Moving vehicle control device, moving vehicle control method, and moving vehicle control program

Abstract

To provide a moving vehicle control device, a moving vehicle control method, and a moving vehicle control program capable of uniformizing the deterioration progression of road structures including foundation structures.SOLUTION: A moving vehicle control device according to the present disclosure includes: detection means for detecting at least the degree of deterioration in the foundation structure among road structures comprising a road surface and a foundation structure supporting the road surface; and moving vehicle control means for controlling the movement of a moving vehicle that may pass over the road surface based on the correspondence between the impact location on the road surface and the load location on the foundation structure, and the detected degree of deterioration.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a mobile object control device, a mobile object control method, and a mobile object control program. [Background technology]

[0002] To ensure the safe use of road structures over the long term, it is necessary to carry out periodic maintenance and repair of deteriorated areas. From the viewpoint of suppressing repair costs, it is desirable to reduce the number of repairs. By making the degree of deterioration of the entire road structure uniform to a certain extent, it is expected that the number of repairs for that road structure will be reduced. Therefore, technology to make the degree of deterioration of the entire road structure uniform has been developed. For example, Patent Document 1 discloses a technique for detecting road deterioration and controlling vehicle traffic so as to extend the road's lifespan. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-086965 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology disclosed in Patent Document 1 detects the degree of deterioration of the road surface on which moving bodies such as vehicles actually travel, and controls the passage of vehicles. Meanwhile, road structures include not only the road surface but also the foundation structures that support the road surface. In order to further reduce the number of repairs, it is preferable to make the degree of deterioration of the foundation structures uniform to a certain extent.

[0005] The present disclosure has been made to solve such problems, and aims to provide a mobile body control device, a mobile body control method, and a mobile body control program that can equalize the progression of deterioration of road structures, including foundation structures. [Means for solving the problem]

[0006] The mobile object control device according to the present disclosure includes: A detection means for detecting the degree of deterioration of at least the foundation structure among road structures including a road surface and a foundation structure supporting the road surface; and a mobile object control means for controlling the movement of a mobile object that may pass over the road surface based on the correspondence between the impact point on the road surface and the load point of the base structure, and the detected degree of deterioration.

[0007] The mobile object control method according to the present disclosure includes: The computer, Detecting the degree of deterioration of at least the foundation structure among road structures including a road surface and a foundation structure supporting the road surface; The movement of a moving object that may pass over the road surface is controlled based on the correspondence between the impact point on the road surface and the load point of the foundation structure, and the detected degree of deterioration.

[0008] A mobile object control program according to the present disclosure includes: A process of detecting the degree of deterioration of at least the foundation structure among road structures including a road surface and a foundation structure supporting the road surface; a process of controlling the movement of a moving object that may pass over the road surface based on the correspondence relationship between the impact portion on the road surface and the load portion of the foundation structure and the detected degree of deterioration; to be executed by the computer. [Effects of the Invention]

[0009] The present disclosure makes it possible to provide a mobile object control device, a mobile object control method, and a mobile object control program that can equalize the progression of deterioration of road structures, including foundation structures. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram illustrating a configuration example of a mobile object control device according to the present disclosure. [Figure 2] FIG. 1 is a schematic diagram showing an example of a road structure. [Figure 3] 1 is a flowchart illustrating an example of the flow of a mobile object control method according to the present disclosure. [Figure 4] FIG. 1 is a block diagram illustrating a configuration example of a mobile object control device according to the present disclosure. [Figure 5] 1 is a flowchart illustrating an example of the flow of a mobile object control method according to the present disclosure. [Figure 6] FIG. 1 is a block diagram illustrating a configuration example of a mobile object control device according to the present disclosure. [Figure 7] FIG. 1 is a block diagram illustrating an example of a hardware configuration of a computer. DETAILED DESCRIPTION OF THE INVENTION

