Control system

Abstract

To suppress reduction of productivity and ensure safety of a worker in an entire automatic operation system introduced into an area where an automatic driving vehicle and the worker are mixed.SOLUTION: A control system comprises: a vehicle block setting unit which sets a vehicle block section indicating a dedicated block of a vehicle 20 in a control target area; a worker section setting unit which sets a first block section that a worker can enter and a second block section which includes the first block section and that the vehicle cannot enter; a buffer necessity determination unit which determines whether or not setting of a buffer block is required around the first block section; a vehicle communication unit which transmits a travel instruction in the vehicle block section to the vehicle; and a worker communication unit which transmits to the worker an instruction allowing the worker to work or move in the first block section. The vehicle block setting unit sets the vehicle block section while avoiding the second block section.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a control system for an automated driving system. [Background technology]

[0002] In recent years, various efforts have been made to popularize autonomous driving, and one of these proposals is autonomous driving in limited areas, where the vehicle's operation method or driving range is limited. Since it is easier to ensure safety in such limited areas than in unrestricted areas such as on general roads, it is expected that autonomous driving in such limited areas will be promoted first.

[0003] Generally, when an autonomous driving system for limited areas is introduced in a factory, it is expected that workers and autonomous vehicles will coexist in the driving area, as workers may enter the driving area of ​​autonomous vehicles or may operate work vehicles into the driving area of ​​autonomous vehicles. Therefore, if a worker or work vehicle mistakenly enters the driving area, there is a possibility that the autonomous vehicle and the worker may come into contact.

[0004] Various prior documents disclose methods for preventing contact between autonomous vehicles and workers, and between work vehicles. Patent Document 1 discloses a technology that appropriately sets the area in which a work vehicle should work and prevents other work vehicles from entering until the work is completed.

[0005] Patent Document 2 discloses technology related to a vehicle management system that includes an autonomously traveling unmanned vehicle, a loading machine that performs loading operations on the unmanned vehicle, and a control station that manages the dispatch and traffic control of the unmanned vehicles. The loading machine of Patent Document 2 is equipped with a toe position calculation unit that calculates the toe position of the bucket based on information on the position, orientation, and angles of each joint of the loading machine. The control station of Patent Document 2 is equipped with an unmanned vehicle instruction unit that calculates a loading area for the unmanned vehicle and issues a call instruction or a departure instruction to the unmanned vehicle based on the calculated loading area and the toe position of the loading machine.

[0006] Patent Document 3 discloses a technology in which a protection area is set for a manned work machine, the protection area including a first protection area where new protection area setting request information is not sent, the first protection area including the position of the manned work machine, and a second protection area which is an area set along the periphery of the first protection area and where new protection area setting request information is sent; the area occupied by the body of the manned work machine on a plane projected onto the ground surface is calculated based on body information indicating the size of the body of the manned work machine and position information; new protection area setting request information is not sent if the occupied area is within the first protection area, and protection area setting request information is sent if it is within the second protection area. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent Publication No. 2020-86779 [Patent Document 2] Patent Publication No. 2022-75200 [Patent Document 3] Republished 2018 / 056231 Summary of the Invention [Problem to be solved by the invention]

[0008] The technology disclosed in Patent Document 1 prevents other work vehicles from entering the work area of ​​a work vehicle until the work of the other work vehicle is completed, which may cause the other work vehicles to stop. With the technology disclosed in Patent Document 1, when there are multiple autonomous vehicles or when there are vehicles other than autonomous vehicles engaged in their main tasks (for example, loading and unloading ships at a port), if one autonomous vehicle stops on the driving route of another autonomous vehicle, it may interfere with the driving of the other autonomous vehicle or the main task of the other vehicle. As such, the technology disclosed in Patent Document 1 stops other vehicles to prevent them from entering the work area, which may reduce the productivity of the entire autonomous driving system.

[0009] The technologies disclosed in Patent Documents 2 and 3 set buffers in all cases, so if the area where the buffer is set affects the driving of other vehicles, the productivity of the entire autonomous driving system may decrease.

[0010] The present invention has been made in consideration of the above-mentioned problems, and aims to prevent a decline in the productivity of the entire autonomous driving system introduced in an area where autonomous vehicles and workers coexist, while ensuring the safety of workers. [Means for solving the problem]

[0011] The control system according to the present invention is a control system that is communicatively connected to a vehicle that travels by automatic driving within a control area and to a mobile terminal of a worker performing work within the control area, and controls the travel of the vehicle, and includes a map information storage unit that stores map information of the control area, a vehicle section setting unit that sets a vehicle block section indicating an exclusive section for the vehicle based on position information of the vehicle transmitted from the vehicle, a worker section setting unit that sets a first block section that the worker can enter and a second block section that includes the first block section and that the vehicle cannot enter, based on position information of the worker transmitted from the mobile terminal, and a worker section setting unit that sets a vehicle block section indicating an exclusive section for the vehicle based on position information of the worker transmitted from the mobile terminal. The vehicle communication unit transmits to the vehicle a driving instruction to instruct the vehicle to drive within the vehicle block section set by the vehicle section setting unit, and a worker communication unit transmits to the mobile terminal an instruction to allow the worker to work or move within the first block section set by the worker section setting unit, wherein the worker section setting unit sets the second block section according to the determination result of the buffer necessity determination unit, and the vehicle section setting unit sets the vehicle block section avoiding the second block section set by the worker section setting unit. [Effects of the Invention]

[0012] According to the present invention, it is possible to prevent a decline in the productivity of the entire automated driving system introduced in an area where automated driving vehicles and workers coexist, while ensuring the safety of workers. Other problems, components, and advantages will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram showing the configuration of an autonomous driving system including a control system according to a first embodiment. [Figure 2] FIG. 10 is a diagram showing an example of a worker's travel route from a waiting area to a destination. [Figure 3] FIG. 10 is a diagram showing an example of a request screen on a mobile terminal of a worker. [Figure 4] FIG. 10 is a diagram showing an example of a response screen (permission) on the mobile terminal of a worker. [Figure 5] FIG. 10 is a diagram showing an example of a response screen (not permitted) on the mobile terminal of a worker. [Figure 6] FIG. 1 is a block diagram showing the configuration of a control system. [Figure 7] FIG. 10 is a diagram showing an example of blocked section information stored in a blocked section storage unit. [Figure 8] FIG. 4 is a diagram showing an example of vehicle information stored in a vehicle information storage unit. [Figure 9] FIG. 4 is a diagram showing an example of worker information stored in a worker information storage unit. [Figure 10] FIG. 10 is a diagram illustrating map information of a site. [Figure 11] FIG. 4 is a diagram showing an example of map information stored in a map information storage unit; [Figure 12] FIG. 10 is a diagram showing an example of setting standard information stored in a setting standard storage unit when a worker is working; [Figure 13] FIG. 10 is a diagram showing an example of setting reference information stored in a setting reference storage unit when a worker moves; [Figure 14] 10 is a flowchart showing a process for setting a first blocked section and a second blocked section performed by a control system. [Figure 15]15 is a flowchart showing details of step S105 in FIG. 14. [Figure 16] 15 is a flowchart showing details of step S107 in FIG. 14. [Figure 17] 15 is a flowchart showing details of step S108 in FIG. 14. [Figure 18] 15 is a flowchart showing the details of step S109 in FIG. 14. [Figure 19] 15 is a flowchart showing details of step S112 in FIG. 14. [Figure 20] 10 is a flowchart showing a process for setting a vehicle-blocked section performed by a traffic control system. [Figure 21] FIG. 10 is a diagram illustrating a specific example of a first blocked section and a second blocked section that are set when a worker is scheduled to work. [Figure 22] FIG. 10 is a diagram illustrating a specific example of a first blocked section and a second blocked section that are set when a worker is scheduled to move. [Figure 23] FIG. 10 is a diagram illustrating triggers for transitioning the status of a worker. [Figure 24] 10 is a flowchart showing a process for setting a first blocked section and a second blocked section according to the second embodiment. [Figure 25] 25 is a flowchart showing a continuation of FIG. 24. [Figure 26] 25 is a flowchart showing details of step S112 in FIG. 24. [Figure 27] 10 is a flowchart showing a process for setting a vehicle block section according to the second embodiment. [Figure 28] FIG. 10 is a diagram showing an example of a request screen on a mobile terminal of a worker. [Figure 29] FIG. 10 is a diagram showing an example of a response screen (not permitted) on the mobile terminal of a worker. [Figure 30] FIG. 10 is a diagram showing an example of a display screen for partition installation instructions on a mobile terminal of a worker. [Figure 31] 10A and 10B are diagrams illustrating the effect of installing a partition in accordance with a partition installation instruction. [Figure 32] FIG. 10 is a block diagram showing the configuration of a control system according to a third embodiment. [Figure 33] FIG. 4 is a diagram showing an example of upper limit speed information stored in an upper limit speed storage unit. [Figure 34] 11 is a flowchart showing a process for setting a vehicle block section according to the third embodiment. [Figure 35] FIG. 11 is a diagram showing an example of setting reference information stored in a setting reference storage unit according to the third embodiment when a worker moves. [Figure 36] 11 is a flowchart showing a process for setting a first block section and a second block section according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that components with the same reference numerals in each embodiment have similar components in each embodiment unless otherwise specified, and description thereof will be omitted.

[0015] [First embodiment] A first embodiment of the present invention will be described with reference to Figures 1 to 23. Figure 1 is a diagram showing the configuration of an automated driving system 1 including a control system 10 according to the first embodiment.

[0016] The autonomous driving system 1 shown in Fig. 1 is primarily used in locations where a large number of materials are transported frequently, such as within a factory or at a port facility, and aims to automate and streamline transportation work in such locations. In the following, the location where the autonomous driving system 1 is operated will be referred to as a "site," and the autonomous driving system 1 will be described in detail.

[0017] The autonomous driving system 1 includes a control system 10 installed within a site that controls vehicles in a control area, and autonomous vehicles 20-1 and 20-2 that are controlled by the control system 10. Each of the autonomous vehicles 20-1 and 20-2 is capable of autonomous driving within the control area of ​​the control system 10. The autonomous vehicles 20-1 and 20-2 automatically perform a predetermined task (e.g., transportation work). Note that while the example in FIG. 1 shows two autonomous vehicles 20-1 and 20-2 traveling within the control area, the number of autonomous vehicles is not limited to this. The autonomous vehicles 20-1 and 20-2 have an autonomous driving mode and a manual driving mode. Hereinafter, the autonomous vehicles 20-1 and 20-2 will be collectively referred to as "vehicle 20."

[0018] 1, in addition to the vehicle 20, a work vehicle 50 and a worker 60 are also present within the controlled area, but these do not necessarily have to be present within the controlled area. The control system 10 sets up vehicle blocked sections, which are exclusive sections where only the vehicle 20 can travel, and blocked sections (first blocked section and second blocked section) where only the worker 60 can move. The control system 10 ensures safety within the site by setting up all blocked sections so that they do not overlap.

