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

Abstract

A traffic management device, a traffic management method, a traffic management program, a mobile body system, and a mobile body control system are provided for managing the movement of mobile bodies so as to increase the efficiency of movement. [Solution] A traffic management device 9 includes an area management unit 10, a reception unit 12, a selection unit 13, and a command unit 14. The area management unit 10 manages area information including information on adjacent nodes 6 for each arbitration area 5. The selection unit 13 switches the selection of an allowed node that is permitted to enter the arbitration area 5 when a switching condition that is independent of the status of the moving body 2 is satisfied. The command unit 14 outputs an entry instruction to the moving body 2 entering from the selected allowed node. When there is a moving body 2 waiting to enter from the allowed node but there is no moving body 2 waiting to enter from another node 6, the selection unit 13 suspends switching of the selection of the allowed node even if the switching condition is satisfied.

Description

[Technical field]

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

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

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

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

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

[0006] A traffic management device according to the present disclosure includes an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for a preset arbitration area; a reception unit that receives arbitration requests for entry instructions from one or more moving bodies each attempting to enter the arbitration area; a selection unit that switches selection of an allowed node among the adjacent nodes for allowing entry into the arbitration area when a preset switching condition that is not dependent on the status of the one or more moving bodies is satisfied; and a command unit that outputs an entry instruction to allow entry from the allowed node to at least any of the one or more moving bodies entering from the allowed node selected by the selection unit, wherein the selection unit suspends switching of selection of the allowed node even when the switching condition is satisfied when there is a moving body waiting to enter the arbitration area from the allowed node but there is no moving body waiting to enter from another node adjacent to the arbitration area. The area information includes an upper limit number of vehicles in the arbitration area that is set according to time, and information on the number of moving objects currently in the arbitration area, the area management unit manages the area information while updating it, and the command unit outputs the entry instruction based on the upper limit number of vehicles in the arbitration area that corresponds to the current time, and the number of moving objects currently in the arbitration area. . A traffic management device according to the present disclosure includes an area management unit that manages area information including information on nodes adjacent to a preset arbitration area, a reception unit that receives arbitration requests for entry instructions from one or more moving bodies each attempting to enter the arbitration area, a selection unit that switches selection of an allowed node among the adjacent nodes to allow entry into the arbitration area when a preset switching condition that is not dependent on the state of the one or more moving bodies is satisfied, a command unit that outputs an entry instruction to at least one of the one or more moving bodies entering from the allowed node selected by the selection unit, and a movement management unit that manages, while updating information on tasks executed by each of the one or more moving bodies. and a mobile object management unit, wherein when there is a mobile object waiting to enter the arbitration area from the permitted node but there is no mobile object waiting to enter from another node adjacent to the arbitration area, the selection unit suspends switching of the selection of the permitted node even if the switching condition is satisfied, and the area information includes an upper limit number of mobile objects in the arbitration area for each task, and information on the number of mobile objects currently in the arbitration area for each task, and the mobile object management unit manages the area information while updating it, and the command unit outputs the entry instruction based on the upper limit number of mobile objects in the arbitration area for a task to be performed by a mobile object waiting to enter from the permitted node, and the number of mobile objects currently in the arbitration area performing the task. A traffic management device according to the present disclosure includes an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for a preset arbitration area; a reception unit that receives arbitration requests for entry instructions from one or more moving bodies each attempting to enter the arbitration area; a selection unit that switches the selection of an allowed node among the adjacent nodes for allowing entry into the arbitration area when a preset switching condition that is not dependent on the state of the one or more moving bodies is satisfied; a command unit that outputs an entry instruction to at least one of the one or more moving bodies entering from the allowed node selected by the selection unit to allow entry from the allowed node; and a mobile body management unit that manages, while updating, information on tasks executed by each of the one or more moving bodies, wherein the selection unit: When there is a mobile object waiting to enter the arbitration area from the permission node, but there is no mobile object waiting to enter from another node adjacent to the arbitration area, the switching of the selection of the permission node is postponed even if the switching condition is satisfied, and the area information includes an upper limit number that is an upper limit on the weighted number calculated by multiplying the weight set for each task, and information on the weighted number calculated for mobile objects currently in the arbitration area, and the mobile object management unit manages the area information while updating it, and the command unit outputs the entry instruction based on the upper limit number according to the task of the arbitration area, and the weighted number calculated for mobile objects currently in the arbitration area and mobile objects waiting to enter from the permission node. A traffic management device according to the present disclosure includes an area management unit that manages area information for a preset arbitration area, the area information including information on nodes adjacent to the arbitration area; a reception unit that receives arbitration requests for entry instructions from one or more moving bodies each attempting to enter the arbitration area; a selection unit that switches the selection of an allowed node among the adjacent nodes to be allowed to enter the arbitration area when a preset switching condition that is not dependent on the status of the one or more moving bodies is satisfied; and a command unit that outputs an entry instruction to allow entry from the allowed node to at least any of the one or more moving bodies entering from the allowed node selected by the selection unit, the selection unit suspends switching of the selection of the allowed node even when the switching condition is satisfied when there is a moving body waiting to enter from the allowed node for the arbitration area but there is no moving body waiting to enter from another node adjacent to the arbitration area, the area information includes information on an upper limit time that represents an upper limit of the stay time of the moving body in the arbitration area, and the area management unit sets the upper limit time.