[0011] Embodiment 1 An example configuration of a mobile object control device 100 will be described below with reference to FIG. 1. As shown in FIG. 1, the mobile object control device 100 includes a detection unit 110 and a mobile object control unit 120. The mobile object control device 100 is an information processing device that controls the movement of a mobile object that travels on a road surface or that is likely to travel on a road surface. A road surface is the surface of a path that is maintained so that mobile objects can travel, and is included in road structures. FIG. 2 is a diagram showing an example configuration of a road structure 300. The road structure 300 is a structure that forms a path along which a mobile object 200 can travel, such as an elevated road or a bridge. The road structure 300 includes a road surface 310 and a base structure 320. The mobile object 200 is a mobile object that may travel on the road surface 310, such as a car, a motorcycle, a bicycle, or an electric kick scooter. Specifically, the mobile object 200 is a mobile object that is likely to pass through a portion of the road surface 310 corresponding to a portion of the base structure 320 whose degree of deterioration is equal to or greater than a predetermined level. For example, the mobile object 200 is a mobile object traveling toward the road structure 300. In the example shown in FIG. 2, the mobile object 200, which is an automobile, travels on the road surface 310. The road surface 310 is a structure that comes into direct contact with the mobile object 200. The base structure 320 is a member that supports the road surface 310, such as a bridge pier.

[0012] Returning to Fig. 1, the explanation will be continued. The detection unit 110 detects the degree of deterioration of at least the base structure 320 of the road structure 300. That is, the detection unit 110 detects the degree of deterioration of at least the base structure 320, and may also detect the degree of deterioration of the road surface 310. Here, the degree of deterioration of the road structure 300 refers to the plastic strain occurring in the road structure 300, and more specifically, for example, the amount of cracks occurring in the road structure 300. That is, if there are many cracks, the degree of deterioration of the road structure 300 is determined to be high.

[0013] The method by which the detection unit 110 detects the degree of deterioration of the road structure 300 is not particularly limited, and may be performed by a known method. The detection unit 110 may detect the degree of deterioration of the road structure 300, for example, by directly measuring the plastic strain of the road structure 300. An example of a method for directly measuring the plastic strain of the road structure 300 is a strain sensor that senses the strain of the road structure 300.

[0014] The detection unit 110 may also detect the degree of deterioration of the road structure 300 by indirectly measuring the plastic strain of the road structure 300. Examples of methods for indirectly measuring the plastic strain of the road structure 300 include measuring the cumulative axle load and measuring the amount of snow-melting agent sprayed. Measuring the cumulative axle load is a method for measuring the cumulative total axle load of the mobile objects 200 that have traveled on the road surface 310 within a predetermined period. Detecting plastic strain through the cumulative axle load measurement may be performed using optical vibration analysis technology. Optical vibration analysis technology is a technology for estimating the deterioration state inside the road structure 300 using images captured by a camera. Specifically, for example, the detection unit 110 may measure the frequency of vibrations on the surface of the road structure 300 using images captured by a camera installed in a position where it can capture the road surface 310, and estimate the deterioration inside the road structure 300 based on the measurement results. Furthermore, the detection unit 110 may detect elastic strain in addition to plastic strain. Elastic strain is strain that returns to its original state when the load is removed.

[0015] The mobile object control unit 120 controls the movement of the mobile object 200 that may pass over the road surface 310. Specifically, the mobile object control unit 120 controls the movement of the mobile object 200 based on the correspondence between the impact location on the road surface 310 and the load location on the base structure 320, and the deterioration degree detected by the detection unit 110. Hereinafter, the "correspondence between the impact location on the road surface 310 and the load location on the base structure 320" may be referred to as the "correspondence." Because the road surface 310 is supported by the base structure 320, when the mobile object 200 passes a predetermined point on the road surface 310, a load is applied to a predetermined point on the base structure 320. For example, the deteriorated portion B shown in FIG. 2 is a portion of the base structure 320 where deterioration has progressed to a predetermined level or more. The deteriorated portion B is a load location that receives a load when the mobile object 200 passes over the impact location A. In this way, the impact point on the road surface 310 corresponds to the load point on the base structure 320 .

[0016] The method for generating the correspondence relationship is not particularly limited and may be performed by a known method. For example, the correspondence relationship may be generated by a structural simulation. Alternatively, the correspondence relationship may be generated using optical vibration analysis technology. Alternatively, the correspondence relationship may be generated by an analysis based on actual measurements when an impact is actually applied to a road surface.