[0019] Within the site, a vehicle travel area 40 is provided as an area such as a road where the vehicle 20 can travel. Within the site, a waiting area 70 is provided as an area where the vehicle 20 cannot travel and which the worker 60 can use. In the vehicle travel area 40, parking spaces 40-21 to 40-28 are provided where the vehicle 20 can temporarily stop for work such as loading, unloading, or inspection. While the example in FIG. 1 shows parking spaces 40-21 to 40-28, the number of parking spaces is not limited to this. A walkway 40-1 for the worker 60 is also provided in the vehicle travel area 40, which allows access from the waiting area 70 to all of the parking spaces 40-21 to 40-28. To enable the worker 60 to visually recognize the boundaries, dividing lines are provided on the ground within the site at locations corresponding to the boundaries between the walkway 40-1 and all of the parking spaces 40-21 to 40-28. Hereinafter, parking spaces 40-21 to 40-28 will also be collectively referred to as "parking space 40-2."

[0020] The worker 60 mainly performs work such as loading, unloading, and inspection in the parking space 40-2, but may also transport luggage between the waiting area 70 and the parking space 40-2. The worker 60 mainly transports luggage using a forklift or a dolly, but may also carry luggage with both hands. In order for the worker 60 to move within the vehicle travel area 40, the worker 60 must notify the control system 10 of his / her current location and destination and inquire with the control system 10 whether the movement is permitted. In addition, in order for the worker 60 to work in the parking space 40-2, the worker 60 must notify the control system 10 of his / her current location and the work content and inquire with the control system 10 whether the work is permitted. The worker 60 cannot move or start work without permission from the control system 10. In this embodiment, the vehicle travel area 40, the sidewalk 40-1, and the parking space 40-2 are areas controlled by the control system 10.

[0021] FIG. 2 is a diagram showing an example of a movement route of the worker 60 from the waiting area 70 to the destination.

[0022] For example, when a worker 60 moves from the waiting area 70 to his / her destination parking space 40-24, he / she notifies the control system 10 of his / her current location, the waiting area 70, and his / her destination parking space 40-24, and inquires of the control system 10 whether the movement is permitted. The control system 10 confirms the safety of the movement route from the current location of the worker 60 to the destination, and after completing the setting of a blocked section for the worker 60, notifies the worker 60 of the movement route and an instruction to permit the movement. The control system 10 sets the route from the waiting area 70 to the parking space 40-2 via the sidewalk 40-1 as the movement route for the worker 60, as shown in FIG. 2. The control system 10 also instructs the worker 60 to move within the boundary of the sidewalk 40-1.

[0023] Fig. 3 is a diagram showing an example of a request screen on the mobile terminal of the worker 60. Fig. 4 is a diagram showing an example of a response screen (permission) on the mobile terminal of the worker 60. Fig. 5 is a diagram showing an example of a response screen (denial) on the mobile terminal of the worker 60.

[0024] FIG. 3 shows an example of a screen displayed on the mobile device of the worker 60 when the worker 60 makes a request to the control system 10, for example, when inquiring about work or travel permission. The top of the screen shown in FIG. 3 displays the message, "1. Select your current location and destination from the map. If work is planned, please select the same location as your current location and destination." The message also displays map information of the site. The worker 60 can select his / her current location and destination from the map information. The map information allows the worker 60 to select only the parking space 40-2 where the vehicle 20 is parked and the waiting area 70, but does not allow other locations (e.g., the sidewalk 40-1 or a parking space 40-2 where the vehicle 20 is not parked). The selectable areas are limited because the work in this embodiment is limited to work related to the vehicle 20 parked in the parking space 40-2. The locations that the worker 60 can select can be changed as appropriate depending on the actual operational status of the autonomous driving system 1. For example, to accommodate cleaning or other work to be performed on vacant parking space 40-2, vacant parking space 40-2 may be selectable. Also, selectable areas are highlighted in different colors so that worker 60 can recognize which areas can be selected from the map information. A legend indicating selectable areas and non-selectable areas is displayed near the map information.

[0025] The bottom of the screen shown in FIG. 3 displays fields for inputting the details of the schedule, the work, and additional information that the worker 60 is inquiring about. Specifically, the bottom of the screen shown in FIG. 3 displays the message "2. Please select the following items." Furthermore, to allow the worker 60 to select detailed items, the left side of the bottom of the screen shown in FIG. 3 displays the message "Please select a schedule" and a pull-down schedule selection screen, allowing the worker 60 to select a schedule. Two options are available for this option: "Move" or "Work." The center of the bottom of the screen shown in FIG. 3 displays the message "Please select the work content" and a pull-down work content selection screen, allowing the worker 60 to select the work content. Three options are available for this option: "Inspection," "Unloading," or "Loading." The right side of the bottom of the screen shown in FIG. 3 displays the message "Please select additional information" and a pull-down additional information selection screen, allowing the worker 60 to select additional information. The four options that can be selected in this item are "no luggage transport," "carry luggage with both hands," "carry luggage with forklift," and "carry luggage on cart." In other words, the additional information is information related to the transportation of luggage involved in the work. Note that each selection item shown in FIG. 3 is merely an example, and can be changed as appropriate depending on the actual operating situation of the autonomous driving system 1. Also, a "send" button is displayed at the bottom of the screen shown in FIG. 3. When the worker 60 presses this button, the information selected by the worker 60 is sent to the control system 10. The "send" button is set so that it cannot be pressed unless all selection items have been selected.

[0026] 4 shows an example of a screen displayed on the mobile terminal of the worker 60 when the control system 10 responds to the request of the worker 60 (in the case of permission). When the control system 10 responds with permission to the worker 60's inquiry about movement permission, the screen shown in FIG. 4 displays a message saying "Movement permitted. Please check the permitted area and move within the boundaries of the sidewalk," along with map information. This map information displays the first block section set for the worker 60, the current position, and the destination as the permitted movement area.

[0027] When the response to the worker 60's inquiry about work permission is permission, the screen shown in FIG. 4 displays the message "Work permission granted. Please check the workable area and work within the boundaries," along with map information. This map information displays the first blocked section set for the worker 60 as the workable area. In addition, the screen shown in FIG. 4 displays a legend indicating the movable area and the non-movable area near the map information to make it easier for the worker 60 to confirm.

[0028] FIG. 5 shows an example of a screen displayed on the mobile device of the worker 60 when the control system 10 responds to the request of the worker 60 (in the case of denial). When the control system 10 responds with denial in response to the worker 60's request for movement permission, the screen shown in FIG. 5 displays the message "Movement permission not permitted. Please wait in the following movement-permitted area. Please contact us again after some time has passed." along with map information. This map information displays the movement-permitted area. In this case, since movement is not permitted, the movement-permitted area is configured by the first block section for the worker 60 stored in the block section storage unit 102 before the update. If the block section storage unit 102 does not store the first block section for the worker 60, the movement-permitted area is configured by the parking space 40-2, which is the current location of the worker 60, or the waiting area 70.

[0029] If the response to the worker 60's inquiry about work permission is denied, the screen shown in FIG. 5 displays the message "Work permission is not granted. Please wait in the available movement area below. Please contact us again after a while." along with map information. In this case, the available movement area is configured by the first blocked section for the worker 60 stored in the blocked section storage unit 102 before updating, since the worker 60 is not permitted to work. If the first blocked section for the worker 60 is not stored in the blocked section storage unit 102, the available movement area is configured by the parking space 40-2, which is the current location of the worker 60, or the waiting area 70.

[0030] FIG. 6 is a block diagram showing the configuration of the control system 10.

[0031] The control system 10 is a system that is communicatively connected to a vehicle 20 that travels by automated driving within a control area (specifically, a vehicle travel area 40) and to a mobile terminal of a worker 60 who performs work within the control area, and controls the travel of the vehicle 20. The vehicle 20 is controlled by the control system 10 through wireless communication with the control system 10. The vehicle 20 travels within the control area and automatically performs predetermined work in accordance with the control from the control system 10. The mobile terminal of the worker 60 also notifies the control system 10 of the travel destination, work content, etc., through wireless communication with the control system 10. The control system 10 also notifies the worker 60 of instructions such as work permission, travel permission, or travel route, through wireless communication with the mobile terminal of the worker 60.

[0032] 6, the control system 10 includes the following functional blocks: a vehicle information storage unit 101, a blocked section storage unit 102, a worker information storage unit 103, a vehicle section setting unit 104, a worker section setting unit 105, an instruction generation unit 106, a buffer necessity determination unit 107, a buffer calculation unit 108, a map information storage unit 109, a setting standard storage unit 1010, a vehicle communication unit 1011, and a worker communication unit 1012. In the control system 10, these functional blocks are realized, for example, by a CPU executing a predetermined program or by using a recording medium such as an HDD or SSD.

[0033] The vehicle information storage unit 101 stores vehicle information such as the ID, driving mode, current position, current speed, vehicle width, destination, and data update time of each vehicle 20. Of the vehicle information, the current position, current speed, driving mode, and destination are transmitted from the vehicle 20. The vehicle information stored in the vehicle information storage unit 101 is read out by the vehicle section setting unit 104 and used in processes such as setting vehicle block sections.

[0034] The block section storage unit 102 stores block section information, which is information about each block section (including buffer sections) set for the vehicle 20 and the worker 60. The block section storage unit 102 stores, as the block section information, the ID of each worker 60 or each vehicle 20, the block section, the data update time, and the type of worker 60 or vehicle 20. The block section information stored in the block section storage unit 102 is read out by the vehicle section setting unit 104 or the worker section setting unit 105, and is used in processing such as setting each block section.

[0035] The worker information storage unit 103 stores, as worker information, the ID, status, current location, destination, work content, additional information regarding the transportation of luggage associated with the work, and data update time of each worker 60. The worker information stored in the worker information storage unit 103 is read out by the worker section setting unit 105 and used in processes such as setting the first block section and the second block section.

[0036] The vehicle section setting unit 104 sets a vehicle block section that indicates an exclusive section for vehicle 20, based on the position information of vehicle 20 transmitted from vehicle 20. Every time a vehicle block section update request is input from the vehicle communication unit 1011, the vehicle section setting unit 104 reads out the vehicle information stored in the vehicle information storage unit 101 and the block section information stored in the block section storage unit 102, and sets the vehicle block section. At this time, the vehicle section setting unit 104 sets the vehicle block section so as to avoid the second block section set by the worker section setting unit 105. The vehicle section setting unit 104 updates the block section information stored in the block section storage unit 102, based on the set vehicle block section.

[0037] The worker section setting unit 105 sets a first block section and a second block section, which are block sections for the worker 60, based on the position information of the worker 60 transmitted from the mobile terminal of the worker 60. The first block section is a section that the worker 60 can enter. The second block section is a section that includes the first block section and into which the vehicle 20 cannot enter. The first block section is included by the second block section into which the vehicle 20 cannot enter, and is therefore a section into which the vehicle 20 cannot enter.

[0038] Each time an update request for the first block section and the second block section is input from the worker communication unit 1012, the worker section setting unit 105 reads out the worker information stored in the worker information storage unit 103 and the block section information stored in the block section storage unit 102. Then, the worker section setting unit 105 sets the first block section and the second block section according to the determination result of the buffer necessity determination unit 107 and the calculation result of the buffer calculation unit 108. That is, the worker section setting unit 105 sets the second block section according to the determination result of the buffer necessity determination unit 107. The worker section setting unit 105 updates the block section information stored in the block section storage unit 102 based on the set first block section and second block section.

