mobility performance such as maximum movement speed affects whether or not moving bodies 2 can overtake each other. By setting the priority of moving bodies 2 based on their mobility performance, the occurrence of overtaking between moving bodies 2 is managed, and the movement efficiency of moving bodies 2 is further improved. For example, by setting a high priority to a moving body 2 with high mobility performance, the occurrence of overtaking between moving bodies 2 is reduced, and the movement efficiency of moving bodies 2 is further improved. Furthermore, the priority is set based on the remaining energy of each moving body 2. This reduces the occurrence of emergency stops of moving bodies 2 due to lack of energy, and makes it less likely that blockages of moving bodies 2 will occur.

[0054] Note that when the waiting status of a mobile unit 2 at any of the nodes 6 adjacent to the arbitration area 5 exceeds a predetermined standard, the selection unit 13 may select the node 6 that exceeds the standard as an allowed node, regardless of the priority of the mobile unit 2. The waiting status of a mobile unit 2 at a node 6 may be, for example, the number of mobile units 2 waiting to enter from the node 6 or one or both of the waiting time. For a node 6 at which multiple mobile units 2 are waiting, the selection unit 13 compares the nodes 6 based on, for example, the maximum, average, or sum of the waiting times of each mobile unit 2. For example, when the waiting status at any of the nodes 6 exceeds the standard, the selection unit 13 temporarily disables the selection of an allowed node based on the priority of the mobile unit 2 waiting at each node 6. Thereafter, the selection unit 13 enables the selection of an allowed node based on the priority of the mobile unit 2, for example, after a predetermined time has elapsed. Alternatively, the selection unit 13 may disable the selection of an allowed node based on the priority of the mobile unit 2 until the waiting status at the node 6 falls below the predetermined standard. The criteria for temporarily disabling the selection of permitted nodes based on the priority of the mobile object 2 may be different from the criteria for lifting the disabling. This prevents the mobile object 2 from staying at any node 6, thereby further improving the movement efficiency of the mobile object 2.

[0055] Next, an example of the hardware configuration of the mobile system 1 will be described with reference to FIG. FIG. 5 is a hardware configuration diagram of the main part of the mobile body system 1 according to the first embodiment.

[0056] Some or all of the functions of the mobile system 1 may be implemented by a processing circuit. The processing circuit includes at least one processor 100 a and at least one memory 100 b. The processing circuit may include at least one dedicated hardware in addition to or in place of the processor 100 a and the memory 100 b.

[0057] When the processing circuit includes the processor 100a and the memory 100b, each function of the mobile system 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. The program is stored in the memory 100b. The processor 100a realizes each function of the mobile system 1 by reading and executing the program stored in the memory 100b. The program may be a program package including multiple subprograms, modules, libraries, or the like. The program may also be called a program product.

[0058] The processor 100a is also called a CPU (Central Processing Unit), processing device, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 100b is configured by, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM.

[0059] Where the processing circuitry comprises dedicated hardware, the processing circuitry may be implemented, for example, as a single circuit, multiple circuits, a programmed processor, parallel programmed processors, an ASIC, an FPGA, or a combination thereof.

[0060] Each function of the mobile system 1 can be realized by a processing circuit. Alternatively, each function of the mobile system 1 can be realized collectively by a processing circuit. Some of the functions of the mobile system 1 may be realized by dedicated hardware, and other parts may be realized by software or firmware. In this way, the processing circuit realizes each function of the mobile system 1 by dedicated hardware, software, firmware, or a combination of these.

[0061] Embodiment 2 In the second embodiment, differences from the example disclosed in the first embodiment will be described in particular detail. For features not described in the second embodiment, any of the features of the example disclosed in the first embodiment may be adopted.

[0062] FIG. 6 is a plan view illustrating an example of the arbitration area 5 in the mobile body system 1 according to the second embodiment.

[0063] The area information of the arbitration area 5 includes, for example, information on the acceptance range, which is the range within which arbitration requests for entry into the arbitration area 5 are accepted. The acceptance range is specified, for example, by the straight-line distance from the arbitration area 5 or the distance along a route. The acceptance range may also be, for example, a wider range that includes each node 6 adjacent to the arbitration area 5. For example, when each mobile object 2 enters the acceptance range of the arbitration area 5, it outputs an arbitration request to enter the arbitration area 5 to the traffic management device 9. Each mobile object 2 may determine whether it is within the acceptance range of the arbitration area 5 based on, for example, information such as its own current location.