[0017] The mobile object control unit 120 controls the movement of the mobile object 200 so that the load on a portion of the base structure 320 whose deterioration level detected by the detection unit 110 is equal to or higher than a predetermined level is equal to or lower than a predetermined level. Furthermore, when the detection unit 110 detects elastic strain, the mobile object control unit 120 may control the movement of the mobile object 200 so as to reduce the elastic strain. For example, the mobile object control unit 120 may control the mobile object 200 not to pass over a portion of the road surface 310 corresponding to a portion of the base structure 320 whose deterioration level is equal to or higher than a predetermined level. Furthermore, the mobile object control unit 120 may control the mobile object 200, which satisfies a predetermined condition, not to pass over a portion of the road surface 310 corresponding to a portion of the base structure 320 whose deterioration level is equal to or higher than a predetermined level. Here, the predetermined condition is, for example, a characteristic of the mobile object 200 that causes a load of equal to or higher than a predetermined level to be applied to the corresponding portion of the base structure 320 when passing over the road surface 310. Specifically, the weight is greater than a predetermined value, snow chains are attached to the tires of the moving body 200, the moving speed of the moving body 200 is outside a reference range, and so on.

[0018] As will be described in detail later, the mobile object control unit 120 controls the movement of the mobile object 200 by notifying the driver of the mobile object 200 to avoid passing through the impact site A or by controlling the travel of the mobile object 200 itself. For example, the mobile object control unit 120 may notify the driver to avoid passing through the impact site A by changing the traffic lane displayed on the road surface 310 or by sending a notification to a car navigation system installed in the mobile object 200. The mobile object control unit 120 may also control the mobile object 200 not to pass through the impact site A by sending a notification to an autonomous driving system installed in the mobile object 200. The mobile object control unit 120 may also control the movement of the mobile object 200 by generating a travel path that does not pass through the impact site A and sending the travel path to the mobile object 200. The mobile object control unit 120 may also reduce the load applied to the load site B when the mobile object 200 passes through the impact site A by changing the rigidity of tires equipped to the mobile object 200.

[0019] Next, an example of a mobile object control method will be described with reference to FIG. 3. First, the detection unit 110 detects the degree of deterioration of the base structure 320 (step S101). Next, the mobile object control unit 120 controls the movement of the mobile object 200 based on the degree of deterioration detected in step S101 and the correspondence relationship (step S102). Note that the correspondence relationship used in step S102 may be generated in advance or may be generated when step S102 is executed. In this way, the mobile object control device 100 controls the movement of the mobile object 200 based on the degree of deterioration of the base structure 320 so as to reduce the load on areas where deterioration is progressing. In other words, the mobile object control device 100 controls the movement of the mobile object 200 so as to increase the load on areas where deterioration is not progressing. This uniforms the progression of deterioration throughout the road structure 300, thereby reducing the number of repairs required. In addition, if the road structure 300 is multiple bridges over the same river, etc., the mobile body control device 100 may control the mobile body so that the degree of deterioration of the multiple bridges varies, in order to prevent the repair periods of the multiple bridges from overlapping and resulting in road closures.

[0020] The mobile object control device 100 includes a processor, a memory, and a storage device, which are not shown in the figure. The storage device stores a computer program that implements the processing of the mobile object control method according to this embodiment. The processor then loads the computer program from the storage device into the memory and executes the computer program. This allows the processor to realize the functions of the detection unit 110 and the mobile object control unit 120.

[0021] Alternatively, each component of the mobile object control device 100 may be realized by dedicated hardware. Furthermore, some or all of the components of each device may be realized by general-purpose or dedicated circuits, processors, etc., or a combination of these. These may be configured by a single chip, or by multiple chips connected via a bus. Some or all of the components of each device may be realized by a combination of the above-mentioned circuits, etc., and programs. Furthermore, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), FPGA (Field-Programmable Gate Array), quantum processor (quantum computer control chip), etc., may be used as the processor.

[0022] Furthermore, when some or all of the components of the mobile object control device 100 are realized by a plurality of information processing devices, circuits, etc., the plurality of information processing devices, circuits, etc. may be centrally or decentralized. For example, the information processing devices, circuits, etc. may be realized in a form in which each is connected via a communication network, such as a client-server system or a cloud computing system. Furthermore, the functions of the mobile object control device 100 may be provided in a SaaS (Software as a Service) format.

[0023] Embodiment 2 The second embodiment is an embodiment in which the movement of a moving object is controlled by presenting information about how to control the moving object to a mobile terminal carried by the moving object or the driver.