[0039] In response to an inquiry about permission for work or movement from the mobile device of the worker 60, the instruction generation unit 106 generates an instruction of permission or denial based on the information output from the worker section setting unit 105, and transmits the instruction to the mobile device of the worker 60 via the worker communication unit 1012. If an instruction of permission is generated, the instruction generation unit 106 also transmits the first blocked section (blocked section presented to the worker 60) set by the worker section setting unit 105 to the mobile device of the worker 60 via the worker communication unit 1012. The instruction to permit movement or work generated by the instruction generation unit 106 is an instruction to permit the worker 60 to work or move within the first blocked section set by the worker section setting unit 105.

[0040] The buffer necessity determination unit 107 determines whether or not it is necessary to set a buffer section around the first blocked section, based on the map information stored in the map information storage unit 109. Every time a buffer section determination request is input from the worker section setting unit 105, the buffer necessity determination unit 107 reads the map information from the map information storage unit 109 and determines whether or not it is necessary to set a buffer section.

[0041] The buffer calculation unit 108 calculates a buffer section to be set around the first block section based on the setting criteria for the buffer section stored in the setting criteria storage unit 1010 and the map information stored in the map information storage unit 109. Every time a buffer section calculation request is input from the worker section setting unit 105, the buffer calculation unit 108 reads the map information from the map information storage unit 109 and the setting criteria from the setting criteria storage unit 1010, and calculates the buffer section based on this information.

[0042] The map information storage unit 109 stores map information of the control area. The map information storage unit 109 stores, as map information, information defining the vehicle driving area 40, the sidewalk 40-1, the parking space 40-2, the waiting area 70, and the installation locations of the partitions 90 within the site. The map information storage unit 109 stores coordinate information for these defining information. The map information stored in the map information storage unit 109 is read by the buffer necessity determination unit 107 or the buffer calculation unit 108 and is used in processes such as determining whether a buffer section needs to be set or calculating the buffer section. The partitions 90 in this embodiment may be fixed protective fences or barriers such as guardrails or fences, or may be temporary protective fences or barriers made of panels, ropes, or the like that can be easily installed and removed by the workers 60.

[0043] The setting criterion storage unit 1010 stores setting criteria for setting a buffer section. The setting criterion storage unit 1010 stores different setting criteria depending on the characteristics of the work or movement performed by the worker 60. The setting criteria stored in the setting criterion storage unit 1010 are read out by the buffer calculation unit 108 and used in processes such as calculation of the buffer section.

[0044] The vehicle communication unit 1011 communicates with the vehicle 20 via the network 11 and the wireless communication equipment 12. The vehicle communication unit 1011 receives the position information, speed information, etc. of the vehicle 20 transmitted from the vehicle 20. The vehicle communication unit 1011 updates the vehicle information stored in the vehicle information storage unit 101 based on the information received from the vehicle 20. Furthermore, every time the vehicle communication unit 1011 receives information from the vehicle 20, it outputs an update request for the vehicle block section to the vehicle section setting unit 104. The vehicle communication unit 1011 transmits to the vehicle 20 the vehicle block section set by the vehicle section setting unit 104 and a driving instruction instructing the vehicle 20 to drive within the vehicle block section.

[0045] The worker communication unit 1012 communicates with the mobile device of the worker 60 via the network 11 and the wireless communication equipment 12. The worker communication unit 1012 receives the position information, destination, work content, additional information, etc. of the worker 60 transmitted from the mobile device of the worker 60. The worker communication unit 1012 updates the worker information stored in the worker information storage unit 103 based on the information received from the mobile device of the worker 60. Furthermore, the worker communication unit 1012 outputs an update request for the first blocked section and the second blocked section to the worker section setting unit 105 every time it receives information from the mobile device of the worker 60. The worker communication unit 1012 transmits the instruction generated by the instruction generation unit 106 to the mobile device of the worker 60. At this time, when a permission instruction for movement or work is generated by the instruction generation unit 106, the worker communication unit 1012 transmits the permission instruction and the first blocked section set by the worker section setting unit 105 to the mobile terminal of the worker 60.

[0046] FIG. 7 is a diagram showing an example of the blocked section information stored in the blocked section storage unit 102. As shown in FIG.

[0047] The block section information 110 stored in the block section storage unit 102 has a data structure and data contents as shown in Fig. 7. The block section information 110 has a record set for each worker 60 or vehicle 20. Each record has data such as a worker ID or vehicle ID number 111, a first block section or vehicle block section 112, a second block section 113, an update time 114, and a type 115 of the worker 60 or vehicle 20.

[0048] The worker ID or vehicle ID number 111 stores information for identifying the mobile terminal of each worker 60 or information for identifying each vehicle 20.

[0049] The first block section or vehicle block section 112 stores coordinate information defining the first block section set by the worker section setting unit 105 as the block section to be presented to the worker 60. For example, if the first block section is rectangular, specific coordinate information of the rectangle's corners is stored. Furthermore, if the first block section is made up of multiple rectangles, specific coordinate information of the multiple rectangles is stored, as shown in the second row of FIG. 7. Furthermore, the first block section or vehicle block section 112 stores coordinate information defining the vehicle block section set by the vehicle section setting unit 104 as the block section to be presented to the vehicle 20.

[0050] The second block section 113 stores coordinate information defining the second block section, which is an area allowing entry of the worker 60 and which is formed by adding a buffer section around the first block section. For example, if the second block section is rectangular, specific coordinate information of the rectangle's corners is stored. Also, if the second block section is made up of multiple rectangles, specific coordinate information of the multiple rectangles is stored, as shown in the second row of FIG. 7. Since no buffer section is set in the vehicle block section, when the worker ID or vehicle ID number 111 indicates a vehicle 20, NULL is stored in the second block section 113. For a vehicle 20 whose driving mode is manual, a second block section that includes a buffer section around the vehicle block section may be set.

[0051] If the status of the worker 60 is the status at the time of the inquiry for permission to work or move, the first block section and second block section for work or move have not been updated, and therefore the coordinate information stored in the first block section or vehicle block section 112 and the coordinate information stored in the second block section 113 are information stored before the inquiry. If the response to the inquiry is "not permitted," the status of the worker 60 does not change, and the first block section and second block section are not updated, and therefore the coordinate information stored in the first block section or vehicle block section 112 and the coordinate information stored in the second block section 113 are information stored before the inquiry.

[0052] The time when the contents of each record were last updated is stored in the update time 114. Each record of the block section information 110 is updated every time the vehicle section setting unit 104 sets a vehicle block section, or every time the worker section setting unit 105 sets a first block section or a second block section.

[0053] The type 115 of worker 60 or vehicle 20 stores information for distinguishing whether the record is a record of a worker 60 or a record of a vehicle 20.

[0054] FIG. 8 is a diagram showing an example of vehicle information stored in the vehicle information storage unit 101. As shown in FIG.

[0055] The vehicle information 120 stored in the vehicle information storage unit 101 has a data structure and data contents as shown in Fig. 8. The vehicle information 120 has a record set for each vehicle 20. Each record has data such as a vehicle ID 121, a driving mode 122, a position 123, a speed 124, a vehicle width 125, a destination 126, and an update time 127.

[0056] Vehicle ID 121 stores information for identifying each vehicle 20. Driving mode 122 stores the driving mode of each vehicle 20. Driving modes include an automatic driving mode and a manual driving mode. Position 123 stores coordinate information of the current position of each vehicle 20 in the map information of the site. Speed ​​124 stores the traveling speed of each vehicle 20. Vehicle width 125 stores the vehicle width of each vehicle 20. Destination 126 stores coordinate information of the destination of each vehicle 20 in the map information of the site. Update time 127 stores the time when the contents of each record were last updated. Each record in vehicle information 120 is updated every time the vehicle communication unit 1011 receives information from a vehicle 20.

[0057] FIG. 9 is a diagram showing an example of worker information stored in the worker information storage unit 103.

[0058] The worker information 130 stored in the worker information storage unit 103 has the data structure and data content shown in Fig. 9. The worker information 130 has a record set for each worker 60. Each record has data such as a worker ID 131, a status 132, a location 133, a destination 134, a task 135, additional information 136, and an update time 137.

[0059] The worker ID 131 stores information for identifying the mobile terminal of the worker 60. The status 132 stores the status of the worker 60. There are four statuses for the worker 60, for example, inquiry about work permission, inquiry about travel permission, working, or traveling. Details of the status of the worker 60 managed by the control system 10 will be described later using FIG. 23.

[0060] The location 133 stores the current location of the worker 60, indicated by the location information received from the mobile device of the worker 60. The location 133 may store coordinate information of the current location of the worker 60 in the map information of the site, but in this embodiment, the name of the area where the worker 60 is currently located is stored. For example, if the mobile device of the worker 60 receives information that the current location is the waiting area 70, the location 133 stores the waiting area 70. The current location that the worker 60 can specify is limited to places such as the waiting area 70 or parking space 40-2. The destination 134 may store coordinate information of the destination in the map information of the site, but in this embodiment, the name of the area where the destination is received from the mobile device of the worker 60 is stored. For example, if the mobile device of the worker 60 receives information that the destination is parking space 40-21, the destination 134 stores the parking space 40-21. The destination that the worker 60 can specify is limited to places such as the waiting area 70 or parking space 40-2.

[0061] The work content 135 stores the work content received from the mobile terminal of the worker 60. Examples of work content include loading, unloading, and inspection. The additional information 136 stores the additional information received from the mobile terminal of the worker 60. The additional information is used when the buffer necessity determination unit 107 determines whether or not a buffer section needs to be set. The additional information 136 stores, for example, whether the luggage is transported by forklift, whether or not the luggage is transported by cart, whether or not the luggage is transported with both hands, or whether or not the luggage is transported. The update time 137 stores the time when the content of each record was last updated. Note that each record in the worker information 130 is updated every time the worker communication unit 1012 receives information from the mobile terminal of the worker 60.

[0062] Fig. 10 is a diagram illustrating map information of a site. Fig. 11 is a diagram illustrating an example of map information stored in map information storage unit 109.

[0063] The map information storage unit 109 manages map information of the site as a map plan view, as shown in Fig. 10. The map information storage unit 109 places the plan view of the site in a coordinate system and manages coordinate information of various areas within the map.

[0064] The map information 140 stored in the map information storage unit 109 is configured by the data structure and data contents shown in Fig. 11. The map information 140 has a record of a range 142 for each area 141.

[0065] Area 141 stores the name of each area of ​​the site. Range 142 stores coordinate information defining each area. For example, since parking space 40-2 or waiting area 70 are rectangular, range 142 stores specific coordinate information for each corner of the rectangle. Since walkway 40-1 is made up of multiple rectangles, range 142 stores specific coordinate information for each corner of the multiple rectangles. Since partition 90 is shaped like a line segment, range 142 stores specific coordinate information for both ends of the line segment.

[0066] FIG. 12 is a diagram showing an example of setting reference information stored in the setting reference storage unit 1010 when the worker 60 is working.

[0067] The setting standard information 150 stored in the setting standard storage unit 1010 when the worker 60 is working is configured with the data structure and data content shown in Fig. 12. The setting standard information 150 has data on a work classification 151, a work content 152, additional information 153, and a setting standard 154 for a buffer section.