[0007] The traffic management method according to the present disclosure includes a step of: acquiring area information including information on nodes adjacent to a preset arbitration area, the area information including information on nodes adjacent to the ... While updating the computer executes the following operations: managing the arbitration area; receiving arbitration requests for entry instructions from one or more moving bodies each attempting to enter the arbitration area; switching selection of an allowed node among adjacent nodes to be allowed to enter the arbitration area when a preset switching condition that is not dependent on the status of the one or more moving bodies is satisfied; and outputting an entry instruction to allow entry from the allowed node to at least one of the one or more moving bodies entering from the selected allowed node, the computer suspends switching of selection of the allowed node even when the switching condition is satisfied when there is a moving body waiting to enter the arbitration area from the allowed node and there is no moving body waiting to enter from another node adjacent to the arbitration area. the area information includes an upper limit number of vehicles in the arbitration area that is set according to time and information on the number of moving objects currently in the arbitration area, and the entry instruction is output based on the upper limit number of vehicles in the arbitration area that corresponds to the current time and the number of moving objects currently in the arbitration area. . A traffic management method according to the present disclosure includes a computer managing a preset arbitration area while updating area information including information on nodes adjacent to the arbitration area, receiving arbitration requests from one or more moving bodies each attempting to enter the arbitration area for an entry instruction, managing information on tasks executed by each of the one or more moving bodies while updating it, switching a selection of an allowed node among the adjacent nodes to be allowed to enter the arbitration area when a preset switching condition that is not dependent on the status of the one or more moving bodies is satisfied, and prohibiting entry from the allowed node for at least any of the one or more moving bodies entering from the selected allowed node. and outputting an entry instruction to permit entry, wherein when there is a mobile object waiting to enter the arbitration area from the permitted node but no mobile object waiting to enter from another node adjacent to the arbitration area, the computer suspends switching of the selection of the permitted node even if the switching condition is satisfied, the area information includes an upper limit number of mobile objects in the arbitration area for each task and information on the number of mobile objects currently in the arbitration area for each task, and the entry instruction is output based on the upper limit number of mobile objects in the arbitration area for the task to be performed by the mobile object waiting to enter from the permitted node and the number of mobile objects currently in the arbitration area performing the task. A traffic management method according to the present disclosure includes a computer managing a preset arbitration area while updating area information including information on nodes adjacent to the arbitration area, receiving arbitration requests from one or more moving bodies each attempting to enter the arbitration area requesting an entry instruction, managing information on tasks executed by each of the one or more moving bodies while updating it, switching a selection of an allowed node among the adjacent nodes to be allowed to enter the arbitration area when a preset switching condition that is not dependent on the status of the one or more moving bodies is satisfied, and outputting an entry instruction to at least one of the one or more moving bodies entering from the selected allowed node, allowing entry from the allowed node. and when there is a mobile unit waiting to enter the arbitration area from the permission node but no mobile unit waiting to enter from another node adjacent to the arbitration area, the computer suspends switching of the selection of the permission node even if the switching condition is satisfied, the area information includes an upper limit number that is an upper limit on a weighted number calculated by multiplying a weight set for each task, and information on the weighted number calculated for mobile units currently in the arbitration area, and the entry instruction is output based on the upper limit number according to the task of the arbitration area, and the weighted number calculated for mobile units currently in the arbitration area and mobile units waiting to enter from the permission node. A traffic management method according to the present disclosure is a method in which a computer manages area information for a preset arbitration area, the area information including information on nodes adjacent to the arbitration area; accepts arbitration requests requesting an entry instruction from one or more moving bodies each attempting to enter the arbitration area; and, when a preset switching condition that is not dependent on the status of the one or more moving bodies is satisfied, switches the selection of an allowed node among the adjacent nodes to allow entry into the arbitration area; and outputs an entry instruction to at least one of the one or more moving bodies entering from the selected allowed node, the allowed node, to at least one of the one or more moving bodies entering from the selected allowed node; when there is a moving body waiting to enter the arbitration area from the allowed node but there is no moving body waiting to enter from another node adjacent to the arbitration area, the computer suspends switching of the selection of the allowed node even if the switching condition is satisfied; the area information includes information on an upper limit time that indicates an upper limit of the stay time of a moving body in the arbitration area, and the upper limit time is set by the computer.

[0008] The traffic management program according to the present disclosure is installed on a computer. Implement any of the above traffic management methods .

[0009] The mobile system according to the present disclosure includes: Any one of the above traffic management devices, one or more moving objects each attempting to enter an arbitration area; Equipped .

[0010] The mobile object control system according to the present disclosure includes: Any one of the above traffic management devices, a mobile object control unit that controls the movement of one or more mobile objects each attempting to enter the arbitration area; Equipped . Effect of the Invention

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

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

[0013] The embodiments for carrying out the subject of the present disclosure will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts are given the same reference numerals, and duplicated descriptions are appropriately simplified or omitted. Note that the subject of the present disclosure is not limited to the following embodiments, and any component of the embodiment may be modified or omitted within the scope of the gist of the present disclosure.

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

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

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

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

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

[0019] In an area where the mobile body system 1 is applied, such as a facility 3, one or more arbitration areas 5 are set. In this example, a plurality of arbitration areas 5 are set in advance. The arbitration area 5 is, for example, a place where the mobile body 2 may cross, such as a narrow road or an intersection. The arbitration area 5 may be, for example, a space such as a room or a space. The arbitration area 5 may be a space including an elevator applied to the facility 3. In this case, the arbitration area 5 is set, for example, in a range including the inside of the elevator car and the hall of each floor. For each arbitration area 5, one or more adjacent nodes 6 are set in advance. Each node 6 corresponds, for example, to each entrance and exit to the arbitration area 5. For example, each node 6 adjacent to an arbitration area 5 such as an intersection corresponds to each passage leading to the intersection.

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

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

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

[0023] The area management unit 10 is a part that has a function of managing area information for each arbitration area 5. The area information for the arbitration area 5 includes, for example, the coordinates, range, identifier, name, attributes, the number of moving objects 2 currently in the arbitration area 5, the upper limit number, and other information for the arbitration area 5. The upper limit number of the arbitration area 5 represents, for example, the upper limit of the moving objects 2 that can be allowed to be in the arbitration area 5. For example, in an arbitration area 5 with an upper limit number of three, three moving objects 2 are allowed to be in the arbitration area 5, and four or more moving objects 2 are not allowed to be in the arbitration area 5. In some or all of the arbitration areas 5, the upper limit number may be set to one. The upper limit number of the arbitration area 5 may be set according to time. The upper limit number set according to time may be set according to the time of day, such as morning, afternoon, evening, or night, or may be set according to the attributes of the day, such as weekday, holiday, or day of the week. The area information of an arbitration area 5 includes, for example, information about the nodes 6 adjacent to the arbitration area 5, such as an identifier that identifies the arbitration area 5, and the coordinates, range, identifier, name, attributes, and other information about each node 6. The area management unit 10 manages the area information by storing the information in, for example, a database. The area management unit 10 may also manage information about the relationship between arbitration areas 5. The information about the relationship between arbitration areas 5 includes connection information such as whether or not traffic can be made between arbitration areas 5. The management of information by the area management unit 10 includes adding, holding, updating, correcting, or deleting information. The area management unit 10 manages information that changes among the area information by updating it as needed to reflect the current situation.

