Travel plan creation method and travel plan creation system

Abstract

To provide a traveling plan creation method capable of preventing traveling from ending in failure due to depletion of energy for movement of a moving object.SOLUTION: A delivery plan creation method comprises: setting a point where a first moving body is located as a starting point (S201); setting a destination of the first moving body or a second moving body as an ending point (S202); based on the starting point, the ending point, and a position of the second moving body, determining a contact point where the first moving body and the second moving body are in contact with each other as a movement destination (S203); and creating a plan in which the first moving body is caused to travel from the starting point to the determined contact point, and the second moving body is caused to travel from the determined contact point to the ending point (S204).SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a driving plan creation method for creating a driving plan for a moving body. [Background technology]

[0002] Conventionally, in order to prevent an electric vehicle (EV) from running out of charge while delivering a delivery target, a technology has been disclosed in which a management center or the like extracts vehicles with enough charge remaining to reach the nearest charging station from the vehicle's current location via the boarding location and the destination, and notifies the extracted vehicle that is closest to the boarding location of delivery instructions (see, for example, Patent Document 1).

[0003] In addition, a technology has been disclosed in the past in which, when a delivery target is being delivered by an EV and the vehicle runs out of battery or is close to running out of battery, a server or the like obtains information indicating that a first vehicle is unable to drive or is likely to become unable to drive, sets a linkage point with a second vehicle between the current location of the first vehicle or the current location of the first vehicle and the destination, and instructs both vehicles to link up at the linkage point, in order to hand over the delivery to another vehicle (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-073979 A [Patent Document 2] Patent No. 6257318 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the configuration disclosed in Patent Document 1 has the problem that if the delivery distance is too long for a single vehicle to travel even when fully charged, the delivery cannot be completed.

[0006] In addition, in the configuration disclosed in Patent Document 2, when the first vehicle runs out of charge or is close to running out of charge, the coordination point is set to the current location of the first vehicle or between the current location of the first vehicle and the destination, and since the circumstances of the second vehicle are not taken into consideration, there is a problem that the second vehicle may not be able to reach the coordination point or the destination, or the second vehicle may travel inefficiently after coordination.

[0007] The present disclosure is intended to solve the above-mentioned conventional problems, and aims to provide a driving plan creation method, etc. that can prevent a driving plan from ending in failure due to a depletion of a moving body's energy for travel. [Means for solving the problem]

[0008] A driving plan creation method according to one aspect of the present disclosure is a driving plan creation method executed by a computer, which sets a point where a first moving body is located as a starting point, sets a destination of the first moving body or a second moving body as an end point, and determines a contact point where the first moving body and the second moving body come into contact as a destination based on the starting point, the end point, and the position of the second moving body, and creates a plan to have the first moving body travel from the starting point to the determined contact point, and the second moving body travel from the determined contact point to the end point. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide a driving plan creation method and the like that can prevent a driving plan from ending in failure due to a depletion of a moving body's energy for travel. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing the overall configuration of a delivery plan creating system in the first embodiment. [Figure 2A] FIG. 2A is a diagram for explaining an example of a delivery plan. [Figure 2B] FIG. 2B is a diagram for explaining another example of the delivery plan. [Diagram 3] FIG. 3 is a flowchart showing an example of a delivery plan creating method by the delivery plan creating system in the first embodiment. [Figure 4A] FIG. 4A is a diagram for explaining the flow until the execution of a delivery plan is completed. [Figure 4B] FIG. 4B is a diagram for explaining the flow until the execution of a delivery plan is completed. [Figure 4C] FIG. 4C is a diagram for explaining the flow until the execution of the delivery plan is completed. [Figure 4D] FIG. 4D is a diagram for explaining the flow until the execution of the delivery plan is completed. [Figure 4E] FIG. 4E is a diagram for explaining the flow until the execution of the delivery plan is completed. [Diagram 5] FIG. 5 is a flowchart showing an example of a delivery plan creating method by the delivery plan creating system in the modified example of the first embodiment. [Figure 6] FIG. 6 is a flowchart showing another example of the delivery plan creating method by the delivery plan creating system in the modification of the first embodiment. [Figure 7] FIG. 7 is a diagram showing the overall configuration of a delivery plan creating system in the second embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of a delivery plan creating method by the delivery plan creating system in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] A delivery plan creation method according to one aspect of the present disclosure is a delivery plan creation method executed by a computer, which sets a starting point as a point where delivery of a delivery object begins or a point where a first moving body delivering the delivery object is located, and sets an end point as a point where delivery of the delivery object ends or a point where delivery of the delivery object by a second moving body that takes over the delivery object from the first moving body ends, and determines a handover point where the delivery object will be handed over from the first moving body to the second moving body as a destination based on the starting point, the end point, the position of the first moving body, and the position of the second moving body, and creates a delivery plan in which the first moving body travels via the starting point to the determined handover point, and the second moving body travels via the determined handover point to the end point.