[0068] The work classification 151 stores the classification of work performed within the site. In the example shown in FIG. 12, the work is divided into two categories: (1) work with easily recognizable boundaries, and (2) work with difficult to recognize boundaries. Work with easily recognizable boundaries refers to work in which the worker 60 can easily recognize the demarcation lines that indicate the boundaries of each area on the ground within the site while working. Work with easily recognizable boundaries refers to work in which the worker 60 can easily recognize the demarcation lines that indicate the boundaries of each area on the ground within the site while working.

[0069] The work content 152 stores the work content (loading, unloading, inspection, etc.) to be performed within the site. The additional information 153 stores additional information related to the transportation of luggage associated with the work. For example, the additional information 153 stores whether luggage is transported by forklift, by dolly, by both hands, or no luggage is transported. The buffer section setting criteria 154 stores a specific value of the size to be set as the buffer section based on a combination of the work content 152 and the additional information 153. The specific value of the size to be set as the buffer section is set according to the situation at the site. Note that the setting criteria information 150 shown in FIG. 12 is an example, and the data stored in the work content 152, the additional information 153, and the setting criteria 154 may be changed according to the situation at the site.

[0070] FIG. 13 is a diagram showing an example of setting reference information stored in the setting reference storage unit 1010 when the worker 60 moves.

[0071] The setting standard information 155 stored in the setting standard storage unit 1010 when the worker 60 is moving is configured with the data structure and data content as shown in Fig. 13. The setting standard information 155 has data on movement classification 156, on-movement information 157, and setting standard 158 for the buffer section.

[0072] Movement classification 156 stores classifications of movements performed within the site. In the example shown in FIG. 13, movements are classified into two categories: (1) movements with easily recognizable boundaries, and (2) movements with difficult to recognize boundaries. Movement with easily recognizable boundaries refers to movements in which the worker 60 can easily recognize the demarcation lines that indicate the boundaries of each area set on the ground within the site while moving. Movement with easily recognizable boundaries refers to movements in which the worker 60 can hardly recognize the demarcation lines that indicate the boundaries of each area set on the ground within the site while moving.

[0073] The in-transit information 157 stores in-transit information, which is information related to the transportation of luggage during transportation. For example, the in-transit information 157 stores whether the luggage is transported by forklift, by dolly, by both hands, or no luggage is transported. The buffer section setting criteria 158 stores a specific value of the size to be set as the buffer section based on the in-transit information 157. The specific value of the size to be set as the buffer section is set according to the situation at the site. Note that the setting criteria information 155 shown in FIG. 13 is an example, and the data stored in the in-transit information 157 and the setting criteria 158 may be changed according to the situation at the site.

[0074] 12 and 13, the setting criterion storage unit 1010 stores different setting criteria for the buffer section depending on the classification of the work or movement performed by the worker 60. The setting criterion storage unit 1010 stores different setting criteria depending on the work content of the work performed by the worker 60 and additional information related to the transportation of luggage accompanying the work. The setting criterion storage unit 1010 stores different setting criteria for the buffer section depending on in-motion information related to the transportation of luggage when the worker 60 moves.

[0075] The buffer calculation unit 108 calculates buffer sections of different sizes according to set criteria corresponding to the classification of work or movement performed by the worker 60. The buffer calculation unit 108 calculates buffer sections of different sizes according to set criteria corresponding to the work content and additional information. The buffer calculation unit 108 calculates buffer sections of different sizes according to set criteria corresponding to the on-movement information.

[0076] 14 is a flowchart showing the process of setting the first blocked section and the second blocked section performed by the control system 10. This flowchart starts when the worker communication unit 1012 receives an inquiry about work or movement permission from the mobile terminal of the worker 60.

[0077] First, the worker communication unit 1012 receives information such as an inquiry about work or travel permission, the current location of the worker 60, the destination, the work content, and additional information from the mobile terminal of the worker 60 (step S101). Based on the received information, the worker communication unit 1012 updates the worker information stored in the worker information storage unit 103 (step S102) and outputs a request to update the blocked section to the worker section setting unit 105 (step S103). The worker section setting unit 105 acquires worker information (inquiry type, current location, destination, work content, and additional information) from the worker information storage unit 103, and also acquires blocked section information from the blocked section storage unit 102 (step S104).

[0078] Next, the operator section setting unit 105 determines whether a first blocked section can be set for the operator 60 (step S105). Details of the process by which the operator section setting unit 105 determines whether a first blocked section can be set will be described later with reference to FIG. 15. If it is determined that the setting is not possible (NO), information indicating that the setting is not possible is output to the instruction generating unit 106, and the instruction generating unit 106 generates a non-permission instruction for the operator 60 (step S112). In this case, information about the first blocked section is not output to the instruction generating unit 106. Details of the process by which the instruction generating unit 106 generates an instruction will be described later with reference to FIG. 19. If it is determined that the setting is possible (YES), the operator section setting unit 105 temporarily sets the first blocked section as an internal variable (step S106).

[0079] Next, the worker section setting unit 105 outputs a buffer section determination request, worker information, information on the first block section, and the like to the buffer necessity determination unit 107. The buffer necessity determination unit 107 reads map information from the map information storage unit 109, determines whether a buffer section needs to be set based on the information output from the worker section setting unit 105 and the map information, and outputs the determination result to the worker section setting unit 105 (step S107). Details of the process by which the buffer necessity determination unit 107 determines whether a buffer section needs to be set will be described later with reference to FIG. 16. If it is determined that a buffer section does not need to be set (NO), the worker section setting unit 105 sets the second block section for the worker 60 to the same section as the provisionally set first block section (step S110). If it is determined that a buffer section needs to be set (YES), the worker section setting unit 105 outputs a buffer section calculation request, worker information, information on the provisionally set first block section, and the like to the buffer calculation unit 108. The buffer calculation unit 108 calculates the buffer section and outputs the calculation result to the worker section setting unit 105 (step S108). Details of the process by which the buffer calculation unit 108 calculates the buffer section will be described later with reference to FIG.

[0080] Next, the worker section setting unit 105 determines whether a second block section can be set for the worker 60 (step S109). If it is determined that the second block section cannot be set (NO), the worker section setting unit 105 cancels the first block section that was provisionally set in step S106 and outputs information indicating that the second block section cannot be set to the instruction generating unit 106 (step S114). In this case, information about the first block section is not output to the instruction generating unit 106. The instruction generating unit 106 generates a non-permission instruction for the worker 60 (step S112). If it is determined that the second block section can be set (YES), the worker section setting unit 105 provisionally sets the second block section as an internal variable (step S110). In this case, the worker section setting unit 105 provisionally sets a section obtained by adding the buffer section calculated by the buffer calculation unit 108 to the periphery of the first block section as the second block section. Details of the process by which the worker section setting unit 105 determines whether the second block section can be set will be described later with reference to FIG. 18.

[0081] Next, the worker section setting unit 105 officially sets the provisionally set first block section and second block section, and updates the first block section and second block section associated with the worker 60, which are included in the block section information in the block section storage unit 102 (step S111). Then, the worker section setting unit 105 outputs information on the first block section and the worker information to the instruction generation unit 106. The instruction generation unit 106 generates a permission instruction for the worker 60 (step S112). The worker communication unit 1012 transmits the instruction generated by the instruction generation unit 106 to the mobile terminal of the worker 60 (step S113). Thereafter, the control system 10 ends the processing shown in FIG. 14.

[0082] Fig. 15 is a flowchart showing the details of step S105 in Fig. 14. This flowchart starts after an update request for the first blocked section is input to the worker section setting unit 105 from the worker communication unit 1012, and the worker section setting unit 105 acquires worker information and blocked section information.

[0083] First, the worker section setting unit 105 acquires map information from the map information storage unit 109 (step S1051). The worker section setting unit 105 determines whether the worker 60 is scheduled to move based on the worker 60's status (work or movement permission inquiry) (step S1052). If the worker 60 is scheduled to move (YES), the worker section setting unit 105 provisionally sets the walkway 40-1 to the destination and the parking space 40-2 at the destination as a first blocked section (step S1056). Furthermore, the waiting area 70 is not included in the first blocked section, whether it is the destination or the current location. If the worker 60 is scheduled to work (NO), the parking space 40-2 where the worker 60 is currently located is provisionally set as a first blocked section (step S1053).

[0084] Next, the worker section setting unit 105 determines whether the provisionally set first block section overlaps with other block sections (step S1054). Specifically, the worker section setting unit 105 determines whether the provisionally set first block section overlaps with all other vehicle block sections. In addition, although the provisionally set first block section may basically overlap with the second block section of another worker 60, since a worker 60 whose additional information is "transport luggage by forklift" may be operating a forklift, it is necessary to set the provisionally set first block section so that it does not overlap with the second block section of that worker 60. Therefore, the worker section setting unit 105 also determines whether the provisionally set first block section overlaps with the second block section of a worker 60 whose additional information is "transport luggage by forklift."

[0085] If the provisionally set first block section overlaps with another block section (a vehicle block section or a second block section for an operator 60 whose additional information is "transport luggage by forklift") (YES), the operator section setting unit 105 determines that the first block section cannot be set (step S1057). If the provisionally set first block section does not overlap with another block section (a vehicle block section or a second block section for an operator 60 whose additional information is "transport luggage by forklift") (NO), the operator section setting unit 105 determines that the first block section can be set (step S1055). Thereafter, the operator section setting unit 105 ends the processing shown in FIG. 15.

[0086] Fig. 16 is a flowchart showing the details of step S107 in Fig. 14. This flowchart starts when the buffer necessity determining unit 107 receives a buffer section determination request from the worker section setting unit 105.

[0087] First, the buffer necessity determination unit 107 acquires a buffer section determination request, worker information, and information on the first blocked section from the worker section setting unit 105 (step S1071). The buffer necessity determination unit 107 acquires map information from the map information storage unit 109 (step S1072).

[0088] Next, the buffer necessity determination unit 107 determines whether a buffer section needs to be set based on the map information and the first blocked section (step S1073). Specifically, the buffer necessity determination unit 107 compares all sides of the first blocked section with the map information. It is not necessary to set a buffer section on the side adjacent to the partition 90. If it is not necessary to set a buffer section on all sides of the first blocked section (NO), the buffer necessity determination unit 107 determines that setting is not necessary and generates a determination result indicating that setting is not necessary (step S1076). If it is necessary to set a buffer section on at least one side of the first blocked section (YES), the buffer necessity determination unit 107 determines that setting is necessary and generates a determination result indicating that setting is necessary, and identifies a location where a buffer section needs to be set (hereinafter also referred to as a "buffer-needed location") (step S1074). Then, the buffer necessity determination unit 107 outputs the determination result and information on the buffer-needed location (the side of the first blocked section where a buffer section needs to be set) to the operator section setting unit 105 (step S1075). Thereafter, the buffer necessity determining unit 107 ends the processing shown in FIG.

[0089] Fig. 17 is a flowchart showing the details of step S108 in Fig. 14. This flowchart starts when a buffer section calculation request is input from the worker section setting unit 105 to the buffer calculation unit 108.