[0024] The mobile body management unit 11 is a part that has a function of managing information about each mobile body 2. The information about the mobile body 2 includes, for example, an identifier of the mobile body 2, a type of service provided by the mobile body 2, size information such as width and weight of the mobile body 2, an identifier of the mobile body control device 8 that controls the mobile body 2, and other attributes of the mobile body 2. The information about the mobile body 2 includes, for example, information about the rated movement speed, maximum movement speed, turning radius, or other movement performance of the mobile body 2. The information about the mobile body 2 includes, for example, information about the current position, current speed, and current state of the mobile body 2. The state of the mobile body 2 includes, for example, information about whether the mobile body 2 is in the arbitration area 5 or not, information about the identifier of the arbitration area 5, information about whether the mobile body 2 is executing a task or not, and information about the type of the task. The information about whether the mobile body 2 is currently in the arbitration area 5 or not may be, for example, information about the current position of the mobile body 2. Information on the current location of the mobile body 2 is acquired by the mobile body 2 itself or the mobile body control device 8, for example, using a satellite positioning system such as a GPS (Global Positioning System), an autonomous navigation system, an indoor positioning system, or other positioning systems. Information on the current location of the mobile body 2 is provided from the mobile body 2 itself or the mobile body control device 8 to the traffic management device 9 as needed. The mobile body management unit 11 manages the information of the mobile body 2 by storing it in a database, for example. The management of information by the mobile body management unit 11 includes adding, holding, updating, correcting, or deleting information. The mobile body management unit 11 manages information of the mobile body 2 that changes while updating it as needed to reflect the current situation.

[0025] The reception unit 12 is a part equipped with a function for receiving an arbitration request from each mobile body 2. The arbitration request from a mobile body 2 is transmitted via the communication network 4 or the like when the mobile body 2 attempts to enter any of the arbitration areas 5. The arbitration request from a mobile body 2 may be transmitted from the mobile body control device 8 corresponding to the mobile body 2. The arbitration request is a signal that requests an instruction to enter the arbitration area 5 from the traffic management system. The arbitration request includes information such as the identifier of the mobile body 2, the identifier of the arbitration area 5, and the identifier of the entry node which is the node 6 serving as the entrance to the arbitration area 5.

[0026] The selection unit 13 is a part that has a function of selecting an authorized node that permits entry of the mobile unit 2 for each arbitration area 5 for which an arbitration request has been made. Based on the area information of the arbitration area 5 managed by the area management unit 10, the selection unit 13 selects one of the nodes 6 adjacent to the arbitration area 5 as an authorized node.

[0027] In the selection unit 13, a switching condition for switching the selection of the permitted node is set in advance. The switching condition is, for example, a condition that does not depend on the state of the moving body 2. The switching condition includes, for example, a condition based on the passage of time, such as the passage of a preset time from a reference time point. The reference time point is, for example, the time point at which the previous selection of the permitted node was switched. The selection unit 13 cyclically switches the selection of the permitted node for each of the nodes 6 adjacent to the arbitration area 5, for example, every time a preset time passes. The selection unit 13 may, for example, sequentially select the permitted nodes in a clockwise or counterclockwise direction. The selection unit 13 may set, for each node 6 adjacent to the arbitration area 5, the elapsed time from the selection of one node 6 as the permitted node to the selection of another node 6 as the permitted node.

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

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

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

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

[0032] Next, an example of the operation of the mobile system 1 will be described with reference to FIGS. 3 to 5 are flowcharts showing an example of the operation of the mobile body system 1 according to the first embodiment.

[0033] In FIG. 3, an example of the operation of the traffic management device 9 regarding switching of permitted nodes in the arbitration area 5 is shown.

[0034] In step S11, the selection unit 13 determines whether or not the switching condition is satisfied. If the switching condition is satisfied, the process of the traffic management device 9 proceeds to step S12. On the other hand, if the switching condition is not satisfied, the process of the traffic management device 9 proceeds to step S16.

[0035] In step S12, the selection unit 13 determines whether there is a mobile object 2 that has issued an arbitration request and is waiting for an entry instruction at the permission node before switching. The selection unit 13 makes this determination based on, for example, the arbitration request accepted by the acceptance unit 12 and the information on the mobile object 2 managed by the mobile object management unit 11. If there is a mobile object 2 waiting for an entry instruction at the permission node, the processing of the traffic management device 9 proceeds to step S13. On the other hand, if there is no mobile object 2 waiting for an entry instruction at the permission node, the processing of the traffic management device 9 proceeds to step S14.

[0036] In step S13, the selection unit 13 determines whether there is a mobile object 2 that has issued an arbitration request and is waiting for an entry instruction at another node 6 that is an allowed node before switching among the nodes 6 adjacent to the arbitration area 5. The selection unit 13 makes this determination based on, for example, the arbitration request accepted by the acceptance unit 12 and the information on the mobile object 2 managed by the mobile object management unit 11. If there is a mobile object 2 waiting for an entry instruction at another node 6, the processing of the traffic management device 9 proceeds to step S14. On the other hand, if there is no mobile object 2 waiting for an entry instruction at another node 6, the processing of the traffic management device 9 proceeds to step S15.