[0012] According to this configuration, even if the delivery distance is long enough that one moving body cannot travel (for example, if the moving body is a vehicle, it cannot travel) even if the energy of the moving body is full, the delivery target is handed over from the first moving body to the second moving body and delivered, so the delivery can be completed. In addition, the handover point at which the delivery target is handed over from the first moving body to the second moving body is determined based not only on the start point, end point, and position of the first moving body, but also on the position of the second moving body, and the circumstances of the second moving body are taken into consideration, so that it is possible to prevent the second moving body from being unable to reach the handover point or end point, or the second moving body from traveling inefficiently after the handover. Therefore, according to the present disclosure, it is possible to prevent the delivery of the delivery target from failing due to the depletion of the moving energy of the moving body.

[0013] In addition, in determining the destination in the above-mentioned delivery plan creation method, a first resupply point where the first moving body is replenished with energy may be determined as a further destination, and in creating the delivery plan, a delivery plan may be created in which the first moving body travels via the start point and the determined handover point in order to the determined first resupply point, and the second moving body travels via the determined handover point to the end point.

[0014] According to this configuration, a first resupply point where the first moving body's energy is replenished is determined as the destination, thereby preventing the first moving body from becoming unable to move due to running out of energy after the handover is completed.

[0015] Furthermore, in determining the destination in the above-mentioned delivery plan creation method, the handover point, the first supply point, and a second supply point where the second moving body is replenished with energy are determined as the destination based on the starting point, the end point, the position of the first moving body, and the position of the second moving body, and in creating the delivery plan, a delivery plan may be created in which the first moving body travels in order via the starting point and the determined handover point to the determined first supply point, and the second moving body travels in order via the determined handover point and the end point to the determined second supply point.

[0016] According to this configuration, a second supply point where the second moving body's energy is replenished is also determined as the destination, thereby preventing the second moving body from becoming unable to move due to running out of energy after completing delivery of the delivery target.

[0017] In addition, in the above-mentioned delivery plan creation method, a change in remaining energy when the second moving body travels to the end point may be estimated, and in determining the destination, the destination may be determined based on the estimated change in remaining energy.

[0018] According to this configuration, the delivery target can be handed over to another moving body and the delivery can be completed efficiently in terms of energy consumption.

[0019] In addition, in determining the destination in the above-mentioned delivery plan creation method, the destination may be determined so that the remaining energy amount of the second moving body at the time when execution of the created delivery plan is completed, obtained from the trend of the estimated remaining energy amount, does not become equal to or less than a predetermined threshold value.

[0020] According to this configuration, it is possible to prevent energy depletion while handing over the delivery target to another moving body and completing the delivery.

[0021] In addition, in determining the destination in the above-mentioned delivery plan creation method, the destination may be determined based on one or more of the remaining energy amounts of the second moving body at the time when the second moving body arrives at the end point and each of the candidate destination points, which are obtained from the transition of the estimated remaining energy amount.

[0022] According to this configuration, it is possible to efficiently consume energy while handing over the delivery target to another moving body to complete the delivery. Also, it is possible to more reliably prevent the second moving body from running out of energy. In other words, it is more likely that the delivery of the delivery target will end in failure due to the running out of the moving energy of the moving body.

[0023] In addition, in the above-mentioned delivery plan creation method, a travel distance when the second moving body travels to the end point may be obtained, and in determining the destination, the destination may be determined based on the obtained travel distance.

[0024] According to this configuration, the delivery target can be handed over to another moving body to complete the delivery efficiently in terms of the travel distance. In other words, the travel distance can be reduced while preventing the delivery of the delivery target from ending in failure.

[0025] In addition, in the above-mentioned delivery plan creation method, a required time for the second moving body to travel to the end point may be estimated, and in determining the destination, the destination may be determined based on the estimated required time.

[0026] According to this configuration, the delivery target can be handed over to another moving body to complete the delivery efficiently in terms of the required time. In other words, the required time can be reduced while preventing the delivery of the delivery target from ending in failure.

[0027] In addition, in determining the destination in the above-mentioned delivery plan creation method, the position of each moving body in a group of moving bodies may be obtained, and the first moving body and the second moving body may be selected from the group of moving bodies based on the start point, the end point, and the obtained positions of each moving body.