[0090] First, the buffer calculation unit 108 acquires a buffer section calculation request, worker information, the first blocked section, and information on locations requiring a buffer from the worker section setting unit 105 (step S1081). The buffer calculation unit 108 acquires map information from the map information storage unit 109 and acquires setting criteria for the buffer section from the setting criteria storage unit 1010 (step S1082).

[0091] Next, the buffer calculation unit 108 calculates the buffer section based on the setting criteria for the buffer section, the first blocked section, the location where a buffer is required, and the map information (step S1083). Specifically, the buffer calculation unit 108 calculates a rectangular section as the buffer section. For example, the buffer calculation unit 108 sets the length of the side indicated by the location where a buffer is required in the first blocked section as the length of the rectangular buffer section, and sets the width specified in the setting criteria (setting criteria 154, 158 shown in FIG. 12 or 13) as the width of the buffer section. Note that the buffer section, first blocked section, and second blocked section can all be represented by coordinate information.

[0092] Next, the buffer calculation unit 108 outputs information on the first blocked section and the buffer section to the worker section setting unit 105 (step S1084). After that, the buffer calculation unit 108 ends the processing shown in FIG.

[0093] Fig. 18 is a flowchart showing the details of step S109 in Fig. 14. This flowchart starts when information on the first blocked section and the buffer section is input to the worker section setting unit 105 from the buffer calculation unit 108.

[0094] First, the worker section setting unit 105 acquires information on the first block section and the buffer section from the buffer calculation unit 108. The worker section setting unit 105 provisionally sets a section obtained by adding the buffer section to the periphery of the acquired first block section as a second block section (step S1091).

[0095] Next, the worker section setting unit 105 determines whether the provisionally set second block section overlaps with other block sections (step S1092). Specifically, the worker section setting unit 105 determines whether the provisionally set second block section overlaps with all other vehicle block sections. In addition, the worker section setting unit 105 determines whether the provisionally set second block section overlaps with the second block section of the worker 60 whose additional information is "transporting luggage by forklift."

[0096] If the provisionally set second block section overlaps with another block section (a vehicle block section, or a second block section for an operator 60 whose additional information is "transport luggage by forklift") (YES), the operator section setting unit 105 determines that the second block section cannot be set (step S1094). If the provisionally set second block section does not overlap with another block section (a vehicle block section, or a second block section for an operator 60 whose additional information is "transport luggage by forklift") (NO), the operator section setting unit 105 determines that the second block section can be set (step S1093). Thereafter, the operator section setting unit 105 ends the processing shown in FIG. 18.

[0097] In this way, the worker section setting unit 105 sets the first block section and the second block section, respectively, avoiding the vehicle block section set by the vehicle section setting unit 104, as shown in Figures 15 and 18.

[0098] Fig. 19 is a flowchart showing the details of step S112 in Fig. 14. This flowchart starts when the instruction generating unit 106 receives information on the first blocked section and worker information from the worker section setting unit 105, or information indicating that the first blocked section cannot be set.

[0099] First, the instruction generation unit 106 acquires information on the first block section and worker information, or information indicating that the first block section cannot be set, from the worker section setting unit 105 (step S1121). The instruction generation unit 106 determines whether information on the first block section has been acquired (step S1122). If information on the first block section has not been acquired (NO), the instruction generation unit 106 generates an instruction not to permit movement or work according to the status of the worker 60, and generates a standby instruction to wait in a movable area (step S1125). The movable area in the case of non-permission is the first block section of the worker 60 included in the block section information before update stored in the block section storage unit 102. Note that if the first block section of the worker 60 is not stored in the block section storage unit 102, the instruction generation unit 106 sets the parking space 40-2, which is the current location of the worker 60, or the standby area 70 as the movable area.

[0100] If the information on the first blocked section has been acquired (YES), the instruction generation unit 106 determines whether the worker 60 is scheduled to move based on the status of the worker 60 (inquiry about work or movement permission) (step S1123). If the worker 60 is scheduled to move (YES), the instruction generation unit 106 generates a permission instruction including a movable area (first blocked section) and permission to start movement (step S1124). If the worker 60 is scheduled to work (NO), the instruction generation unit 106 generates a permission instruction including a workable area (first blocked section) and permission to start work (step S1126). Thereafter, the instruction generation unit 106 ends the processing shown in FIG. 19.

[0101] 20 is a flowchart showing the process of setting a vehicle blocked section performed by the control system 10. This flowchart starts when the vehicle communication unit 1011 receives information such as the current position and destination from the vehicle 20.

[0102] First, the vehicle communication unit 1011 receives information such as the driving mode, current position, speed, and destination from the vehicle 20 (step S201). Based on the received information, the vehicle communication unit 1011 updates the vehicle information stored in the vehicle information storage unit 101 (step S202) and outputs an update request for the vehicle block section to the vehicle section setting unit 104 (step S203). The vehicle section setting unit 104 acquires the vehicle information from the vehicle information storage unit 101 and also acquires the block section information from the block section storage unit 102 (step S204).

[0103] Next, the vehicle section setting unit 104 provisionally sets a vehicle block section for the vehicle 20 (step S205). The vehicle section setting unit 104 provisionally sets the vehicle block section based on predetermined criteria. Next, the vehicle section setting unit 104 determines whether the provisionally set vehicle block section overlaps with other block sections (other vehicle block sections and the second block section) (step S206). If the provisionally set vehicle block section does not overlap with other block sections (other vehicle block sections and the second block section) (NO), the vehicle section setting unit 104 sets the provisionally set vehicle block section as the vehicle block section (step S210). Then, the vehicle section setting unit 104 updates the vehicle block section associated with the vehicle 20, which is included in the block section information stored in the block section storage unit 102 (step S208).

[0104] If the temporarily set vehicle block section overlaps with another block section (another vehicle block section or the second block section) (YES), the vehicle section setting unit 104 deletes the portion overlapping with the other block section from the temporarily set vehicle block section and sets the vehicle block section (step S207). That is, the vehicle section setting unit 104 sets the vehicle block section while avoiding the second block section set by the worker section setting unit 105. Then, the vehicle section setting unit 104 updates the vehicle block section linked to the vehicle 20 included in the block section information stored in the block section storage unit 102 (step S208). The vehicle communication unit 1011 transmits the vehicle block section set by the vehicle section setting unit 104 to the vehicle 20 by including it in a driving instruction (step S209). Thereafter, the control system 10 ends the processing shown in FIG. 20 .

[0105] Fig. 21 is a diagram illustrating a specific example of the first and second blocked sections that are set when the worker 60 is scheduled to work. Fig. 22 is a diagram illustrating a specific example of the first and second blocked sections that are set when the worker 60 is scheduled to move.

[0106] The first block section is a section that is presented to the worker 60 as a movable area. The second block section is a section that restricts the entry of the vehicle 20 or other workers 60, and is not presented to the worker 60. The worker section setting unit 105 sets the parking space 40-2 and / or the sidewalk 40-1, which have clear boundaries, as the first block section so that the worker 60 can easily recognize the boundaries of the first block section. In addition, the worker section setting unit 105 sets a section that includes a buffer section around the first block section as the second block section.

[0107] FIG. 21 shows, for example, a first block section and a second block section set by the worker section setting unit 105 when the worker 60 is scheduled to work in the parking space 40-21. When the worker section setting unit 105 determines that a first block section can be set in response to an inquiry from the worker 60 about permission to work in the parking space 40-21, the worker section setting unit 105 sets the parking space 40-21, which has a clear boundary, as the first block section. The buffer calculation unit 108 then calculates buffer sections based on the setting criteria for locations around the first block section where buffer sections need to be set. For example, in FIG. 21 , partitions 90-1 and 90-2 are installed on the left and right sides of the parking space 40-21, which is the first block section, but no partitions 90 are installed on the top and bottom sides. In this case, it is not necessary to set buffer sections on the left and right sides, but it is necessary to set buffer sections on the top and bottom sides. Therefore, the buffer calculation unit 108 sets the length of the buffer section to the length of the upper and lower sides of the parking space 40-21, which is the first block section, and calculates the width defined in the setting standard as the width of the buffer section. The worker section setting unit 105 sets the section that combines the first block section and the buffer section as the second block section.

[0108] 22 shows, for example, a first block section and a second block section set by the worker section setting unit 105 when the worker 60 is scheduled to move from the waiting area 70 to the parking space 40-24. When the worker section setting unit 105 determines that the first block section can be set in response to an inquiry about permission to move from the waiting area 70 to the parking space 40-24, it sets the parking space 40-24, which has a clear boundary as shown in FIG. 22, and the sidewalk 40-1 from the waiting area 70 to the parking space 40-24, as the first block section. Then, the buffer calculation unit 108 calculates buffer sections based on the setting criteria for locations around the sidewalk 40-1, which is the first block section, and the parking space 40-24, where buffer sections need to be set.

[0109] FIG. 23 is a diagram illustrating triggers that occur when the state of the worker 60 changes.

[0110] The state 171 indicates the state of the worker 60 included in the worker information stored in the worker information storage unit 103. There are four states for the worker 60: inquiry about work permission, inquiry about movement permission, working, or moving. The trigger 172 indicates an event that triggers a transition to the state 171.

[0111] When the worker communication unit 1012 receives a movement permission inquiry from the mobile terminal of the worker 60, the status of the worker 60 (status 132 in FIG. 9 ) included in the worker information stored in the worker information storage unit 103 is changed to "movement permission inquiry." When the worker section setting unit 105 reserves the first block section and the second block section for the movement of the worker 60, the status of the worker 60 included in the worker information stored in the worker information storage unit 103 is changed to "moving." As long as the status of the worker 60 is "moving," the control system 10 does not open the first block section and the second block section for the worker 60.

[0112] When the worker communication unit 1012 receives a work permission inquiry from the mobile terminal of the worker 60, the status of the worker 60 included in the worker information stored in the worker information storage unit 103 is changed to "work permission inquiry." When the worker section setting unit 105 reserves the first blocked section and the second blocked section for the worker 60 to work, the status of the worker 60 included in the worker information stored in the worker information storage unit 103 is changed to "working." As long as the status of the worker 60 is "working," the control system 10 does not open the first blocked section and the second blocked section for the worker 60.

[0113] In order to improve the efficiency of the autonomous driving system 1 within the site, the control system 10 may open the set first and second blocked sections when the worker 60 completes his / her movement or work. In this case, two states, "movement completed" and "work completed," are added to the status of the worker 60. When the worker communication unit 1012 receives a notification of movement completion from the mobile device of the worker 60, the status of the worker 60 included in the worker information stored in the worker information storage unit 103 is changed to "movement completed." When the worker communication unit 1012 receives a notification of work completion from the mobile device of the worker 60, the status of the worker 60 included in the worker information stored in the worker information storage unit 103 is changed to "work completed." When the status of the worker 60 is changed to "movement completed" or "work completed," the control system 10 opens the first and second blocked sections for the worker 60.