[0064] In this example, the mobile unit 2 may output to the traffic management device 9 a reservation for an arbitration request, requesting an entry instruction for the arbitration area 5 at a future reservation time. The reservation for the arbitration request is, for example, an arbitration request with a reservation flag attached. At this time, the reservation flag is not attached to an arbitration request requesting an entry instruction at the current time. The reservation for the arbitration request includes information such as a time specifying the reservation time in addition to the information of a normal arbitration request. The selection unit 13 selects an authorized node at the reservation time based on the reservation for the arbitration request. The traffic management device 9 performs processing such as selecting an authorized node and outputting an entry instruction, assuming, for example, that the arbitration request was accepted at the reservation time. For example, when outputting an entry instruction based on the reservation for the arbitration request, the traffic management device 9 cancels the reservation for the arbitration request.

[0065] 7 and 8 are flowcharts showing an example of the operation of the mobile body system 1 according to the second embodiment. FIG. 7 shows an example of the operation of the traffic control device 9 when the moving object 2 outputs an arbitration request.

[0066] In step S21, the reception unit 12 receives an arbitration request from the mobile object 2 regarding passage through the arbitration area 5. Based on information such as an identifier included in the arbitration request, the reception unit 12 references the area information managed by the area management unit 10 and the information about the mobile object 2 managed by the mobile object management unit 11. The information about the mobile object 2 referenced by the reception unit 12 includes information about the current location of the mobile object 2, which is updated and managed by the mobile object management unit 11. Thereafter, the processing of the traffic management device 9 proceeds to step S22.

[0067] In step S22, the reception unit 12 determines whether a reservation flag is set in the arbitration request. If a reservation flag is set, the processing of the traffic management device 9 proceeds to step S23. On the other hand, if a reservation flag is not set, the processing of the traffic management device 9 proceeds to step S24.

[0068] In step S23, the reception unit 12 receives the arbitration request received from the moving object 2 as a reservation. The traffic management device 9 stores the reservation of the received arbitration request at least until the time of reservation. Thereafter, the processing of the traffic management device 9 ends.

[0069] In step S24, the reception unit 12 determines whether the current location of the identified moving object 2 is within the reception range of the identified arbitration area 5. If the moving object 2 is within the reception range, the processing of the traffic management device 9 proceeds to step S25. On the other hand, if the moving object 2 is outside the reception range, the processing of the traffic management device 9 proceeds to step S26.

[0070] In step S25, the reception unit 12 receives the arbitration request received from the moving object 2. The traffic management device 9 performs processing such as determining whether to output an entry instruction in response to the received arbitration request. Thereafter, the processing of the traffic management device 9 ends.

[0071] In step S26, the reception unit 12 rejects the arbitration request received from the mobile body 2 without accepting it. The traffic management device 9 does not perform processing such as determining whether to output an entry instruction for the rejected arbitration request. The notification unit 15 may notify the mobile body 2 that the arbitration request has been rejected. Thereafter, the processing of the traffic management device 9 ends.

[0072] FIG. 8 shows an example of the operation of the traffic management device 9, which is periodically executed at a preset cycle.

[0073] In step S31, the selection unit 13 determines whether a preset time has elapsed since the reservation of the arbitration request accepted by the acceptance unit 12. If the preset time has elapsed, the processing of the traffic management device 9 proceeds to step S22. On the other hand, if the preset time has not elapsed, the processing of the traffic management device 9 ends.

[0074] In step S32, the selection unit 13 performs a cancellation process for the reservation of the arbitration request for which a preset time has passed since the reservation was made, and then the process of the traffic management device 9 ends.

[0075] As described above, in the traffic management device 9 of the mobile body system 1 according to the second embodiment, the reception unit 12 rejects an arbitration request when the mobile body 2 that currently issues an arbitration request for entry is outside the reception range of the arbitration area 5 through which the mobile body 2 is attempting to pass according to the arbitration request. The reception unit 12 uses information on the current location of the mobile body 2 that is updated and managed by the mobile body management unit 11 to determine whether the mobile body 2 is inside or outside the reception range.

[0076] With this configuration, an arbitration request output when the moving object 2 is still far from the arbitration area 5 is rejected, making it less likely that unnecessary waiting time will occur, thereby further improving the movement efficiency of the moving object 2.