[0028] According to this configuration, it is possible to select the first moving body and the second moving body whose energy for travel is unlikely to run out from the group of moving bodies, which makes it easier to prevent delivery of the delivery target from failing due to the running out of energy for travel of the moving body.

[0029] Furthermore, a delivery plan creation system according to one aspect of the present disclosure includes a start point determination unit that sets as a start point a point where delivery of a delivery object starts or a point where a first moving object delivering the delivery object is located; an end point determination unit that sets as an end point a point where delivery of the delivery object ends or a point where delivery of the delivery object by a second moving object that takes over the delivery object from the first moving object ends; a destination determination unit that determines a transfer point where the delivery object will be transferred from the first moving object to the second moving object as a destination based on the start point, the end point, the position of the first moving object, and the position of the second moving object; and a plan creation unit that creates a delivery plan to have the first moving object travel via the start point to the transfer point determined by the destination determination unit, and to have the second moving object travel via the transfer point determined by the destination determination unit to the end point.

[0030] This makes it possible to provide a delivery plan creation system that can prevent delivery of a delivery target from ending in failure due to depletion of the moving body's energy for travel.

[0031] In addition, each of the embodiments described below shows a specific example of the present disclosure. The numerical values, shapes, components, steps, and order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure. In addition, among the components in the following embodiments, components that are not described in an independent claim showing a top concept are described as optional components. In addition, in all of the embodiments, the respective contents can be combined.

[0032] (Embodiment 1) The overall configuration of the delivery plan creation system according to the first embodiment of the present disclosure and a delivery plan creation method by the delivery plan creation system will be described in detail below.

[0033] FIG. 1 is a diagram showing the overall configuration of a delivery schedule creation system 1 according to the first embodiment.

[0034] As shown in FIG. 1, the delivery plan creation system 1 includes a start point determination unit 101, an end point determination unit 102, a destination determination unit 104, and a plan creation unit 105.

[0035] The delivery plan creation system 1 is a delivery plan creation system that creates a delivery plan for handing over a delivery target from a first moving body to a second moving body and delivering the delivery target from a start point to an end point. In other words, according to the delivery plan created by the delivery plan creation system 1, even in the case of a long distance where one moving body cannot travel even if its energy is full, the delivery target is handed over from the first moving body to the second moving body and delivered, so that the delivery can be completed. In particular, since the first moving body and the second moving body cooperate to perform delivery, no time is required to replenish energy during the delivery of the delivery target, and delivery can be performed efficiently.

[0036] Note that a moving object is, for example, a vehicle, but this is just one example and may also be a drone, an aircraft, a ship, etc.

[0037] Note that the delivery target may be, for example, luggage or passengers, but these are merely examples and do not limit the present disclosure.

[0038] The start point determination unit 101 sets the point where delivery of the delivery object starts or the point where the first moving object is located while delivering the delivery object as the start point (i.e., determines the start point). If the start point is the point where delivery of the delivery object starts, the delivery plan will be created before delivery of the delivery object starts. If the start point is the point where the first moving object is located while delivering the delivery object, the delivery plan will be created while the first moving object is delivering the delivery object.

[0039] The end point determination unit 102 sets as the end point (i.e., determines as the end point) the point where delivery of the delivery object ends or the point where delivery of the delivery object by a second mobile object that takes over the delivery object from the first mobile object ends.

[0040] Based on the start point, end point, position of the first moving body, and position of the second moving body, the destination determination unit 104 determines as the destination a handover point where the delivery target is handed over from the first moving body to the second moving body, and a first supply point where the first moving body is replenished with energy.

[0041] The destination determination unit 104 may further determine, as a destination, a second recharge point where the second moving body is recharged with energy, based on the start point, the end point, the position of the first moving body, and the position of the second moving body. Note that the destination determination unit 104 determining the second recharge point as a destination is just an example, and the second recharge point does not have to be determined as a destination.

[0042] The plan creation unit 105 creates a delivery plan in which the first moving body travels to the first resupply point determined by the destination determination unit 104 via the start point and the handover point determined by the destination determination unit 104 in order, and the second moving body travels to the end point via the handover point determined by the destination determination unit 104. For example, the delivery plan includes a schedule indicating when and to which point the first moving body and the second moving body should arrive. By executing this delivery plan, the first moving body travels to the start point, starts delivery of the delivery target at the start point, and then travels to the handover point. On the other hand, the second moving body travels to arrive at the handover point at the time indicated by the schedule included in the delivery plan. At the handover point, the delivery target is handed over from the first moving body to the second moving body. After the handover of the delivery target is completed, the first moving body travels to the first resupply point and replenishes energy. On the other hand, the second moving body travels to the end point and ends delivery of the delivery target at the end point.