[0114] As described above, the control system 10 according to the first embodiment is a control system that is communicatively connected to a vehicle 20 that travels autonomously within a controlled area and to a mobile terminal of a worker 60 that performs work within the controlled area, and controls the travel of the vehicle 20. The control system 10 includes a map information storage unit 109 that stores map information of the control area; a vehicle section setting unit 104 that sets a vehicle block section indicating an exclusive section for the vehicle 20 based on the position information of the vehicle 20 transmitted from the vehicle 20; a worker section setting unit 105 that sets a first block section that the worker 60 can enter and a second block section that includes the first block section and that the vehicle 20 cannot enter based on the position information of the worker 60 transmitted from the mobile terminal of the worker 60; a buffer necessity determination unit 107 that determines whether or not a buffer section needs to be set around the first block section based on the map information; a vehicle communication unit 1011 that transmits to the vehicle 20 a driving instruction instructing the vehicle 20 to drive within the vehicle block section set by the vehicle section setting unit 104; and a worker communication unit 1012 that transmits to the mobile terminal of the worker 60 an instruction permitting the worker 60 to work or move within the first block section set by the worker section setting unit 105. The worker section setting unit 105 sets a second blocked section in accordance with the determination result of the buffer necessity determination unit 107. The vehicle section setting unit 104 sets a vehicle blocked section so as to avoid the second blocked section set by the worker section setting unit 105.

[0115] As a result, the control system 10 can prohibit the vehicle 20 from entering a second block section, which is a buffer section surrounding the first block section presented to the worker 60, and set the second block section so that it does not overlap with the vehicle block section, which is an exclusive section for the vehicle 20. Therefore, even if the worker 60 accidentally exits the set first block section, the control system 10 makes it difficult for the worker 60 to enter the vehicle block section, thereby reducing the risk of collision with the vehicle 20 and ensuring the safety of the worker 60. Furthermore, the control system 10 sets the buffer section after determining whether or not to set a buffer section based on map information, so it does not set an excessive buffer section without considering the site conditions. Therefore, the control system 10 does not excessively stop the traveling vehicle 20, thereby preventing a decrease in the productivity of the entire automated driving system 1. Therefore, the control system 10 can prevent a decrease in the productivity of the entire automated driving system 1 installed in an area where automated vehicles 20 and workers 60 coexist, and ensure the safety of the worker 60.

[0116] Furthermore, the control system 10 according to the first embodiment further includes a setting criterion storage unit 1010 that stores setting criteria for setting a buffer section, and a buffer calculation unit 108 that calculates a buffer section based on the setting criteria and map information. The setting criterion storage unit 1010 stores different setting criteria according to the classification of the work or movement performed by the worker 60. The buffer calculation unit 108 calculates buffer sections of different sizes according to the setting criteria according to the classification of the work or movement. The worker section setting unit 105 sets a section obtained by adding the buffer section calculated by the buffer calculation unit 108 to the periphery of the first block section as a second block section.

[0117] This allows the control system 10 to set buffer sections according to the classification of the work or movement performed by the worker 60, thereby eliminating the need to set excessive buffer sections without considering the work or movement status of the worker 60. Therefore, the control system 10 further prevents excessive stopping of the traveling vehicle 20, thereby further preventing a decrease in productivity of the entire automated driving system 1. Therefore, the control system 10 can further prevent a decrease in productivity of the entire automated driving system 1 introduced in an area where automated vehicles 20 and workers 60 coexist, and ensure the safety of the worker 60.

[0118] Furthermore, in the control system 10 according to the first embodiment, the setting criterion storage unit 1010 stores different setting criteria depending on the work content and additional information related to the transportation of luggage accompanying the work. The buffer calculation unit 108 calculates buffer sections of different sizes according to the setting criterion depending on the work content and additional information.

[0119] This allows the control system 10 to set a buffer section according to the specific content of the work performed by the worker 60, and therefore prevents the buffer section from being set excessively without considering the specific content of the work. Therefore, the control system 10 further prevents excessive stopping of the traveling vehicle 20, further preventing a decrease in productivity of the entire automated driving system 1. Therefore, the control system 10 can further prevent a decrease in productivity of the entire automated driving system 1 introduced in an area where automated vehicles 20 and workers 60 coexist, and can ensure the safety of the worker 60.

[0120] Furthermore, in the control system 10 according to the first embodiment, the set criterion storage unit 1010 stores different set criterion depending on the in-transit information related to the transportation of luggage during travel. The buffer calculation unit 108 calculates buffer sections of different sizes according to the set criterion depending on the in-transit information.

[0121] This allows the control system 10 to set a buffer section according to the specific details of the movement performed by the worker 60, and therefore prevents the buffer section from being set excessively without considering the specific details of the movement. Therefore, the control system 10 further prevents excessive stopping of the traveling vehicle 20, further preventing a decrease in productivity of the entire automated driving system 1. Therefore, the control system 10 can further prevent a decrease in productivity of the entire automated driving system 1 introduced in an area where automated vehicles 20 and workers 60 coexist, and can ensure the safety of the workers 60.

[0122] Furthermore, in the control system 10 according to the first embodiment, the worker section setting unit 105 sets the first block section and the second block section, avoiding the vehicle block section set by the vehicle section setting unit 104.

[0123] This allows the control system 10 to reliably prevent the first block section and the second block section from being set as overlapping vehicle block sections. Therefore, the control system 10 can reliably reduce the risk of a collision between the worker 60 and the vehicle 20 and reliably ensure the safety of the worker 60. Therefore, the control system 10 can prevent a decrease in the overall productivity of the automated driving system 1 introduced in an area where automated driving vehicles 20 and workers 60 coexist, and can reliably ensure the safety of the worker 60.

[0124] Furthermore, in the control system 10 according to the first embodiment, if a vehicle block section is set and the vehicle block section overlaps with the buffer section of the second block section, the vehicle section setting unit 104 deletes the overlapping portion of the vehicle block section that overlaps with the buffer section and sets the vehicle block section.

[0125] As a result, the control system 10 can reliably prevent a vehicle block section from being set that overlaps with the second block section, while also avoiding a situation in which a vehicle block section cannot be set and the vehicle 20 cannot travel. Therefore, the control system 10 further prevents excessive stopping of a traveling vehicle 20 while reliably reducing the risk of a collision between the worker 60 and the vehicle 20, thereby further preventing a decrease in productivity of the entire automated driving system 1. Therefore, the control system 10 can further prevent a decrease in productivity of the entire automated driving system 1 that is introduced in an area where automated vehicles 20 and workers 60 coexist, and can also reliably ensure the safety of the worker 60.

[0126] [Second embodiment] A second embodiment of the present invention will be described with reference to Figures 24 to 31. In the second embodiment, the description of the same components as those in the first embodiment will be omitted.

[0127] In the second embodiment, when it is determined that the second blocked section for the worker 60 cannot be set, the worker section setting unit 105 identifies a location where a partition 90 should be set (hereinafter also referred to as a "partition installation location") so that the second blocked section can be set without overlapping with other blocked sections. Then, the instruction generating unit 106 generates a partition installation instruction instructing the worker 60 to install the partition 90 at the partition installation location identified by the worker section setting unit 105. The worker communication unit 1012 transmits the partition installation instruction generated by the instruction generating unit 106 to the mobile device of the worker 60. Furthermore, when the worker 60 installs the partition 90 in accordance with the partition installation instruction, a notification of completion of installation of the partition 90 is transmitted from the mobile device of the worker 60. The worker communication unit 1012 updates the map information stored in the map information storage unit 109 based on the notification of completion of installation of the partition 90. Note that the partition 90 in this embodiment may be a temporary protective fence or a temporary prevention fence made of panels, ropes, or the like that can be easily installed and removed by the worker 60.

[0128] Fig. 24 is a flowchart showing the setting process of the first blocked section and the second blocked section according to the second embodiment. Fig. 25 is a flowchart continuing from Fig. 24. The flowcharts shown in Fig. 24 and Fig. 25 start when the worker communication unit 1012 receives an inquiry about work or movement permission from the mobile terminal of the worker 60. Fig. 24 and Fig. 25 correspond to Fig. 14 of the first embodiment.

[0129] Steps S101 to S108 shown in FIG. 24 are the same as steps S101 to S108 shown in FIG. 14 of the first embodiment, and therefore a description thereof will be omitted.

[0130] In step S109, the worker section setting unit 105 determines whether or not a second blocked section can be set (step S109). If it is determined that the second blocked section can be set (YES), the worker section setting unit 105 provisionally sets the second blocked section (step S110). The subsequent steps S111 to S113 are the same as steps S111 to S113 shown in FIG. 14 of the first embodiment, and therefore description thereof will be omitted.

[0131] If it is determined that the second block section cannot be set (NO), the worker section setting unit 105 provisionally sets the second block section so that it does not overlap with other block sections (the vehicle block section and the second block section of the worker 60 whose additional information is "transporting luggage by forklift") (step S114). Specifically, the worker section setting unit 105 deletes the overlapping portion of the buffer section that would overlap with other block sections if the second block section were set, and provisionally sets the second block section. At this time, the overlapping portion of the buffer section that is deleted is limited to the boundary with the first block section.

[0132] Next, the worker section setting unit 105 identifies a location where a partition will be installed (step S115). Specifically, the worker section setting unit 105 identifies the boundary of the first block section that is adjacent to another block section by deleting the overlapping portion of the buffer section as the partition installation location. For example, the worker section setting unit 105 compares the provisionally set second block section with the first block section, and identifies the side of the first block section that is not surrounded by the buffer section as the partition installation location. The partition installation location may be limited to a location where a dividing line is installed, such as the boundary of the parking space 40-2 or the sidewalk 40-1, so that the worker 60 can easily recognize the partition installation location.

[0133] Next, because the partition 90 has not yet been installed, the worker section setting unit 105 cannot officially set the provisionally set second blocked section and update the blocked section information in the blocked section storage unit 102. Therefore, the worker section setting unit 105 cancels the provisionally set first blocked section (step S116) and outputs information on the identified partition installation location to the instruction generating unit 106. The instruction generating unit 106 generates a partition installation instruction based on the partition installation location information from the worker section setting unit 105 (step S112). The worker communication unit 1012 transmits the partition installation instruction generated by the instruction generating unit 106 to the mobile device of the worker 60 (step S113). Thereafter, the control system 10 ends the processing shown in FIGS. 24 and 25. Details of the processing by the instruction generating unit 106 to generate a partition installation instruction will be described later using FIG. 26.

[0134] Fig. 26 is a flowchart showing the details of step S112 in Fig. 24. This flowchart starts when information on the first blocked section and worker information, information that the first blocked section cannot be set, or information on the location where a partition is to be installed is input from the worker section setting unit 105 to the instruction generating unit 106. Fig. 26 is a diagram corresponding to Fig. 19 of the first embodiment.

[0135] First, the instruction generation unit 106 acquires information on the first blocked section, worker information, information on the inability to set the first blocked section, or information on the location of partitions from the worker section setting unit 105 (step S1121). The instruction generation unit 106 determines whether or not information on the first blocked section has been acquired (step S1122). If information on the first blocked section has been acquired (YES), the instruction generation unit 106 determines whether or not the worker 60 is scheduled to move based on the status of the worker 60 (inquiry about work or movement permission) (step S1123). If the worker 60 is scheduled to move (YES), the instruction generation unit 106 generates a permission instruction including a movable area (first blocked section) and permission to start movement (step S1124). If the worker 60 is scheduled to work (NO), a permission instruction including a movable area (first blocked section) and permission to start work is generated (step S1126).