[0037] In step S14, the selection unit 13 switches the selection of the permitted node. The selection unit 13 selects a new permitted node from among the nodes 6 adjacent to the arbitration area 5 other than the permitted node before switching, for example, according to a preset selection order or the like. Note that, when there is a moving body 2 waiting for an entry instruction at another node 6, the selection unit 13 may select a new permitted node according to the waiting status of the moving body 2 or the like. Thereafter, the processing of the traffic management device 9 proceeds to step S11.

[0038] In step S15, the selection unit 13 reserves the selection of the permitted node without switching it. At this time, the command unit 14 may output an entry instruction to the moving object 2 waiting at the permitted node before the switching. After that, the process of the traffic management device 9 proceeds to step S12.

[0039] In step S16, the selection unit 13 determines whether or not there is a moving object 2 that has issued an arbitration request and is waiting for an entry instruction at the permission node before switching. The selection unit 13 performs this determination in the same manner as in step S12, for example. If there is a moving object 2 waiting for an entry instruction at the permission node, the processing of the traffic management device 9 proceeds to step S11. On the other hand, if there is no moving object 2 waiting for an entry instruction at the permission node, the processing of the traffic management device 9 proceeds to step S17.

[0040] In step S17, the selection unit 13 determines whether there is a moving object 2 that has issued an arbitration request and is waiting for an entry instruction at another node 6 that is an allowed node before switching among the nodes 6 adjacent to the arbitration area 5. The selection unit 13 performs this determination in the same manner as in step S13, for example. If there is a moving object 2 waiting for an entry instruction at another node 6, the processing of the traffic management device 9 proceeds to step S14. On the other hand, if there is no moving object 2 waiting for an entry instruction at another node 6, the processing of the traffic management device 9 proceeds to step S11.

[0041] In FIG. 4, an example of the operation of the traffic management device 9 with respect to outputting an entry instruction to the arbitration area 5 is shown. In this example, the command unit 14 outputs approach instructions to the moving bodies 2 one by one in sequence.

[0042] In step S21, the command unit 14 judges whether the condition of the upper limit number of vehicles is satisfied in the arbitration area 5 when the moving object 2 is allowed to enter the arbitration area 5 from the permitted node. The command unit 14 performs this judgment, for example, using the number of moving objects 2 currently in the arbitration area 5 and the upper limit number in the area information managed by the area management unit 10. When the upper limit number of vehicles in the arbitration area 5 is set according to time, the command unit 14 performs this judgment, for example, using the number of moving objects 2 currently in the arbitration area 5 and the upper limit number corresponding to the current time. The command unit 14 judges, for example, whether the number of moving objects 2 currently in the arbitration area 5 has reached the upper limit number. Note that when an entry instruction is output simultaneously to a plurality of moving objects 2 entering from the permitted node, the command unit 14 may judge, for example, whether the upper limit number is exceeded when the number of moving objects 2 to which the entry instruction is output is added to the number of moving objects 2 currently in the arbitration area 5. If the condition of the upper limit number is satisfied when the moving object 2 is allowed to enter the arbitration area 5 from the permitted node, the process of the traffic management device 9 proceeds to step S22. On the other hand, if the condition of the upper limit number is not satisfied when the moving object 2 is allowed to enter the arbitration area 5 from the permitted node, the process of the traffic management device 9 proceeds to step S21 again.

[0043] In step S22, the command unit 14 outputs an entry instruction to the moving body 2 entering from the permitted node selected by the selection unit 13 through the mobile body control device 8. Note that the command unit 14 may output the entry instruction to the moving body 2 without going through the mobile body control device 8. The moving body 2 that has received the entry instruction from the command unit 14 enters the arbitration area 5 from the permitted node. Thereafter, the processing of the traffic management device 9 proceeds to step S23.

[0044] In step S23, the area management unit 10 adds the number of moving objects 2 that have entered the arbitration area 5 in response to an entry instruction to the number of moving objects 2 currently present in the arbitration area 5 in the area information. After that, the processing of the traffic management device 9 proceeds to step S21.

[0045] In FIG. 5, an example of the operation of the traffic management device 9 when the mobile object 2 exits the arbitration area 5 is shown.

[0046] In step S31, the traffic management device 9 detects the exit of the moving object 2 from the arbitration area 5 based on information on the current position of the moving object 2 managed by the mobile object management unit 11, etc. The traffic management device 9 may detect the exit of the moving object 2 from the arbitration area 5 based on a notification from the moving object 2, etc. Thereafter, the processing of the traffic management device 9 proceeds to step S32.

[0047] In step S32, the area management unit 10 subtracts the number of moving objects 2 that have exited the arbitration area 5 from the number of moving objects 2 currently present in the arbitration area 5 in the area information. After that, the process of the traffic management device 9 proceeds to step S33.

[0048] In step S33, the traffic management device 9 executes a process of outputting an instruction to enter the arbitration area 5. This process is, for example, the process shown in Fig. 4. Thereafter, the process of the traffic management device 9 ends.

[0049] As described above, the mobile body system 1 according to the first embodiment includes one or more mobile bodies 2 and a mobile body control system 7. The mobile body control system 7 includes a mobile body control device 8 and a traffic management device 9. The mobile body control device 8 controls the movement of the mobile body 2. The traffic management device 9 includes an area management unit 10, a reception unit 12, a selection unit 13, and a command unit 14. The area management unit 10 manages area information for each arbitration area 5. The area information for the arbitration area 5 includes information on adjacent nodes 6. The reception unit 12 receives an arbitration request from each mobile body 2 that is about to enter the arbitration area 5. When a switching condition is satisfied, the selection unit 13 switches the selection of an allowed node that is allowed to enter the arbitration area 5 among the adjacent nodes 6. The switching condition is a preset condition that does not depend on the status of the mobile body 2. The command unit 14 outputs an entry instruction to the mobile body 2 that enters from the allowed node selected by the selection unit 13. When there is a mobile object 2 waiting to enter an arbitration area 5 from an allowed node, but there is no mobile object 2 waiting to enter from another node 6 adjacent to the arbitration area 5, the selection unit 13 reserves the right to postpone switching the selection of the allowed node even if the switching condition is satisfied. Note that the selection unit 13 may quickly switch the selection of the allowed node when a mobile object 2 is waiting at another node 6.