[0077] The reception unit 12 also receives a reservation for an arbitration request from the mobile unit 2. The reservation for an arbitration request represents a request for an entry instruction for the arbitration area 5 at a future reservation time. The selection unit 13 selects an allowed node at the reservation time based on the reservation for the arbitration request received by the reception unit 12. The selection unit 13 cancels the reservation for the arbitration request when a preset time has elapsed since the reservation time.

[0078] With this configuration, the mobile unit 2 can issue a reservation for an arbitration request regardless of its current location. By reserving an arbitration request, information such as the occupancy of the arbitration area 5 by the mobile unit 2 can be known in advance. At this time, the mobile unit 2 can reduce unnecessary waiting time by, for example, re-searching the movement route of the mobile unit 2 or re-scheduling the task execution schedule. This further improves the movement efficiency of the mobile unit 2. Note that when an arbitration request is reserved, the notification unit 15 may notify the reservation status of the arbitration request, for example, in response to an inquiry from the mobile unit 2.

[0079] Embodiment 3 In the third embodiment, differences from the examples disclosed in the first or second embodiment will be described in particular detail. For features not described in the third embodiment, any of the features of the examples disclosed in the first or second embodiment may be adopted.

[0080] For example, when a moving body 2 performs a service task such as cleaning, it may move at a speed slower than that of other moving bodies 2. Furthermore, when performing the task, it may stay in the arbitration area 5 for a longer period of time than if it simply passes through the arbitration area 5. In such cases, waiting times may occur for other moving bodies 2 passing through the arbitration area 5. For this reason, the command unit 14 eliminates such waiting times by outputting an instruction to the moving body 2 to exit the arbitration area 5.

[0081] Upon receiving an exit instruction from the command unit 14, the mobile object 2 exits the arbitration area 5 to, for example, one of the adjacent nodes 6. The mobile object 2 that has exited the arbitration area 5 may issue an arbitration request again to enter the arbitration area 5, if necessary.

[0082] It may be difficult for the moving body 2 to exit the arbitration area 5 due to the presence of an obstacle in the arbitration area 5 or for other reasons. In such cases, the moving body 2 may stop within the arbitration area 5. The traffic management device 9 detects the occurrence of an abnormality in the arbitration area 5 when the moving body 2, to which an exit instruction has been output from the command unit 14, is still in the arbitration area 5 after a preset time has elapsed since the output of the exit instruction. When detecting the occurrence of an abnormality, the traffic management device 9 may notify the manager of the facility 3 in which the arbitration area 5 is located of the occurrence of the abnormality. The notification is made by, for example, the notification unit 15.

[0083] FIG. 9 is a flowchart showing an example of the operation of the mobile body system 1 according to the third embodiment. 9 shows an example of the operation of the traffic management device 9 when outputting an exit instruction. The processing in FIG. 9 may be executed, for example, when a mobile object 2 waiting for an entry instruction occurs at any of the nodes 6 adjacent to the arbitration area 5. Alternatively, the processing in FIG. 9 may be executed when either or both of the number of mobile objects 2 waiting for an entry instruction at any of the nodes 6 and the waiting time exceed a preset standard.

[0084] In step S41, the command unit 14 compares the priorities of the mobile units 2 staying in the arbitration area 5 with the mobile units 2 waiting to enter the arbitration area 5. The command unit 14 performs this comparison based on, for example, information about each mobile unit 2 managed by the mobile unit management unit 11. The command unit 14 compares the priorities of the mobile units 2 staying in the arbitration area 5 with the mobile units 2 entering from the node 6 selected as an allowed node. For example, if there are multiple mobile units 2 waiting to enter, the command unit 14 performs the comparison using the priority of the mobile unit 2 with the highest priority among them. For example, if there are multiple mobile units 2 staying in the arbitration area 5, the command unit 14 performs the comparison using the priority of the mobile unit 2 with the highest priority among them. If the priority of the mobile unit 2 staying in the arbitration area 5 is relatively low, the processing of the traffic management device 9 proceeds to step S42. On the other hand, if the priority of the moving object 2 staying in the arbitration area 5 is not relatively low, the processing of the traffic management device 9 proceeds to step S43.