[0043] In addition, when the destination determination unit 104 also determines the second resupply point as a destination, the plan creation unit 105 creates a delivery plan to make the first moving body travel to the first resupply point determined by the destination determination unit 104, passing in order through the start point and the handover point determined by the destination determination unit 104, and to make the second moving body travel to the second resupply point determined by the destination determination unit 104, passing in order through the handover point determined by the destination determination unit 104 and the end point. By executing this delivery plan, after the delivery of the delivery target is completed at the end point, the second moving body travels to the second resupply point and resupplies energy.

[0044] The start of delivery of a delivery object refers to, for example, when the delivery object is a parcel and the first and second moving objects are trailers, coupling of a towed vehicle by the first moving object; when the delivery object is a parcel and the first and second moving objects are trucks, loading of the parcel onto the first moving object; when the delivery object is a passenger, having the passenger board the first moving object, etc., but these are merely examples and are not intended to limit this disclosure.

[0045] The handover of a delivery object refers to, for example, when the delivery object is a parcel and the first and second mobile objects are trailers, the re-attachment of the towed vehicle from the first mobile object to the second mobile object; when the delivery object is a parcel and the first and second mobile objects are trucks, the transfer of the parcel from the first mobile object to the second mobile object; and when the delivery object is a passenger, the transfer of the passenger from the first mobile object to the second mobile object. However, these are merely examples and do not limit the present disclosure.

[0046] The end of delivery of a delivery object refers to, for example, when the delivery object is a parcel and the first and second moving objects are trailers, the detachment of the towed vehicle by the second moving object; when the delivery object is a parcel and the first and second moving objects are trucks, the unloading of the parcel from the second moving object; and when the delivery object is a passenger, the passenger disembarking from the second moving object, but these are merely examples and are not intended to limit the present disclosure.

[0047] Supplying energy means, for example, if the mobile body is an EV, charging the EV or replacing or adding a battery; if the mobile body is a gasoline vehicle, refueling the gasoline vehicle or replacing or adding a gasoline tank; and if the mobile body is a fuel cell vehicle, filling the fuel cell vehicle with hydrogen or replacing or adding a hydrogen tank, but these are merely examples and do not limit the present disclosure.

[0048] In addition, when the first moving body has already passed the starting point, that is, when the first moving body is already delivering a delivery item, the plan creation unit 105 creates a delivery plan to have the first moving body travel via the current position of the first moving body as the starting point and the handover point determined by the destination determination unit 104 (specifically, from the current position of the first moving body via the handover point) to the first supply point determined by the destination determination unit 104, and to have the second moving body travel via the handover point determined by the destination determination unit 104 to the end point.

[0049] In addition, when the destination determination unit 104 also determines the second supply point as a destination, if the first moving body has already passed the starting point, the plan creation unit 105 creates a delivery plan to have the first moving body travel to the first supply point determined by the destination determination unit 104 via the current position of the first moving body as the starting point and the handover point determined by the destination determination unit 104, and to have the second moving body travel to the second supply point determined by the destination determination unit 104 via the handover point determined by the destination determination unit 104 and the end point in that order.

[0050] Furthermore, the handover point may be, for example, any point on a road, a logistics base, or a parking lot, but these are merely examples and do not limit the present disclosure.

[0051] In addition, the first and second refueling points may be, for example, a charging station, a gas station, a hydrogen station, a charging port, a logistics center with gasoline or hydrogen, or any point where charging equipment, gasoline or hydrogen can be brought in, but these are merely examples and do not limit the present disclosure.

[0052] In addition, some or all of the start point, end point, handover point, first supply point, second supply point, the position of the first moving body, and the position of the second moving body may be the same point.

[0053] Next, an example of a delivery plan will be described with reference to Figures 2A and 2B. Note that, here, a case will be described in which a delivery plan is created before delivery of a delivery target is started.

[0054] Fig. 2A is a diagram for explaining an example of a delivery plan. Fig. 2A shows a schematic flow when a delivery target is handed over from vehicle A to vehicle B to complete the delivery.