[0050] With this configuration, an entry instruction is output from the permission node to the moving body 2 entering the permission node after the permission node is selected. This reduces the possibility of blockages and the like when entering the arbitration area 5, and reduces the decrease in the movement efficiency of the moving body 2. In addition, the permission node allows entry instructions to be output continuously to multiple moving bodies 2 entering the arbitration area 5, so that the traffic flow in the arbitration area 5 is less likely to be interrupted and the movement of the moving body 2 is less likely to be delayed. In addition, since the switching condition does not depend on the situation of the moving body 2, the moving body 2 can easily predict the selection of the permission node. Therefore, the moving body 2 can easily select an efficient movement route. In addition, fairness between the moving bodies 2 is maintained. In addition, when there are no waiting moving bodies 2 other than the moving body 2 that is about to enter from the permission node, the selection of the permission node is not switched according to the switching condition and is reserved. This reduces the likelihood of unnecessary waiting time for the moving body 2, and the movement efficiency of the moving body 2 is further improved. Furthermore, since the traffic management device 9 mediates movement between multiple moving bodies 2 in response to a mediation request, even when direct cooperation between the moving bodies 2 is difficult, such as when the moving bodies 2 are made by different manufacturers, crossings between the moving bodies 2 are unlikely to occur. In this way, the movement efficiency of the moving bodies 2 in the moving body system 1 is further improved.

[0051] In addition, when there is a mobile body 2 waiting to enter an arbitration area 5 from another node 6 adjacent to the arbitration area 5, but there is no mobile body 2 waiting to enter from an authorized node, the selection unit 13 switches the selection of the authorized node even if the switching condition is not satisfied.

[0052] With this configuration, when there is no moving body 2 attempting to enter from an allowed node, the selection of the allowed node is switched regardless of the switching condition. This reduces the amount of unnecessary waiting time for the moving body 2, thereby improving the movement efficiency of the moving body 2.

[0053] Furthermore, the area information for the arbitration area 5 includes information on the upper limit number of vehicles in the arbitration area 5 according to time, and the number of moving objects 2 currently in the arbitration area 5. The moving object management unit 11 manages the area information while updating it. The command unit 14 outputs an entry instruction based on the upper limit number of vehicles in the arbitration area 5 corresponding to the current time, and the number of moving objects 2 currently in the arbitration area 5.

[0054] With this configuration, even when there is a moving object 2 with a slow moving speed, congestion in the arbitration area 5 is managed, and the occurrence of blockages in the arbitration area 5 is suppressed. This makes it difficult for the movement efficiency of the moving objects 2 to decrease. Furthermore, since the upper limit number is set according to time, it is possible to set the upper limit number according to the situation in the arbitration area 5. For example, for the same arbitration area 5, the upper limit number during times when there are few people, such as at night, may be set higher than the upper limit number during times when there are many people, such as during the day.

[0055] The upper limit number of the arbitration area 5 may be set according to the task performed by the moving bodies 2. The upper limit number set according to the task may be, for example, a number set individually for each task, or may be an upper limit for a weighted number that is tallied by multiplying a weight set for each task. In this case, the area information of the arbitration area 5 may include information on the weight for each task in the arbitration area 5. As the upper limit number set according to the task, for example, a relatively small number of moving bodies 2 is set for a task of a service that has a long stay time in the arbitration area 5, such as cleaning. As the upper limit number set according to the task, for example, a relatively large number of moving bodies 2 is set for a task of a service that has a short stay time in the arbitration area 5, such as transportation. The upper limit number set according to the task may be, for example, an upper limit for a weighted number that is set to multiply a larger weight by a task of a service that has a longer stay time. The upper limit number set according to the task may be, for example, a smaller number of moving bodies 2 for a task of a service that moves over a wider area in the arbitration area 5, such as cleaning. The upper limit on the number of vehicles in the arbitration area 5 may be set according to both the task and the time.

[0056] When the upper limit number of the arbitration area 5 is set for each task, the area management unit 10 manages information on the number of moving objects 2 currently in the arbitration area 5 for each task as area information of the arbitration area 5. When outputting an entry instruction, the command unit 14 judges whether the condition of the upper limit number is satisfied in the arbitration area 5 when the moving object 2 is allowed to enter the arbitration area 5 from the permission node. The judgment is made, for example, using the number of moving objects 2 currently in the arbitration area 5 for each task and the upper limit number for each task. At this time, the command unit 14 judges, for example, for a task to be executed by a moving object 2 waiting to enter from the permission node, whether the number of moving objects 2 currently in the arbitration area 5 executing the task has reached the upper limit number for the task. When the condition of the upper limit number for each task is satisfied even if the moving object 2 is allowed to enter the arbitration area 5 from the permission node, the command unit 14 outputs an entry instruction.

[0057] On the other hand, the upper limit number of vehicles in the arbitration area 5 may be set as an upper limit for the weighted number that is calculated by multiplying the weights set for each task. In this case, the area management unit 10 manages information on the weighted number of vehicles that is calculated for the moving objects 2 currently in the arbitration area 5 as area information for the arbitration area 5. The weighted number is calculated, for example, in the area management unit 10. When outputting an entry instruction, the command unit 14 uses, for example, the weighted number for the task of the moving object 2 currently in the arbitration area 5 and the upper limit number for that task to determine whether the condition for the upper limit number is satisfied when the moving object 2 is allowed to enter the arbitration area 5 from the permission node. At this time, the command unit 14 calculates, for example, the weighted numbers for the moving object 2 currently in the arbitration area 5 and the moving object 2 waiting to enter from the permission node. The command unit 14 compares the calculated weighted number with the current weighted number managed by the area management unit 10 to determine whether the condition for the upper limit number is satisfied. When the condition of the upper limit number is satisfied even if the moving object 2 is allowed to enter the arbitration area 5 from the permitted node, the command unit 14 outputs an entry instruction.