[0085] In step S42, the command unit 14 outputs an exit instruction to the mobile body 2 staying in the arbitration area 5. The entry instruction may be output through the mobile body control device 8. Here, the mobile body 2 waiting to enter the arbitration area 5 is an example of a first mobile body. Also, the mobile body 2 staying in the arbitration area 5 is an example of a second mobile body. The first mobile body and the second mobile body are the mobile bodies 2 whose priorities were compared in step S41. After the exit instruction is output, the processing of the traffic management device 9 proceeds to step S43.

[0086] In step S43, the command unit 14 determines whether the mobile object 2 to which the exit instruction was output has exited the arbitration area 5. The command unit 14 makes this determination based on, for example, a notification from the mobile object 2 or information about the mobile object 2 managed by the mobile object management unit 11. When the mobile object 2 has exited the arbitration area 5, the processing of the traffic management device 9 proceeds to step S44. On the other hand, when the mobile object 2 has not exited the arbitration area 5, the processing of the traffic management device 9 proceeds to step S41.

[0087] In step S44, the command unit 14 outputs an entry instruction to the mobile object 2 waiting to enter the arbitration area 5 whose priorities were compared in step S41. The entry instruction may be output via the mobile object control device 8. Thereafter, the processing of the traffic management device 9 ends.

[0088] As described above, in the mobile body system 1 according to the third embodiment, when a mobile body 2 with a lower priority is staying in the arbitration area 5 into which the mobile body 2 is attempting to enter, the command unit 14 outputs an exit instruction to the mobile body 2. Thereafter, the command unit 14 outputs an entry instruction to the mobile body 2 attempting to enter the arbitration area 5.

[0089] With this configuration, even if a moving object 2 stays in the arbitration area 5 for a long time to execute a task, an exit instruction is output to the staying moving object 2 according to its priority. This allows moving objects 2 with relatively high priority to pass through the arbitration area 5, thereby enabling the execution of various tasks by moving objects 2 and the efficient movement of other moving objects 2 to coexist.

[0090] To summarize the above explanation, possible configurations of the technology according to the present disclosure include the configurations listed below as appendices. (Appendix 1) an area management unit that manages area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a mobile object management unit that manages information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node from among the adjacent nodes to which entry is permitted based on the priority of a moving object entering the arbitration area from the adjacent nodes; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; A traffic management device comprising: (Appendix 2) The priority of each of the one or more moving bodies is set based on mobility performance. 1. A traffic management device as described in Appendix 1. (Appendix 3) the mobile object management unit manages the current location of each of the one or more mobile objects while updating the current location of each of the one or more mobile objects; the reception unit rejects the arbitration request when the mobile body issuing the arbitration request for entry at the current time is outside a predetermined reception range for the arbitration area into which the mobile body is attempting to enter by the arbitration request. 10. A traffic management device according to claim 1 or 2. (Appendix 4) the reception unit receives, from the one or more moving bodies, a reservation for an arbitration request for an entry instruction for the arbitration area at a future reservation time; the selection unit selects the permitted node at the time of reservation based on the reservation of the arbitration request accepted by the acceptance unit, and cancels the reservation of the arbitration request when a preset time has elapsed since the time of reservation. 4. A traffic management device according to any one of claims 1 to 3. (Appendix 5) When the one or more moving bodies include a first moving body and a second moving body having a lower priority than the first moving body, the mobile entity management unit manages, while updating, information on whether each of the one or more mobile entities is currently in the arbitration area; When the second moving body is staying in the arbitration area into which the first moving body is about to enter, the command unit outputs an exit instruction to the second moving body, and then outputs an entry instruction to the first moving body. 5. A traffic management device according to any one of claims 1 to 4. (Appendix 6) when at least one of the number of moving objects or waiting time waiting for entry from any of the nodes adjacent to the arbitration area exceeds a predetermined standard, the selection unit selects the node that exceeds the standard as the permitted node, regardless of the priority of the moving object entering the arbitration area. 6. A traffic management device according to any one of claims 1 to 5. (Appendix 7) The computer managing area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; receiving an arbitration request for entry instructions from one or more moving objects each attempting to enter the arbitration area; managing priority information for each of the one or more moving objects; selecting an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of the mobile unit entering from the adjacent node; outputting an entry instruction to at least one of the one or more moving bodies that enters from the selected permitted node; Implementing traffic management methods. (Appendix 8) On the computer, managing area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; receiving an arbitration request for entry instructions from one or more moving objects each attempting to enter the arbitration area; managing priority information for each of the one or more moving objects; selecting an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of the mobile unit entering from the adjacent node; outputting an entry instruction to at least one of the one or more moving bodies that enters from the selected permitted node; A traffic management program that allows (Appendix 9) one or more moving bodies each attempting to enter a predetermined arbitration area; an area management unit that manages area information for the arbitration area, the area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from the one or more moving bodies; a mobile object management unit that manages information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node from among the adjacent nodes to which entry is permitted based on the priority of a moving object entering the arbitration area from the adjacent nodes; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; A mobile system comprising: (Appendix 10) a mobile object control unit that controls the movement of one or more mobile objects each attempting to enter a predetermined arbitration area; an area management unit that manages area information for the arbitration area, the area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from the one or more moving bodies; a mobile object management unit that manages information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node from among the adjacent nodes to which entry is permitted based on the priority of a moving object entering the arbitration area from the adjacent nodes; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; A mobile object control system comprising: [Explanation of symbols]