[0055] In the relationship between vehicle A and vehicle B, vehicle A is the first moving body that starts delivery of the delivery target at the start point, and vehicle B is the second moving body that takes over the delivery target from vehicle A and completes delivery at the end point. Vehicle A starts delivery of the delivery target at the start point based on a delivery plan, and takes over the delivery target at the handover point. Vehicle A then heads to the first supply point. Vehicle B takes over the delivery target at the handover point based on the delivery plan, and completes delivery of the delivery target at the end point. Vehicle B then heads to the second supply point.

[0056] It should be noted that the delivery does not have to be performed by only two moving objects as shown in FIG. 2A, but may be performed by three or more moving objects.

[0057] Fig. 2B is a diagram for explaining another example of a delivery plan. Fig. 2B shows an example of delivery performed by three or more moving bodies, specifically, it shows a schematic flow when a delivery target is handed over from vehicle A to vehicle B, and further handed over from vehicle B to vehicle C to complete the delivery.

[0058] In the relationship between vehicle A and vehicle B, vehicle A is the first moving body that starts delivery of the delivery target at the starting point, and vehicle B is the second moving body that takes over the delivery target from vehicle A and ends the delivery at the ending point. In this case, the ending point for vehicle B is the handover point of the delivery target to vehicle C.

[0059] In the relationship between vehicle B and vehicle C, vehicle B is the first moving body that starts delivery of the delivery target at the starting point, and vehicle C is the second moving body that takes over the delivery target from vehicle B and ends the delivery at the ending point. In this case, the starting point for vehicle B is the handover point where vehicle B takes over the delivery target from vehicle A.

[0060] In this way, when delivery is performed by three or more mobile objects, the start point or the end point can be the handover point. In the example of Fig. 2B, the handover point in the relationship between vehicle A and vehicle B is the start point in the relationship between vehicle B and vehicle C, and the end point in the relationship between vehicle A and vehicle B is the handover point in the relationship between vehicle B and vehicle C.

[0061] Next, the operation of the delivery plan creation system 1, that is, the details of the delivery plan creation method executed by the delivery plan creation system 1 will be described with reference to Fig. 3 and Fig. 4A to Fig. 4E. Note that since the delivery plan creation system 1 is realized by, for example, a computer, the delivery plan creation method can be said to be a method executed by a computer.

[0062] Fig. 3 is a flowchart showing an example of a delivery plan creating method by the delivery plan creating system 1 in embodiment 1. Fig. 4A to Fig. 4E are diagrams for explaining the flow until the execution of a delivery plan is completed.

[0063] The starting point determination unit 101 determines a starting point (step S201). For example, the starting point is determined as shown in FIG 4A.

[0064] A specific means for the start point determination unit 101 to determine the start point is, for example, a means in which the start point determination unit 101 has a touch panel and accepts a user's input of the start point. In this case, for example, the start point determination unit 101 may display a map on a touch panel and input the start point by touching the start point on the map. For example, the start point determination unit 101 may set the start point to a point where the delivery of the delivery object touched on the map starts or a point where a first moving body delivering the delivery object is located. In addition, for example, the start point determination unit 101 may have a communication means and determine the start point from an external system via communication. For example, the start point determination unit 101 may set the start point to a point where the delivery of the delivery object received from the external system starts or a point where a first moving body delivering the delivery object is located. Note that these are merely examples and do not limit the present disclosure.

[0065] The end point determination unit 102 determines the end point (step S202). For example, the end point is determined as shown in FIG. 4A.

[0066] A specific means for the end point determination unit 102 to determine the end point is, for example, a means in which the end point determination unit 102 is provided with a touch panel and accepts an input of the end point by a user. In this case, for example, the end point determination unit 102 may display a map on a touch panel and input the end point by touching the end point on the map. For example, the end point determination unit 102 may set the end point to a point where the delivery of the delivery object touched on the map ends or a point where the delivery of the delivery object by the second moving object that takes over the delivery object from the first moving object ends. In addition, for example, the end point determination unit 102 may be provided with a communication means and acquire the end point from an external system via the communication means. For example, the end point determination unit 102 may set the end point to a point where the delivery of the delivery object received from the external system ends or a point where the delivery of the delivery object by the second moving object that takes over the delivery object from the first moving object ends. Note that these are merely examples and do not limit the present disclosure.

[0067] 3 is a flowchart in which step S201 and step S202 are executed sequentially in this order, but step S201 and step S202 do not necessarily have to be executed sequentially in this order, and each may be executed any number of times at any time before execution of step S203. Also, for example, each may be executed for the first time when it becomes necessary to execute step S203, which is triggered by that, or may be executed in advance before execution of step S203. When executed in advance before execution of step S203, it may be executed periodically or may be executed by some other trigger. Note that these are merely examples and do not limit the present disclosure.