[0058] Next, an example of the hardware configuration of the mobile system 1 will be described with reference to FIG. FIG. 6 is a hardware configuration diagram of a main part of the mobile body system 1 according to the first embodiment.

[0059] A part or all of the functions of the mobile system 1 may be realized by a processing circuit. The processing circuit includes at least one processor 100a and at least one memory 100b. The processing circuit may include at least one dedicated hardware in addition to or in place of the processor 100a and the memory 100b.

[0060] When the processing circuit includes the processor 100a and the memory 100b, each function of the mobile system 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. The program is stored in the memory 100b. The processor 100a realizes each function of the mobile system 1 by reading and executing the program stored in the memory 100b. The program may be a program package including a plurality of subprograms, modules, or libraries. The program may also be called a program product.

[0061] The processor 100a is also called a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 100b is composed of a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM.

[0062] Where the processing circuitry comprises dedicated hardware, the processing circuitry may be implemented as, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or any combination thereof.

[0063] Each function of the mobile system 1 can be realized by a processing circuit. Alternatively, each function of the mobile system 1 can be realized collectively by a processing circuit. Some of the functions of the mobile system 1 may be realized by dedicated hardware, and the other parts may be realized by software or firmware. In this way, the processing circuit realizes each function of the mobile system 1 by dedicated hardware, software, firmware, or a combination of these.

[0064] Embodiment 2 In the second embodiment, differences from the example disclosed in the first embodiment will be described in particular detail. For features not described in the second embodiment, any of the features of the example disclosed in the first embodiment may be adopted.

[0065] The area information of the arbitration area 5 includes, for example, information on an upper limit time that indicates an upper limit of the stay time of the mobile object 2 in the arbitration area 5. The upper limit time may be a fixed value set in advance, or may be automatically set by the area management unit 10. The area information of the arbitration area 5 may include information on a method for setting the upper limit time. The method for setting the upper limit time is selected from options such as a fixed value or automatic setting.

[0066] The command unit 14 monitors the stay time of each of the moving objects 2 in the arbitration area 5. When any of the moving objects 2 times out, that is, when the stay time of the moving object 2 exceeds the upper limit time of the arbitration area 5, the command unit 14 outputs an exit instruction to the moving object 2.

[0067] The moving object 2 that has received an exit instruction from the command unit 14 exits, for example, from the arbitration area 5 to any of the adjacent nodes 6. The moving object 2 that has exited the arbitration area 5 may reissue an arbitration request to enter the arbitration area 5 as necessary.

[0068] It may be difficult for the moving body 2 to exit the arbitration area 5 due to the presence of an obstacle in the arbitration area 5 or for other reasons. In this case, the moving body 2 may stop within the arbitration area 5. The traffic management device 9 detects the occurrence of an abnormality in the arbitration area 5 when the moving body 2 to which an exit instruction has been output from the command unit 14 is still staying in the arbitration area 5 even after a preset time has elapsed since the output of the exit instruction. When detecting the occurrence of an abnormality, the traffic management device 9 may notify the occurrence of the abnormality to the manager of the facility 3 in which the arbitration area 5 is located, for example. The notification is performed by the notification unit 15, for example.

[0069] FIG. 7 is a flowchart showing an example of the operation of the mobile body system 1 according to the second embodiment. Fig. 7 shows an example of the operation of the traffic management device 9 for setting an upper limit time for the arbitration area 5. The process in Fig. 7 is executed, for example, when an arbitration area 5 is newly set in a target to which the mobile body system 1 is applied, or when information on the arbitration area 5 is updated.

[0070] In step S41, the area management unit 10 acquires the setting method of the upper limit time for the arbitration area 5. If a fixed value is selected as the setting method, the process of the traffic management device 9 proceeds to step S42. On the other hand, if automatic setting is selected as the setting method, the process of the traffic management device 9 proceeds to step S43.

[0071] In step S42, the area management unit 10 accepts input of a fixed value from, for example, a manager of the facility 3. The area management unit 10 sets the accepted input fixed value as the upper limit time for the arbitration area 5. The upper limit time set at this time is applied to, for example, all moving objects 2 staying in the arbitration area 5. After the upper limit time is set, the processing of the traffic management device 9 ends.

[0072] In step S43, the area management unit 10 automatically sets an upper limit time for the arbitration area 5. In this example, the upper limit time is set individually for each moving body 2. The upper limit time is set, for example, according to the length of the arbitration area 5 and the speed of the moving body 2. The length of the arbitration area 5 is, for example, the maximum or average value of the distance in the arbitration area 5 between adjacent nodes 6, or the maximum or average value of the width or depth of the arbitration area 5. The speed of the moving body 2 is, for example, the rated moving speed of the moving body 2. The upper limit time is set, for example, as a value obtained by dividing the length of the arbitration area 5 by the speed of the moving body 2, plus a preset time, or a value multiplied by a preset coefficient. Thereafter, the processing of the traffic management device 9 ends.

[0073] As described above, in the mobile object system 1 according to the second embodiment, the area information includes information on the upper limit time that indicates the upper limit of the stay time in the arbitration area 5. The area management unit 10 automatically sets the upper limit time for each mobile object 2.

[0074] This configuration reduces the effort required to set the upper limit time for each moving object 2 individually for the arbitration area 5. Since the upper limit time for the arbitration area 5 is set for each moving object 2, it becomes difficult to set an unnecessarily long upper limit time.