[0024] The mobile body control device 400 shown in FIG. 4 is an example of the mobile body control device 100 described above. With reference to FIG. 4, a configuration example of a mobile body terminal 500 capable of communicating with the mobile body control device 400 will be described. As shown in FIG. 4, the mobile body control device 400 is connected to the mobile body terminal 500. The mobile body terminal 500 is an information processing device that presents information to the mobile body 200 or the driver of the mobile body 200. The mobile body terminal 500 may be connected to an autonomous driving system or a car navigation system installed in the mobile body 200. The mobile body terminal 500 may also be an information processing terminal such as a smartphone carried by the driver. As will be described in detail later, the mobile body terminal 500 receives information related to the control of the mobile body 200 from the mobile body control device 100, and presents the information to the driver or controls the movement route, etc. of the mobile body 200 based on the information.

[0025] The mobile terminal 500 is communicably connected to the mobile control device 400 via a network 600. The network 600 is a network in which information and communication devices are connected via wired or wireless communication lines, and may be a network that is accessible only to some information devices, or may be a network that can be used by an unspecified number of people, such as the Internet. The mobile terminal 500 includes a communication unit 510. The communication unit 510 is an interface that communicates with the outside of the mobile terminal 500.

[0026] The mobile object control device 400 is an information processing device that performs mobile object control processing, etc., and is, for example, a server device realized by a computer. The mobile object control device 400 may be redundantly configured with multiple servers, and each functional block may be realized by multiple computers. The mobile object control device 400 includes a memory 410, a communication unit 420, a storage unit 430, and a control unit 440.

[0027] The memory 410 is a storage area that temporarily stores the processing contents of the control unit 440, and is a volatile storage device such as a RAM (Random Access Memory). The communication unit 420 is an interface that communicates with the outside of the mobile object control device 400. The storage unit 430 is a storage device that stores a program 431 and the like. The program 431 is a computer program that implements the mobile object control processing according to the present disclosure.

[0028] The control unit 440 includes a detection unit 441 and a mobile object control unit 442. The control unit 440 is a control device that controls the operation of the mobile object control device 400, and is, for example, a processor such as a CPU. The control unit 440 loads the program 431 from the storage unit 430 into the memory 410 and executes it. In this way, the control unit 440 realizes the functions of the detection unit 441 and the mobile object control unit 442.

[0029] The detection unit 441 detects the degree of deterioration of the road structure 300. The method for detecting the degree of deterioration is not particularly limited, and may be, for example, the method described above or another method. The mobile object control unit 442 controls the movement of the mobile object 200 based on the correspondence between the impact points on the road surface 310 and the load points on the base structure 320, and the degree of deterioration detected by the detection unit 441. The mobile object control unit 442 may generate the correspondence between the impact points on the road surface 310 and the load points on the base structure 320 by itself, or may receive a pre-generated correspondence from another device.

[0030] 5 is a flowchart illustrating an example of a mobile object control method. In the mobile object control method according to the present disclosure, first, the detection unit 441 detects the degree of deterioration of the base structure 320 (step S201). In step S201, the detection unit 441 may further detect the degree of deterioration of the road surface 310. When detecting the degree of deterioration of the road surface 310, the mobile object control unit 442 can control the mobile object taking the degree of deterioration of the road surface 310 into consideration.

[0031] Next, the mobile object control unit 442 identifies a location on the road surface 310 corresponding to the location on the base structure 320 detected in step S201 as having a predetermined level of deterioration or higher (step S202). In step S202, the mobile object control unit 442 refers to the correspondence between the impact location on the road surface 310 and the load location on the base structure 320, and identifies a location on the road surface 310 corresponding to the location on the base structure 320 having a predetermined level of deterioration or higher. In step S202, the mobile object control unit 442 may use a correspondence relationship that has been generated or acquired in advance, or may generate or acquire the correspondence relationship at the timing of executing step S202.

[0032] Next, the mobile object control unit 442 controls the movement of the mobile object 200 so as to reduce the load on the portion of the road surface 310 identified in step S202 (step S203). In step S203, the mobile object control unit 442 controls the movement of the mobile object that may pass through the portion of the road surface 310 identified in step S202. In step S203, the mobile object control unit 442 may, for example, notify the mobile object terminal 500 mounted on the mobile object 200 traveling toward the road structure 300 that the mobile object 200 should avoid passing through the portion of the road surface 310 identified in step S202. Also, in step S203, the mobile object control unit 442 may notify the mobile object terminal 500 mounted on the mobile object 200 that satisfies a predetermined condition. Here, the predetermined condition is, for example, that the weight of the mobile object is equal to or greater than a predetermined value.