[0068] For example, as shown in FIG. 4A, the start point, the end point, the position of the first moving body 10, and the position of the second moving body 20 are acquired.

[0069] The destination determination unit 104 determines, based on the start point, the end point, the position of the first moving body, and the position of the second moving body, a handover point where the delivery target is handed over from the first moving body to the second moving body, and a first supply point where the first moving body is replenished with energy, as the destination (step S203). Note that the destination determination unit 104 may further determine, as the destination, a second supply point where the second moving body is replenished with energy.

[0070] For example, the destination determination unit 104 acquires the position of the first moving body and the position of the second moving body, and determines the destination using the acquired positions of the first moving body and the second moving body. For example, the position of the first moving body 10 (first departure point) and the position of the second moving body 20 (second departure point) as shown in FIG. 4A are acquired. Specific means by which the destination determination unit 104 acquires the positions of the first moving body and the second moving body include the following means. For example, the destination determination unit 104 includes a communication means, and the first moving body and the second moving body each include a GPS (Global Positioning System) receiver and a communication means. The first moving body and the second moving body each receive their current positions using a GPS receiver, and transmit the received current positions to the destination determination unit 104 using the communication means. The destination determination unit 104 receives the current positions of the first moving body and the second moving body transmitted from the first moving body and the second moving body as the position of the first moving body and the position of the second moving body using the communication means. In this way, the destination determination unit 104 acquires the positions of the first moving body and the second moving body. For example, the position of the first moving body and the position of the second moving body are expressed by latitude and longitude. In addition, when the delivery plan creation system 1 is mounted on the first moving body or the second moving body, the destination determination unit 104 may acquire the current position received using a GPS receiver as the position of the first moving body and the position of the second moving body without using a communication means. Note that these are merely examples and do not limit the present disclosure.

[0071] In addition, a specific means for the destination determination unit 104 to determine the handover point as the destination is, for example, a means for determining a point on a road, a logistics center, or a parking lot, etc., that is closest to the midpoint between the start point and the end point, as a candidate for the handover point. However, in the present disclosure, the destination is determined based not only on the start point and the end point, but also on the position of the first moving body and the position of the second moving body. Therefore, in order to take the position of the first moving body and the position of the second moving body into consideration in determining the destination, for example, the destination determination unit 104 calculates the difference between the distance from the position of the first moving body to the start point and the distance from the position of the second moving body to the candidate for the handover point (the midpoint between the start point and the end point). For example, when the distance from the position of the first moving body to the start point is greater than the distance from the position of the second moving body to the midpoint, the destination determination unit 104 may determine, as the handover point, a point on a road, a logistics center, or a parking lot, etc., that is closest to the midpoint by half the difference from the midpoint. Also, for example, when the distance from the position of the first moving body to the start point is smaller than the distance from the position of the second moving body to the midpoint, the destination determination unit 104 may determine, as the handover point, a point on the road, a logistics base, or a parking lot that is closest to the end point from the midpoint by half the difference. In this manner, in the present disclosure, the handover point is determined taking into consideration the circumstances of the second moving body. Also, as a specific means for the destination determination unit 104 to determine the first supply point and the second supply point as the destination, for example, there is a means for determining the supply possible point closest to the determined handover point as the first supply point, and determining the supply possible point closest to the end point as a candidate for the second supply point. Note that these are merely examples and do not limit the present disclosure.

[0072] For example, as shown in FIG. 4B, a handover point, a first supply point, and a second supply point are determined as destinations.

[0073] Next, the plan creation unit 105 creates a delivery plan in which the first moving body travels to the first supply point determined by the destination determination unit 104 via the start point and the handover point determined by the destination determination unit 104 in that order, and the second moving body travels to the end point via the handover point determined by the destination determination unit 104. Note that, when the destination determination unit 104 also determines the second supply point as a destination, the plan creation unit 105 creates a delivery plan in which the first moving body travels to the first supply point determined by the destination determination unit 104 via the start point and the handover point determined by the destination determination unit 104 in that order, and the second moving body travels to the second supply point determined by the destination determination unit 104 via the handover point determined by the destination determination unit 104 and the end point in that order (step S204).

[0074] Specific means for the plan creation unit 105 to create a delivery plan include, for example, applying a known solution to a combinatorial optimization problem such as a delivery route problem (Vehicle Routing Problem, VRP) or a traveling salesman problem (Traveling Salesman Problem, TSP). Note that these are merely examples and do not limit the present disclosure.