[0136] If the information on the first blocked section has not been acquired (NO), the instruction generating unit 106 determines whether or not information on the partition installation location has been acquired (step S1127). If the information on the partition installation location has been acquired (YES), the instruction generating unit 106 generates an instruction not to permit movement or work in accordance with the status of the worker 60, and also generates a partition installation instruction (step S1128). If the information on the partition installation location has not been acquired (NO), the instruction generating unit 106 generates an instruction not to permit movement or work in accordance with the status of the worker 60 (step S1125).

[0137] 27, the instruction generating unit 106 may receive information on the location where the partition is to be installed from the vehicle section setting unit 104. In this case, similar to step S1128 in FIG. 26, the instruction generating unit 106 sends a partition installation instruction to the mobile terminal of the worker 60, and upon receiving a notification that the installation of the partition 90 has been completed from the mobile terminal of the worker 60, adds the installation location of the partition 90 to the map information stored in the map information storage unit 109.

[0138] Fig. 27 is a flowchart showing the process of setting a vehicle-blocked section according to the second embodiment, which corresponds to Fig. 20 of the first embodiment.

[0139] Steps S201 to S207 and step S210 shown in FIG. 27 are similar to steps S201 to S207 and step S210 shown in FIG. 20 of the first embodiment, and therefore a description thereof will be omitted.

[0140] In step S208, the vehicle section setting unit 104 determines whether or not there is a section within the vehicle block section temporarily set in step S207 where the vehicle 20 cannot pass (hereinafter also referred to as an "impassable section") (step S208). Specifically, the vehicle section setting unit 104 compares the width of the narrowest section within the temporarily set vehicle block section with the vehicle width of the vehicle 20, and determines that there is an impassable section if the vehicle width is greater. If it is determined that there is no impassable section (NO), the vehicle section setting unit 104 updates the block section information stored in the block section storage unit 102 (step S209).

[0141] If it is determined that there is an impassable location (YES), the vehicle section setting unit 104 identifies a location where a partition will be installed so that a vehicle block section that the vehicle 20 can pass through can be set, and outputs the location to the instruction generating unit 106 (step S212). The method for identifying the location where a partition will be installed is the same as step S115 in Fig. 25. That is, the vehicle section setting unit 104 identifies the boundary of the first block section adjacent to the buffer section adjacent to the impassable location as the location where a partition 90 will be installed, separating the first block section from the vehicle block section.

[0142] The vehicle section setting unit 104 updates the vehicle block section associated with the vehicle 20 included in the block section information stored in the block section storage unit 102 with the vehicle block section having an impassable location (step S209). The vehicle communication unit 1011 includes the vehicle block section set by the vehicle section setting unit 104 in a driving instruction and transmits it to the vehicle 20 (step S211). Thereafter, the control system 10 ends the processing shown in FIG.

[0143] Fig. 28 is a diagram showing an example of a request screen on the mobile terminal of the worker 60. Fig. 29 is a diagram showing an example of a response screen (not permitted) on the mobile terminal of the worker 60.

[0144] Fig. 28 shows an example of a screen displayed on the mobile terminal of the worker 60 when the worker 60 makes a request to the control system 10, for example, when inquiring about work or movement permission. At the bottom of the screen shown in Fig. 28, there are displayed items for inputting the details of the inquiry that the worker 60 plans to make, the work details, additional information, etc. These items are the same as those in Fig. 3 of the first embodiment, and therefore description thereof will be omitted.

[0145] At the top of the screen shown in Figure 28, the message "1. Select your current location and destination from the map. If work is planned, please select the same location for your current location and destination" is displayed, along with map information for the site. The site map information shows parking space 40-2 and sidewalk 40-1, as well as the installed partition 90. Also, at the top of the screen shown in Figure 28, the message "Please check the installation location of the partition on site. If the installation location on the site and the map differ, touch one of the buttons below to add or delete it directly on the map" is displayed, along with buttons for "Add Partition" and "Delete Partition." The worker 60 can check the installation location of the partition on the site and directly correct it if it does not match the map information.

[0146] FIG. 29 shows an example of a screen displayed on the mobile device of the worker 60 when the control system 10 responds to the request of the worker 60 (in the case of denial of permission). When the control system 10 responds with denial of permission to the worker 60's inquiry about work permission, the screen shown in FIG. 29 displays a message (partition installation instruction) stating, "Work permission is not permitted. Please wait in the movable area below and wait a while before making an inquiry, or install a partition as shown in the map below before making an inquiry." along with map information. This map information displays the location where the partition will be installed. Note that the movable area shown in FIG. 29 is configured by the first blocked section for the worker 60 stored in the blocked section storage unit 102 before updating, since work is not permitted.

[0147] FIG. 30 is a diagram showing an example of a display screen for partition installation instructions on the mobile terminal of the worker 60.

[0148] FIG. 30 shows an example of a screen displayed on the mobile device of the worker 60 when the control system 10 transmits a partition installation instruction to allow the vehicle 20 to pass through the vehicle-blocked section. The screen shown in FIG. 30 displays the message (partition installation instruction) "To improve system efficiency, please install the partition as shown in the map below. After installation is complete, please touch the 'Installation Complete' button below," along with map information. This map information displays the location where the partition is installed. Furthermore, this map information displays an 'Installation Complete' button so that the worker 60 who installed the partition 90 can send a notification that installation is complete.

[0149] FIG. 31 is a diagram for explaining the effect of installing a partition 90 in response to a partition installation instruction.

[0150] The left side of FIG. 31 illustrates a case in which the vehicle section setting unit 104 sets an L-shaped vehicle block section so that it does not overlap with the second block section when setting the vehicle block section. However, because the width of a portion of the set vehicle block section is narrower than the width of the vehicle 20, the vehicle 20 cannot pass through the vehicle block section. Such an impassable section within the vehicle block section may reduce the productivity of the entire system. Therefore, in this embodiment, the control system 10 transmits a partition installation instruction to the mobile terminal of the worker 60. As shown on the right side of FIG. 31, when the worker 60 installs a partition 90-3 in response to the partition installation instruction, the installation of the partition 90-3 eliminates the need to set a buffer section. This allows the vehicle section setting unit 104 to set a rectangular vehicle block section instead of an L-shaped vehicle block section, thereby eliminating the impassable section within the vehicle block section. As a result, a decrease in the productivity of the entire system can be prevented.

[0151] As described above, in the control system 10 according to the second embodiment, if the buffer section of the second blocked section overlaps with the vehicle blocked section when the second blocked section is set, the worker section setting unit 105 deletes the overlapping portion of the buffer section that overlaps with the vehicle blocked section and sets the second blocked section.

[0152] As a result, the control system 10 can reliably prevent the second block section from being set so as to overlap with a vehicle block section, while also avoiding a situation in which the second block section cannot be set and the worker 60 cannot work or move. Therefore, the control system 10 can further prevent a decrease in the productivity of the entire automated driving system 1, as it does not require the worker 60 to wait excessively while reliably reducing the risk of a collision between the worker 60 and the vehicle 20. Therefore, the control system 10 can further prevent a decrease in the productivity of the entire automated driving system 1 that has been introduced in an area where automated vehicles 20 and workers 60 coexist, and can also reliably ensure the safety of the worker 60.

[0153] Furthermore, in the control system 10 according to the second embodiment, the worker section setting unit 105 identifies the boundary of the first blocked section adjacent to the vehicle blocked section by deleting the overlapping portion of the buffer section as the installation location of the partition 90 that separates the first blocked section from the vehicle blocked section. The worker communication unit 1012 transmits a partition installation instruction to the mobile terminal of the worker 60 to instruct the worker 60 to install the partition 90 at the installation location identified by the worker section setting unit 105.

[0154] As a result, the control system 10 can reliably prevent the worker 60 from having to wait excessively, while further reducing the risk of a collision between the worker 60 and the vehicle 20. Therefore, the control system 10 can reliably prevent a decrease in the productivity of the entire automated driving system 1 that has been introduced in an area where automated driving vehicles 20 and workers 60 coexist, and can further ensure the safety of the worker 60.

[0155] Furthermore, in the control system 10 according to the second embodiment, when an impassable location where the vehicle 20 cannot pass exists within the vehicle blocked section due to the deletion of the overlapping portion of the vehicle blocked section, the vehicle section setting unit 104 identifies the boundary of the first blocked section adjacent to the buffer section adjacent to the impassable location as the installation location of the partition 90 that separates the first blocked section from the vehicle blocked section. The worker communication unit 1012 transmits a partition installation instruction to the mobile terminal of the worker 60 instructing the worker 60 to install the partition 90 at the installation location identified by the vehicle section setting unit 104.

[0156] This allows the control system 10 to reliably avoid excessive stopping of the traveling vehicle 20, while further reducing the risk of collision between the worker 60 and the vehicle 20. Therefore, the control system 10 can reliably prevent a decrease in the overall productivity of the automated driving system 1 introduced in an area where automated driving vehicles 20 and workers 60 coexist, and can further ensure the safety of the worker 60.

[0157] [Third embodiment] A third embodiment of the present invention will be described with reference to Figures 32 to 36. In the third embodiment, the description of the same components as those in the first embodiment will be omitted.

[0158] FIG. 32 is a block diagram showing the configuration of the control system 10 according to the third embodiment.

[0159] In the third embodiment, the control system 10 includes an upper limit speed storage unit 1013 that stores an upper limit speed of the vehicle 20. The upper limit speed storage unit 1013 stores an upper limit speed that varies depending on the difference between the width of the vehicle block section and the vehicle width of the vehicle 20. Then, the vehicle section setting unit 104 sets an upper limit speed for the vehicle 20 that corresponds to the difference. The vehicle communication unit 1011 transmits a driving instruction to the vehicle 20 to instruct the vehicle 20 to drive at or below the upper limit speed set by the vehicle section setting unit 104.

[0160] Furthermore, in the third embodiment, the setting reference storage unit 1010 stores an upper limit speed for the worker 60 that differs depending on the movement classification. The worker section setting unit 105 sets an upper limit speed for the worker 60 according to the movement classification. The instruction generation unit 106 transmits an instruction to the mobile device of the worker 60 that permits the worker 60 to move at or below the upper limit speed set by the worker section setting unit 105.

[0161] FIG. 33 is a diagram showing an example of upper limit speed information stored in upper limit speed storage unit 1013. As shown in FIG.

[0162] The upper limit speed information 160 stored in the upper limit speed storage unit 1013 has a data structure and data contents as shown in Fig. 33. The upper limit speed information 160 has data on a difference 161 between the vehicle block section and the vehicle width, and an upper limit speed 162.

[0163] The difference between the vehicle block section and the vehicle width 161 stores a range of difference values ​​obtained by subtracting the vehicle width of the vehicle 20 from the width of the vehicle block section set for the vehicle 20 (the width in the vehicle width direction of the vehicle 20 passing through the vehicle block section). The upper limit speed 162 stores an upper limit speed set for the vehicle 20 that falls within the range stored in the difference between the vehicle block section and the vehicle width 161. For example, the upper limit speed is set to 20 km / h for a vehicle 20 for which the difference between the vehicle block section and the vehicle width is within a range of 0.4 m to 0.6 m. Note that the upper limit speed information 160 shown in FIG. 33 is an example, and the data stored in the difference between the vehicle block section and the vehicle width 161 and the upper limit speed 162 may be changed depending on the site conditions.