[0033] Mobile terminal 500 may present the information notified in step S203 to the driver. In this case, the driver can change the planned travel route of mobile body 200 taking into account the presented information. Furthermore, if mobile body 200 is equipped with a car navigation system, mobile terminal 500 may transmit the information notified in step S203 to the car navigation system. In this case, the car navigation system can change the navigation route taking into account the transmitted information. Furthermore, if mobile body 200 is equipped with an automated driving system, mobile terminal 500 may transmit the information notified in step S203 to the automated driving system. In this case, the automated driving system can change the planned travel route of mobile body 200 taking into account the transmitted information.

[0034] Furthermore, in step S203, the mobile object control unit 442 may generate a travel route that does not pass through the portion of the road surface 310 identified in step S202, and notify the mobile terminal 500 of the travel route. Furthermore, in step S203, the mobile object control unit 442 may transmit to the mobile terminal 500 a notification requesting that the travel characteristics of the mobile object 200 be changed so that the load applied to the portion of the road surface 310 identified in step S202 is less than a predetermined value. The travel characteristics are characteristics related to the travel of the mobile object 200, such as, but not limited to, traveling speed and tire stiffness. In recent years, technologies that enable variably controlling tire stiffness have been developed. For example, tires equipped with variable stiffness stabilizers can control the stiffness using an electrical signal. If the mobile object 200 is equipped with such tires with adjustable stiffness, the mobile object control unit 442 may transmit to the mobile terminal 500 a notification requesting that the tire stiffness be set within a predetermined range in step S203.

[0035] Embodiment 3 The third embodiment is an embodiment in which the movement of a moving object is controlled by presenting information about how to control the moving object on a display device installed near the road surface.

[0036] An example configuration of a traffic control device 700 capable of communicating with the mobile body control device 400 will be described with reference to Fig. 6. As shown in Fig. 6, the mobile body control device 400 is connected to the traffic control device 700. The traffic control device 700 is an information processing device that presents information to a driver of a mobile body 200. The traffic control device 700 is, for example, a road sign that displays traffic division indications. The traffic control device 700 is communicably connected to the mobile body control device 400 via a network 600. The traffic control device 700 includes a communication unit 710. The communication unit 710 is an interface that communicates with the outside of the traffic control device 700.

[0037] When the traffic control device 700 is connected to the mobile object control device 400, the mobile object control unit 442 notifies the traffic control device 700 to change the display so as to avoid passing through the portion of the road surface 310 identified in step S202 described above. Specifically, for example, the mobile object control unit 442 may close the portion of the road surface 310 identified in step S202 to traffic, generate a guide map providing guidance to other passable road surfaces, and transmit the guide map to the traffic control device 700. The traffic control device 700 presents the information notified from the mobile object control device 400 to the driver by displaying it on a display unit (not shown). The driver can change the planned travel route of the mobile object 200 by looking at the displayed information.

[0038] Hardware configuration example Below, a case will be described in which each functional configuration of the video archiving device according to the present disclosure is realized by a combination of hardware and software.

[0039] FIG. 7 is a block diagram illustrating an example of the hardware configuration of a computer. The video archiving device of the present disclosure can achieve the above-described functions by a computer 10 including the hardware configuration shown in the figure. The computer 10 may be a portable computer such as a smartphone or tablet terminal, or a stationary computer such as a PC. The computer 10 may be a dedicated computer designed to realize each device, or may be a general-purpose computer. The computer 10 can achieve desired functions by installing a specific program.

[0040] The computer 10 has a bus 20, a processor 30, a memory 40, a storage device 50, an input / output interface 60 (an interface is also called an I / F (Interface)), and a network interface 70. The bus 20 is a data transmission path through which the processor 30, the memory 40, the storage device 50, the input / output interface 60, and the network interface 70 transmit and receive data to and from each other. However, the method of connecting the processor 30 and the like to each other is not limited to bus connection.

[0041] The processor 30 is a variety of processors such as a CPU, a GPU, an FPGA, etc. The memory 40 is a main storage device realized using a RAM (Random Access Memory) or the like.