[0091] 1 Mobile system, 2, 2a, 2b, 2c Mobile, 3 Facility, 4 Communication network, 5 Arbitration area, 6 Node, 7 Mobile control system, 8 Mobile control device, 9 Traffic management device, 10 Area management unit, 11 Mobile management unit, 12 Reception unit, 13 Selection unit, 14 Command unit, 15 Notification unit, 100a Processor, 100b Memory, 200 Dedicated hardware

Claims

1. an area management unit that manages area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a mobile object management unit that manages information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node from among the adjacent nodes to which entry is permitted based on the priority of a moving object entering the arbitration area from the adjacent nodes; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; A traffic management device comprising:

2. the priority of each of the one or more moving bodies is set based on mobility performance; The traffic management device of claim 1 .

3. the mobile object management unit manages the current location of each of the one or more mobile objects while updating the current location of each of the one or more mobile objects; the reception unit rejects the arbitration request when the mobile body issuing the arbitration request for entry at the current time is outside a predetermined reception range for the arbitration area into which the mobile body is attempting to enter by the arbitration request. The traffic management device according to claim 1 or 2.

4. the reception unit receives, from the one or more moving bodies, a reservation for an arbitration request for an entry instruction for the arbitration area at a future reservation time; the selection unit selects the permitted node at the time of reservation based on the reservation of the arbitration request accepted by the acceptance unit, and cancels the reservation of the arbitration request when a preset time has elapsed since the time of reservation. The traffic management device according to claim 1 or 2.

5. When the one or more moving bodies include a first moving body and a second moving body having a lower priority than the first moving body, the mobile object management unit manages, while updating, information on whether each of the one or more mobile objects is currently in the arbitration area; When the second moving body is staying in the arbitration area into which the first moving body is about to enter, the command unit outputs an exit instruction to the second moving body, and then outputs an entry instruction to the first moving body. The traffic management device according to claim 1 or 2.

6. when at least one of the number of moving objects or waiting time waiting for entry from any of the nodes adjacent to the arbitration area exceeds a predetermined standard, the selection unit selects the node that exceeds the standard as the permitted node, regardless of the priority of the moving object entering the arbitration area. The traffic management device according to claim 1 or 2.

7. The computer managing area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; managing priority information for each of the one or more moving bodies; selecting an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of the mobile unit entering from the adjacent node; outputting an entry instruction to at least one of the one or more moving bodies that enters from the selected permitted node; Implementing traffic management methods.

8. On the computer, managing area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; managing priority information for each of the one or more moving bodies; selecting an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of the mobile unit entering from the adjacent node; outputting an entry instruction to at least one of the one or more moving bodies that enters from the selected permitted node; A traffic management program that allows

9. one or more moving bodies each attempting to enter a predetermined arbitration area; an area management unit that manages area information for the arbitration area, the area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from the one or more moving bodies; a mobile object management unit that manages information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node from among the adjacent nodes to which entry is permitted based on the priority of a moving object entering the arbitration area from the adjacent nodes; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; A mobile system comprising:

10. a mobile object control unit that controls the movement of one or more mobile objects each attempting to enter a predetermined arbitration area; an area management unit that manages area information for the arbitration area, the area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from the one or more moving bodies; a mobile object management unit that manages information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node from among the adjacent nodes to which entry is permitted based on the priority of a moving object entering the arbitration area from the adjacent nodes; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; A mobile object control system comprising:

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