[0075] To summarize the above explanation, possible configurations of the technology according to the present disclosure include the configurations listed below as appendices. (Appendix 1) an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a selection unit that switches a selection of an allowed node that is permitted to enter the arbitration area among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied; For at least one of the moving objects that enters from the permitted node selected by the selection unit among the one or more moving objects, Allow entry from the authorized node A command unit that outputs an approach command; Equipped with the selection unit, when there is a moving object waiting to enter the arbitration area from the permitted node and there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, suspends switching of selection of the permitted node even if the switching condition is satisfied. Traffic management device. (Appendix 2) the selection unit switches selection of the permitted node even when the switching condition is not satisfied, in a case where there is a mobile object waiting to enter the arbitration area from another node adjacent to the arbitration area and there is no mobile object waiting to enter the permitted node. 2. A traffic management device as described in claim 1. (Appendix 3) the area information includes information on an upper limit of the number of moving objects in the arbitration area according to time and information on the number of moving objects currently in the arbitration area; The area management unit manages the area information while updating it, the command unit outputs the entry instruction based on an upper limit number of vehicles in the arbitration area corresponding to a current time and the number of moving objects currently in the arbitration area. 3. A traffic management device according to claim 1 or 2. (Appendix 4) a mobile entity management unit that manages, while updating, information on tasks executed by each of the one or more mobile entities; Equipped with the area information includes an upper limit number of moving objects for each task in the arbitration area, and information on the number of moving objects currently in the arbitration area for each task; The mobile object management unit manages the area information while updating it, the command unit outputs the entry instruction based on an upper limit number of the arbitration area for a task to be executed by a mobile object waiting to enter from the permitted node, and the number of mobile objects currently in the arbitration area executing the task. 3. A traffic management device according to claim 1 or 2. (Appendix 5) a mobile entity management unit that manages, while updating, information on tasks executed by each of the one or more mobile entities; Equipped with the area information includes an upper limit number, which is an upper limit for a weighted number calculated by multiplying the weights set for each task, and information on the weighted number calculated for moving objects currently in the arbitration area; The mobile object management unit manages the area information while updating it, the command unit outputs the entry instruction based on an upper limit number according to a task of the arbitration area and the weighted number calculated for the moving objects currently in the arbitration area and the moving objects waiting to enter the arbitration area from the permitted node. 3. A traffic management device according to claim 1 or 2. (Appendix 6) the area information includes information on an upper limit time indicating an upper limit of a stay time in the arbitration area, The area management unit automatically sets the upper limit time for each of the one or more moving objects. 6. A traffic management device according to any one of claims 1 to 5. (Appendix 7) The computer managing area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; switching a selection of an allowed node to be permitted to enter the arbitration area among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied; For at least one of the one or more moving objects that enters through the selected permitted node, Allow entry from the authorized node outputting an entry instruction; and Run When there is a moving object waiting to enter the arbitration area from the permitted node and there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, the computer suspends switching of the selection of the permitted node even if the switching condition is satisfied. Traffic management methods. (Appendix 8) On the computer, managing area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; switching a selection of an allowed node to be permitted to enter the arbitration area among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied; For at least one of the one or more moving objects that enters through the selected permitted node, Allow entry from the authorized node outputting an entry instruction; and Run the command, when there is a moving object waiting to enter the arbitration area from the permitted node and there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, causing the computer to suspend switching of the selection of the permitted node even if the switching condition is satisfied; Traffic management programs. (Appendix 9) One or more moving objects each attempting to enter a predetermined arbitration area; an area management unit that manages area information including information on nodes adjacent to the arbitration area; A reception unit that receives an arbitration request for an entry instruction from the one or more moving objects; a selection unit that switches a selection of an allowed node that is permitted to enter the arbitration area among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied; For at least one of the moving objects that enters from the permitted node selected by the selection unit among the one or more moving objects, Allow entry from the authorized node A command unit that outputs an approach command; Equipped with the selection unit, when there is a moving object waiting to enter the arbitration area from the permitted node and there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, suspends switching of selection of the permitted node even if the switching condition is satisfied. Mobile systems. (Appendix 10) a mobile object control unit that controls the movement of one or more mobile objects each attempting to enter a preset arbitration area; an area management unit that manages area information including information on nodes adjacent to the arbitration area; A reception unit that receives an arbitration request for an entry instruction from the one or more moving objects; a selection unit that switches a selection of an allowed node that is permitted to enter the arbitration area among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied; For at least one of the moving objects that enters from the permitted node selected by the selection unit among the one or more moving objects, Allow entry from the authorized node A command unit that outputs an approach command; Equipped with the selection unit, when there is a moving object waiting to enter the arbitration area from the permitted node and there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, suspends switching of selection of the permitted node even if the switching condition is satisfied. Mobile control system. [Explanation of symbols]

[0076] REFERENCE SIGNS LIST 1 Mobile system, 2 Mobile body, 3 Facility, 4 Communication network, 5 Arbitration area, 6 Node, 7 Mobile body control system, 8 Mobile body control device, 9 Traffic management device, 10 Area management unit, 11 Mobile body management unit, 12 Reception unit, 13 Selection unit, 14 Command unit, 15 Notification unit, 100a Processor, 100b Memory, 200 Dedicated hardware

Claims

1. an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a selection unit that switches, when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied, a selection of an allowed node that is permitted to enter the arbitration area among adjacent nodes; a command unit that outputs an entry instruction to at least one of the moving objects that enters through the permission node selected by the selection unit among the one or more moving objects, to permit the moving object to enter through the permission node; Equipped with the selection unit, when there is a moving object waiting to enter the arbitration area from the permitted node and there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, suspends switching of selection of the permitted node even if the switching condition is satisfied; the area information includes an upper limit on the number of moving objects in the arbitration area that is set according to time, and information on the number of moving objects currently in the arbitration area; The area management unit manages the area information while updating it, the command unit outputs the entry instruction based on an upper limit number of vehicles in the arbitration area corresponding to a current time and the number of moving objects currently in the arbitration area. Traffic management device.

2. an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a selection unit that switches, when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied, a selection of an allowed node that is permitted to enter the arbitration area among adjacent nodes; a command unit that outputs an entry instruction to at least one of the moving objects that enters through the permission node selected by the selection unit among the one or more moving objects, to permit the moving object to enter through the permission node; a mobile entity management unit that manages, while updating, information on tasks executed by each of the one or more mobile entities; Equipped with the selection unit, when there is a moving object waiting to enter the arbitration area from the permitted node and there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, suspends switching of selection of the permitted node even if the switching condition is satisfied; the area information includes an upper limit number of moving objects for each task in the arbitration area, and information on the number of moving objects currently in the arbitration area for each task; The mobile object management unit manages the area information while updating it, the command unit outputs the entry instruction based on an upper limit number of the arbitration area for a task to be executed by a mobile object waiting to enter from the permitted node, and a number of mobile objects currently in the arbitration area executing the task. Traffic management device.