[0042] The storage device 50 is an auxiliary storage device realized using a hard disk, an SSD, a memory card, a ROM (Read Only Memory), or the like. The storage device 50 stores programs for realizing desired functions. The processor 30 reads these programs into the memory 40 and executes them to realize the various functional components of each device.

[0043] The input / output interface 60 is an interface for connecting the computer 10 with input / output devices. For example, the input / output interface 60 is connected to an input device such as a keyboard and an output device such as a display device.

[0044] The network interface 70 is an interface for connecting the computer 10 to a network.

[0045] Although an example of a hardware configuration for the present disclosure has been described above, the above-described embodiment is not limited to this. Any processing in the present disclosure can also be realized by causing a processor to execute a computer program.

[0046] In the above examples, the program can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, DVDs (Digital Versatile Discs), and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be supplied to a computer by various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable media can supply the program to a computer via a wired communication path such as an electric wire or optical fiber, or via a wireless communication path.

[0047] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0048] Each drawing is merely an example for describing one or more embodiments. Each drawing may relate not only to one particular embodiment, but also to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessary to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0049] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0050] (Appendix A1) A detection means for detecting the degree of deterioration of at least the foundation structure among road structures including a road surface and a foundation structure supporting the road surface; and a mobile object control means for controlling the movement of a mobile object that may pass over the road surface based on the correspondence between the impact portion on the road surface and the load portion of the foundation structure and the detected degree of deterioration. Mobile control device.

[0051] (Appendix A2) the moving body control means controls the movement of the moving body so as to avoid road surface portions corresponding to the portions of the foundation structure having a high degree of deterioration, based on a correspondence relationship between the impact portion on the road surface and the load portion of the foundation structure. A mobile object control device according to Appendix A1.

[0052] (Appendix A3) the mobile body control means transmits to the mobile body a notification that the road surface portion corresponding to the portion of the foundation structure where the degree of deterioration is greater than a predetermined value is not passable; A mobile object control device according to appendix A2.

[0053] (Appendix A4) the mobile object control means changes the traffic classification display of the road surface portion so as to prohibit passage on the road surface portion corresponding to the portion of the foundation structure where the degree of deterioration is greater than a predetermined value. A mobile object control device according to appendix A2 or A3.

[0054] (Appendix A5) the moving body control means generates a movement path for the moving body so as to avoid road surface portions corresponding to portions of the base structure where the degree of deterioration of the base structure is greater than a predetermined value, based on a correspondence relationship between impact portions on the road surface and load portions of the base structure, and notifies the moving body of the generated movement path. A mobile object control device according to any one of appendices A2 to A4.

[0055] (Appendix A6) the mobile object control means transmits to the mobile object an instruction to change the movement characteristics of the mobile object based on the detected degree of deterioration; A mobile object control device according to any one of appendices A1 to A5.

[0056] (Appendix A7) the mobile object control means transmits to the mobile object an instruction to change the moving speed of the mobile object based on the detected degree of deterioration; A mobile object control device according to Appendix A6.

[0057] (Appendix A8) the moving body is a vehicle equipped with tires whose rigidity can be adjusted, The mobile object control means transmits to the mobile object an instruction to change the rigidity of the tire based on the detected degree of deterioration. A mobile object control device according to appendix A6 or A7.

[0058] (Appendix A9) the detection means detects the degree of deterioration of the road structure based on the plastic strain of the road structure. A mobile object control device according to appendices A1 to A8.

[0059] (Appendix A10) The detection means detects dynamic elastic strain that changes depending on the load state on the road structure, the moving body control means controls the movement of the moving body so as to reduce the elastic strain. A mobile object control device according to any one of appendices A1 to A9.

[0060] (Appendix A11) the detection means detects the degree of deterioration of the road structure based on the cumulative load of moving objects that have passed over the road surface within a predetermined period of time; A mobile object control device according to any one of appendices A1 to A10.

[0061] (Appendix A12) the moving body control means calculates a correspondence relationship between an impact portion on the road surface and a load portion of the base structure by simulation; A mobile object control device according to any one of appendices A1 to A11.

[0062] (Appendix A13) the moving object control means calculates a correspondence relationship between an impact point on the road surface and a load point on the base structure by optical vibration analysis; A mobile object control device according to any one of appendices A1 to A11.