[0075] Then, the first moving body and the second moving body travel based on the created delivery plan. Specifically, as shown in FIG. 4B, the first moving body 10 heads toward the starting point, and the second moving body 20 travels according to the delivery plan that incorporates the handover of the delivery target. For example, the second moving body 20 performs other deliveries until the time when it must arrive at the handover point specified in the delivery plan, but at that time, it performs deliveries as close to the handover point as possible and does not perform deliveries that are far away from the handover point. This makes it possible to suppress the consumption of energy when heading toward the handover point, and to suppress the depletion of the moving energy of the moving body. In other words, the handover of the delivery target can be performed more reliably.

[0076] Since the first moving body 10 and the second moving body 20 travel according to a delivery plan that incorporates the handover of the delivery target, the handover of the delivery target from the first moving body 10 to the second moving body 20 can be more reliably carried out at the handover point, as shown in Fig. 4C. In particular, since the second moving body 20 was not far from the handover point according to the delivery plan that incorporated the handover of the delivery target, it can reliably head to the handover point.

[0077] 4D, after the first moving body 10 has completed the handover of the delivery target, it heads toward the first resupply point. The second moving body 20 heads toward the end point, and the delivery is completed.

[0078] Then, as shown in FIG. 4E, the first moving object 10 replenishes supplies at the first replenishment point, and the second moving object 20 replenishes supplies at the second replenishment point, completing the execution of the delivery plan.

[0079] The plan creation unit 105 may create a delivery plan for the first moving object and the second moving object to pass through a point other than the destination determined by the destination determination unit 104, as necessary.

[0080] Although FIG. 3 shows a flowchart in which step S203 and step S204 are executed sequentially in this order, step S203 and step S204 do not necessarily have to be executed sequentially in this order.

[0081] For example, steps S203 and S204 may be repeatedly executed until a certain standard is satisfied. In this case, for example, an evaluation function for evaluating the delivery plan created in step S204 is determined in advance, and if the evaluation value when the delivery plan created in step S204 is evaluated by the evaluation function is lower than a predetermined threshold value, the destination determination unit 104 may execute step S203 again to determine the destination again, and the plan creation unit 105 may execute step S204 again using the re-determined destination to create a delivery plan again.

[0082] Also, for example, the process of step S203 and the process of step S204 may be executed integrally. In this case, for example, the plan creation unit 105 may call the destination determination process of step S203 in the delivery plan creation process of step S204, or may divide the processes of step S203 and step S204 into several parts and call each other for each division unit.

[0083] Note that these specific examples regarding the execution order of steps S203 and S204 are merely examples and do not limit the present disclosure.

[0084] In addition, each process in the delivery plan creation method may be started at any time during the operation of the first moving body and the second moving body. For example, before the departure of the first moving body and the second moving body, the delivery plan creation system 1 may complete the execution of each process in the delivery plan creation method, determine a delivery plan including the handover of the delivery target in advance, and then have the first moving body and the second moving body execute this delivery plan. In addition, while the first moving body and the second moving body are executing a delivery plan that does not take into account the handover of the delivery target, or while they are running without using a delivery plan, the delivery plan creation system 1 may start the execution of each process in the delivery plan creation method and have the first moving body and the second moving body execute the created delivery plan including the handover of the delivery target. In this case, the fact that the remaining energy of the first moving body is equal to or less than a predetermined threshold may be used as a trigger for starting the execution of each process in the delivery plan creation method.

[0085] Note that these specific examples regarding the execution timing of each process in the delivery plan creation method are merely examples and do not limit the present disclosure.

[0086] Thus, in the first embodiment, even if the delivery distance is long enough that one moving body cannot travel even if its energy is full, the delivery target is handed over from the first moving body to the second moving body and delivered, so that the delivery can be completed. In addition, the handover point at which the delivery target is handed over from the first moving body to the second moving body is determined based not only on the start point, end point, and position of the first moving body, but also on the position of the second moving body, and the circumstances of the second moving body are taken into consideration, so that it is possible to prevent the second moving body from being unable to reach the handover point or end point, or the second moving body from traveling inefficiently after the handover. Therefore, according to the present disclosure, it is possible to prevent the delivery of the delivery target from failing due to the depletion of the moving energy of the moving body. In addition, since the first resupply point where the energy of the first moving body is replenished is determined as the destination, it is possible to prevent the first moving body from being unable to travel due to lack of energy after the handover is completed.

[0087] In addition, when the destination determination unit 104 also determines the second supply point as the destination, the delivery target is handed over from the first moving body to the second moving body, and the second moving body can be prevented from becoming unable to move due to running out of energy after the delivery of the target is completed.