[0164] Fig. 34 is a flowchart showing the process of setting a vehicle-blocked section according to the third embodiment, which corresponds to Fig. 20 of the first embodiment.

[0165] Steps S201 to S207 and step S210 shown in FIG. 34 are the same as steps S201 to S207 and step S210 shown in FIG. 20 of the first embodiment, and therefore a description thereof will be omitted.

[0166] In step S208, the vehicle section setting unit 104 sets the upper limit speed of the vehicle 20 based on the upper limit speed information stored in the upper limit speed storage unit 1013 (step S208). Specifically, the vehicle section setting unit 104 calculates the difference between the width of the set vehicle block section and the vehicle width of the vehicle 20. Then, the vehicle section setting unit 104 references the upper limit speed information stored in the upper limit speed storage unit 1013 and sets the upper limit speed corresponding to the calculated difference. The vehicle section setting unit 104 updates the vehicle block section and the upper limit speed associated with the vehicle 20, which are included in the block section information stored in the block section storage unit 102 (step S209). The vehicle communication unit 1011 transmits the vehicle block section and the upper limit speed set by the vehicle section setting unit 104 to the vehicle 20, together with the driving instruction (step S211). Thereafter, the control system 10 ends the processing shown in FIG. 34.

[0167] Fig. 35 is a diagram showing an example of setting reference information stored in the setting reference storage unit 1010 according to the third embodiment when the operator 60 is moving. Fig. 35 is a diagram corresponding to Fig. 13 according to the first embodiment.

[0168] The setting standard information 155 stored in the setting standard storage unit 1010 when the worker 60 is moving has a data structure and data contents as shown in Fig. 35. The setting standard information 155 has data on a movement classification 156, information during movement 157, a setting standard 158 for a buffer section, and an upper limit speed 159.

[0169] The movement classification 156, the in-movement information 157, and the buffer section setting criteria 158 store the same data as in FIG. 13 of the first embodiment, and therefore a description thereof will be omitted. The upper limit speed 159 stores a specific value of the movement speed of the worker 60 that should be set as the upper limit speed based on the buffer section setting criteria 158. The specific value of the movement speed of the worker 60 that should be set as the upper limit speed is set depending on the situation at the site. Note that the setting criteria information 155 shown in FIG. 35 is an example, and the data stored in the in-movement information 157, the setting criteria 158, and the upper limit speed 159 may be changed depending on the situation at the site.

[0170] Fig. 36 is a flowchart showing the setting process of the first blocked section and the second blocked section according to the third embodiment, which corresponds to Fig. 14 of the first embodiment.

[0171] Steps S101 to S109 and step S114 shown in FIG. 36 are the same as steps S101 to S109 and step S114 shown in FIG. 14 of the first embodiment, and therefore a description thereof will be omitted.

[0172] In step S110, the worker section setting unit 105 provisionally sets a second block section and sets an upper limit speed for the worker 60 based on the upper limit speed stored in the setting reference storage unit 1010 (step S110). Next, the worker section setting unit 105 officially sets the provisionally set first block section and second block section, and updates the first block section, second block section, and upper limit speed associated with the worker 60, which are included in the block section information in the block section storage unit 102 (step S111). Then, the worker section setting unit 105 outputs information about the first block section, worker information, and upper limit speed to the instruction generation unit 106. The instruction generation unit 106 generates a permission instruction including a movable area (first block section), movement start permission, and upper limit speed (step S112). The worker communication unit 1012 transmits the instruction generated by the instruction generation unit 106 to the mobile device of the worker 60 (step S113). Thereafter, the control system 10 ends the processing shown in FIG.

[0173] In the third embodiment, safety can be improved by setting the upper limit speed of the vehicle 20 according to the difference between the vehicle block section and the vehicle width.

[0174] As described above, the control system 10 of the third embodiment further includes an upper limit speed storage unit 1013 that stores an upper limit speed of the vehicle 20. The upper limit speed storage unit 1013 stores an upper limit speed that varies depending on the difference between the width of the vehicle block section and the vehicle width of the vehicle 20. The vehicle section setting unit 104 sets an upper limit speed for the vehicle 20 that corresponds to the difference. The vehicle communication unit 1011 transmits a driving instruction to the vehicle 20 to instruct the vehicle 20 to drive at or below the upper limit speed set by the vehicle section setting unit 104.

[0175] This allows the control system 10 to control the traveling speed of the vehicle 20 according to the site conditions, thereby improving the traveling efficiency of the vehicle 20 while ensuring the safety of the worker 60. Therefore, the control system 10 can prevent a decrease in the overall productivity of the autonomous driving system 1 introduced in an area where autonomous vehicles 20 and workers 60 coexist, and can also ensure the safety of the worker 60.

[0176] Furthermore, in the control system 10 according to the third embodiment, the setting standard storage unit 1010 stores different upper speed limits for the worker 60 depending on the movement classification. The worker section setting unit 105 sets the upper speed limit for the worker 60 depending on the movement classification. The worker communication unit 1012 transmits an instruction to the mobile device of the worker 60 to permit the worker 60 to move at or below the upper speed limit set by the worker section setting unit 105.

[0177] This allows the control system 10 to control the movement speed of the workers 60 depending on the site conditions, thereby improving the movement efficiency of the workers 60 while ensuring the safety of the workers 60. Therefore, the control system 10 can prevent a decrease in the productivity of the entire automated driving system 1 that has been introduced in an area where automated driving vehicles 20 and workers 60 coexist, and can also ensure the safety of the workers 60.

[0178] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and are not necessarily limited to those including all of the components described. Furthermore, some of the components of one embodiment can be replaced with components of another embodiment, and components of another embodiment can be added to components of one embodiment. Furthermore, some of the components of each embodiment can be added, deleted, or replaced with other components.

[0179] Furthermore, the above-described components, functions, processing units, or processing means may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. The above-described components or functions may also be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the programs, tables, or files that implement each function may be stored in a storage device such as a memory, a hard disk, or an SSD (solid state drive), or in a storage medium such as an IC card, SD card, or DVD.

[0180] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected. [Explanation of symbols]

[0181] 1...Automatic driving system, 10...Control system, 101...Vehicle information storage unit, 102...Blocked section storage unit, 103...Worker information storage unit, 104...Vehicle section setting unit, 105...Worker section setting unit, 106...Instruction generation unit, 107...Buffer necessity determination unit, 108...Buffer calculation unit, 109...Map information storage unit, 1010...Setting standard storage unit, 1011...Vehicle communication unit, 1012...Worker communication unit, 1013...Upper limit speed storage unit, 60...Worker, 90...Partition

Claims

1. A control system that is communicably connected to a vehicle that travels by automatic driving within a control target area and a mobile terminal of a worker that performs work within the control target area, and controls the travel of the vehicle, a map information storage unit that stores map information of the control target area; a vehicle section setting unit that sets a vehicle block section indicating an exclusive section of the vehicle based on the position information of the vehicle transmitted from the vehicle; a worker section setting unit that sets a first block section that the worker can enter and a second block section that includes the first block section and that the vehicle cannot enter, based on the position information of the worker transmitted from the mobile terminal; a buffer necessity determination unit that determines whether or not a buffer section needs to be set around the first blocked section based on the map information; a vehicle communication unit that transmits to the vehicle a driving instruction that instructs the vehicle to drive within the vehicle block section set by the vehicle section setting unit; an operator communication unit that transmits to the mobile terminal an instruction to permit the operator to work or move within the first blocked section set by the operator section setting unit; the operator section setting unit sets the second blocked section in accordance with a determination result of the buffer necessity determination unit, The vehicle section setting unit sets the vehicle block section so as to avoid the second block section set by the worker section setting unit. A control system characterized by:

2. a setting criterion storage unit that stores setting criteria for setting the buffer section; a buffer calculation unit that calculates the buffer section based on the setting criteria and the map information, The setting standard storage unit stores different setting standards depending on the classification of the work or movement performed by the worker, the buffer calculation unit calculates the buffer sections of different sizes in accordance with the set criteria corresponding to the classification of the work or the movement; The worker section setting unit sets a section obtained by adding the buffer section calculated by the buffer calculation unit to a periphery of the first blocked section as the second blocked section.

2. The control system according to claim 1.

3. the setting criterion storage unit stores the setting criterion that varies depending on the work content of the work and additional information related to the transportation of luggage associated with the work; The buffer calculation unit calculates the buffer sections of different sizes according to the setting criteria corresponding to the work content and the additional information.

3. The control system according to claim 2.

4. the setting criterion storage unit stores the setting criterion that varies depending on in-transit information related to the transportation of luggage during the movement; The buffer calculation unit calculates the buffer sections of different sizes according to the setting criteria corresponding to the on-the-move information.

3. The control system according to claim 2.

5. The worker section setting unit sets each of the first block section and the second block section, avoiding the vehicle block section set by the vehicle section setting unit.

3. The control system according to claim 2.

6. When the buffer section of the second block section overlaps with the vehicle block section when the second block section is set, the worker section setting unit deletes an overlapping portion of the buffer section that overlaps with the vehicle block section and sets the second block section.

6. The control system according to claim 5.

7. the worker section setting unit identifies a boundary of the first block section adjacent to the vehicle block section by deleting the overlapping portion of the buffer section as an installation location of a partition separating the first block section and the vehicle block section; The worker communication unit transmits to the mobile terminal a partition installation instruction instructing the worker to install the partition at the installation location specified by the worker section setting unit.

7. The control system according to claim 6.

8. When the vehicle block section overlaps with the buffer section of the second block section upon setting the vehicle block section, the vehicle section setting unit deletes an overlapping portion of the vehicle block section that overlaps with the buffer section and sets the vehicle block section.

2. The control system according to claim 1.

9. when an impassable location where the vehicle cannot pass exists within the vehicle block section due to the deletion of the overlapping portion of the vehicle block section, the vehicle section setting unit specifies a boundary of the first block section adjacent to the buffer section adjacent to the impassable location as an installation location of a partition separating the first block section and the vehicle block section; The worker communication unit transmits to the mobile terminal a partition installation instruction instructing the worker to install the partition at the installation location specified by the vehicle section setting unit.

9. The control system according to claim 8.

10. The vehicle speed limiter further includes an upper limit speed storage unit that stores an upper limit speed of the vehicle, the upper limit speed storage unit stores the upper limit speed that varies depending on a difference between a width of the vehicle block section and a vehicle width of the vehicle; the vehicle section setting unit sets the upper limit speed for the vehicle according to the difference; The vehicle communication unit transmits to the vehicle the driving instruction instructing the vehicle to drive at or below the upper speed limit set by the vehicle section setting unit.

3. The control system according to claim 2.

11. the setting standard storage unit stores an upper limit speed of the worker that differs depending on the classification of the movement; the worker section setting unit sets the upper limit speed for the worker according to the classification of the movement, The worker communication unit transmits to the mobile terminal the instruction to permit the worker to move at or below the upper limit speed set by the worker section setting unit.

3. The control system according to claim 2.

Images