[0063] (Appendix B1) The computer, Detecting the degree of deterioration of at least the foundation structure among road structures including a road surface and a foundation structure supporting the road surface; controlling movement of a moving object that may pass over the road surface based on the correspondence between the impact portion on the road surface and the load portion of the foundation structure and the detected degree of deterioration; A mobile object control method.

[0064] (Appendix C1) A process of detecting the degree of deterioration of at least the foundation structure among road structures including a road surface and a foundation structure supporting the road surface; a process of controlling the movement of a moving object that may pass over the road surface based on the correspondence relationship between the impact portion on the road surface and the load portion of the foundation structure and the detected degree of deterioration; A mobile control program that causes a computer to execute the above.

[0065] Some or all of the elements (e.g., configurations and functions) described in Appendix A2 to Appendix A13, which are dependent on Appendix A1, may also be dependent on Appendix B1 and Appendix C1 in the same dependency relationship as Appendix A2 to Appendix A13. Some or all of the elements described in any appendix may be applied to various hardware, software, recording means for recording software, systems, and methods. [Explanation of symbols]

[0066] 100 Mobile control device 110 Detector 120 Mobile control unit 200 Mobile 300 Road structures 310 Road surface 320 Foundation Structures 400 Mobile control device 410 memory 420 Communications Department 430 Storage section 431 Program 440 Control Unit 441 Detection unit 442 Mobile Control Unit 500 Mobile Terminals 510 Communications Department 600 Network 700 Traffic control device 710 Communications Department 10. Computers 20 Bus 30 processors 40 memory 50 Storage Devices 60 Input / Output Interface 70 Network Interfaces

Claims

1. A detection means for detecting the degree of deterioration of at least the foundation structure among road structures including a road surface and a foundation structure supporting the road surface; and a mobile object control means for controlling the movement of a mobile object that may pass over the road surface based on the correspondence between the impact portion on the road surface and the load portion of the foundation structure and the detected degree of deterioration. Mobile control device.

2. the moving body control means controls the movement of the moving body so as to avoid road surface portions corresponding to the portions of the foundation structure having a high degree of deterioration, based on a correspondence relationship between the impact portion on the road surface and the load portion of the foundation structure. The mobile object control device according to claim 1 .

3. the mobile body control means transmits to the mobile body a notification that the road surface portion corresponding to the portion of the foundation structure where the degree of deterioration is greater than a predetermined value is not passable; The mobile object control device according to claim 2 .

4. the mobile object control means changes the traffic classification display of the road surface portion so as to prohibit passage on the road surface portion corresponding to the portion of the foundation structure where the degree of deterioration is greater than a predetermined value. The mobile object control device according to claim 2 .

5. the moving body control means generates a movement path for the moving body so as to avoid road surface portions corresponding to portions of the base structure where the degree of deterioration of the base structure is greater than a predetermined value, based on a correspondence relationship between impact portions on the road surface and load portions of the base structure, and notifies the moving body of the generated movement path. The mobile object control device according to claim 2 .

6. the mobile object control means transmits to the mobile object an instruction to change the movement characteristics of the mobile object based on the detected degree of deterioration; The mobile object control device according to any one of claims 1 to 5.

7. The detection means detects dynamic elastic strain that changes depending on the load state on the road structure, the moving body control means controls the movement of the moving body so as to reduce the elastic strain. The mobile object control device according to any one of claims 1 to 5.

8. the detection means detects the degree of deterioration of the road structure based on the cumulative load of moving objects that have passed over the road surface within a predetermined period of time; The mobile object control device according to any one of claims 1 to 5.

9. The computer, Detecting the degree of deterioration of at least the foundation structure among road structures including a road surface and a foundation structure supporting the road surface; controlling movement of a moving object that may pass over the road surface based on the correspondence between the impact portion on the road surface and the load portion of the foundation structure and the detected degree of deterioration; A mobile object control method.

10. A process of detecting the degree of deterioration of at least the foundation structure among road structures including a road surface and a foundation structure supporting the road surface; a process of controlling the movement of a moving object that may pass over the road surface based on the correspondence relationship between the impact portion on the road surface and the load portion of the foundation structure and the detected degree of deterioration; A mobile control program that causes a computer to execute the above.

Images