3. an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a selection unit that switches, when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied, a selection of an allowed node that is permitted to enter the arbitration area among adjacent nodes; a command unit that outputs an entry instruction to at least one of the moving objects that enters through the permission node selected by the selection unit among the one or more moving objects, to permit the moving object to enter through the permission node; a mobile entity management unit that manages, while updating, information on tasks executed by each of the one or more mobile entities; Equipped with the selection unit, when there is a moving object waiting to enter the arbitration area from the permitted node and there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, suspends switching of selection of the permitted node even if the switching condition is satisfied; the area information includes an upper limit number, which is an upper limit for a weighted number calculated by multiplying the weights set for each task, and information on the weighted number calculated for moving objects currently in the arbitration area; The mobile object management unit manages the area information while updating it, the command unit outputs the entry instruction based on an upper limit number according to a task of the arbitration area and the weighted number calculated for the moving objects currently in the arbitration area and the moving objects waiting to enter the arbitration area from the permitted node. Traffic management device.

4. an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a selection unit that switches, when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied, a selection of an allowed node that is permitted to enter the arbitration area among adjacent nodes; a command unit that outputs an entry instruction to at least one of the moving objects that enters through the permission node selected by the selection unit among the one or more moving objects, to permit the moving object to enter through the permission node; Equipped with the selection unit, when there is a moving object waiting to enter the arbitration area from the permitted node and there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, suspends switching of selection of the permitted node even if the switching condition is satisfied; the area information includes information on an upper limit time indicating an upper limit of a stay time of a mobile object in the arbitration area; The area management unit sets the upper limit time. Traffic management device.

5. The area management unit automatically sets the upper limit time for each of the one or more moving objects.

5. A traffic management device according to claim 4.

6. the selection unit switches selection of the permitted node even when the switching condition is not satisfied, in a case where there is a mobile object waiting to enter the arbitration area from another node adjacent to the arbitration area and there is no mobile object waiting to enter the permitted node. A traffic management device according to any one of claims 1 to 5.

7. A traffic management device according to any one of claims 1 to 5; one or more moving objects each attempting to enter the arbitration area; A mobile system comprising:

8. A traffic management device according to any one of claims 1 to 5; a moving object control unit that controls the movement of one or more moving objects each attempting to enter the arbitration area; A mobile control system comprising:

9. The computer managing area information including information on nodes adjacent to a preset arbitration area while updating the area information; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; switching a selection of an allowed node to be permitted to enter the arbitration area among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied; outputting an entry instruction to at least one of the one or more moving objects entering from the selected permission node, the entry instruction permitting the entry from the permission node; Run When there is a moving object waiting to enter the arbitration area from the permitted node, but there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, the computer reserves the right to suspend switching of the selection of the permitted node even if the switching condition is satisfied; the area information includes an upper limit on the number of moving objects in the arbitration area that is set according to time, and information on the number of moving objects currently in the arbitration area; the entry instruction is output based on an upper limit number of vehicles in the arbitration area corresponding to a current time and the number of moving objects currently in the arbitration area; Traffic management methods.

10. The computer managing area information including information on nodes adjacent to a preset arbitration area while updating the area information; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; managing, while updating, information on tasks executed by each of the one or more moving objects; switching a selection of an allowed node to be permitted to enter the arbitration area among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied; outputting an entry instruction to at least one of the one or more moving objects entering from the selected permission node, the entry instruction permitting the entry from the permission node; Run When there is a moving object waiting to enter the arbitration area from the permitted node, but there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, the computer reserves the right to suspend switching of the selection of the permitted node even if the switching condition is satisfied; the area information includes an upper limit number of moving objects for each task in the arbitration area, and information on the number of moving objects currently in the arbitration area for each task; the entry instruction is output based on an upper limit number of the arbitration area for a task to be executed by a mobile object waiting to enter from the permitted node, and the number of mobile objects currently in the arbitration area executing the task; Traffic management methods.

11. The computer managing area information including information on nodes adjacent to a preset arbitration area while updating the area information; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; managing, while updating, information on tasks executed by each of the one or more moving objects; switching a selection of an allowed node to be permitted to enter the arbitration area among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied; outputting an entry instruction to at least one of the one or more moving objects entering from the selected permission node, the entry instruction permitting the entry from the permission node; Run When there is a moving object waiting to enter the arbitration area from the permitted node, but there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, the computer reserves the right to suspend switching of the selection of the permitted node even if the switching condition is satisfied; the area information includes an upper limit number, which is an upper limit for a weighted number calculated by multiplying the weights set for each task, and information on the weighted number calculated for moving objects currently in the arbitration area; the entry instruction is output based on an upper limit number of vehicles according to a task of the arbitration area, and the weighted number of vehicles calculated based on the mobile objects currently in the arbitration area and the mobile objects waiting to enter the arbitration area from the permitted node; Traffic management methods.

12. The computer managing area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; switching a selection of an allowed node to be permitted to enter the arbitration area among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving objects is satisfied; outputting an entry instruction to at least one of the one or more moving objects entering from the selected permission node, the entry instruction permitting the entry from the permission node; Run When there is a moving object waiting to enter the arbitration area from the permitted node, but there is no moving object waiting to enter the arbitration area from another node adjacent to the arbitration area, the computer reserves the right to suspend switching of the selection of the permitted node even if the switching condition is satisfied; the area information includes information on an upper limit time indicating an upper limit of a stay time of a mobile object in the arbitration area; The upper limit time is set by the computer. Traffic management methods.

13. On the computer, Executing the traffic management method according to any one of claims 9 to 12, Traffic management programs.

Images