[0088] (Modification of the first embodiment) The first moving object and the second moving object do not have to be predetermined specific moving objects, and may be moving objects selected from a group of moving objects. For example, the destination determination unit 104 may acquire the position of each moving object in the group of moving objects, and select the first moving object and the second moving object from the group of moving objects based on the start point, the end point, and the acquired position of each moving object.

[0089] Specifically, the delivery plan creation system in the modified example of the first embodiment is a delivery plan creation system that selects a first moving body and a second moving body from a group of moving bodies, transfers a delivery target from the selected first moving body to the selected second moving body, and creates a delivery plan for delivering the delivery target from a start point to an end point. Each moving body in the group of moving bodies is a moving body used for delivery or the like in the delivery plan created by the delivery plan creation system 1, and is, for example, a moving body that is registered in advance for the operation of the delivery plan creation system 1. The operation of the delivery plan creation system in the modified example of the first embodiment, i.e., the details of the delivery plan creation method executed by the delivery plan creation system, will be described with reference to Figs. 5 and 6.

[0090] First, an example of a delivery plan creating method by the delivery plan creating system in the modified example of the first embodiment will be described with reference to FIG.

[0091] 5 is a flowchart showing an example of a delivery plan creating method by the delivery plan creating system in the modified embodiment of embodiment 1. Note that steps S201, S202, S203, and S204 are the same as those in the delivery plan creating method by the delivery plan creating system 1 in embodiment 1, so their explanations are omitted, and only steps S205 and S206, which are different, are explained.

[0092] The destination determining unit 104 acquires the position of each moving object in the group of moving objects (step S205).

[0093] Specific means for the destination determination unit 104 to acquire the position of each moving body of the moving body group include the following means. For example, the destination determination unit 104 includes a communication means, and each moving body of the moving body group includes a GPS receiver and a communication means. Each moving body of the moving body group receives its current position using a GPS receiver, and transmits the received current position to the destination determination unit 104 using the communication means. The destination determination unit 104 may receive the current position of each moving body transmitted from each moving body of the moving body group as the position of each moving body of the moving body group using the communication means. In this way, the destination determination unit 104 acquires the position of each moving body of the moving body group. For example, the position of each moving body of the moving body group is expressed by latitude and longitude. In addition, when the delivery plan creation system in the modified example of the first embodiment is mounted on each moving body of the moving body group, the destination determination unit 104 may acquire the current position received using a GPS receiver as the position of each moving body of the moving body group without going through the communication means. Note that these are merely examples, and do not limit the present disclosure.

[0094] Furthermore, the destination determination unit 104 selects a first moving object and a second moving object from the group of moving objects based on the start point, the end point, and the acquired positions of each moving object (step S206).

[0095] A specific means by which the destination determination unit 104 selects a first moving object from the group of moving objects is, for example, to select a moving object located closest to the starting point from the group of moving objects as the first moving object. Also, a specific means by which the destination determination unit 104 selects a second moving object from the group of moving objects is to select a moving object located closest to a candidate handover point (for example, the midpoint between the starting point and the ending point) from the group of moving objects as the second moving object. Note that these are merely examples and do not limit the present disclosure.

[0096] Then, the destination determination unit 104 determines the destination based on the start point, the end point, and the position of the first moving object and the position of the second moving object selected in this manner (step S203).

[0097] Next, another example of a delivery plan creating method by the delivery plan creating system in the modified example of the first embodiment will be described with reference to FIG.

[0098] 6 is a flowchart showing another example of the delivery plan creating method by the delivery plan creating system in the modified example of embodiment 1. Note that steps S201, S202, S204, and S205 are the same as those in the delivery plan creating method by the delivery plan creating system in the modified example of embodiment 1, so their explanations are omitted, and only step S207, which is different, is explained.

[0099] The destination determination unit 104 selects a first moving body and a second moving body from the group of moving bodies based on the start point, the end point, and the acquired positions of each moving body, and determines the destination (step S207). In the example of FIG. 5, the destination determination unit 104 determines the destination after selecting the first moving body and the second moving body from the group of moving bodies, but this is not limited to the above. For example, the destination determination unit 104 may simultaneously select the first moving body and the second moving body and determine the destination. Also, for example, the destination determination unit 104 may repeatedly select the first moving body and the second moving body and determine the destination, thereby optimizing the destination that is finally determined.

[0100] Also, in the modified example of the first embodiment, each process in the delivery plan creation method may be started at any time during the operation of each moving object of the moving object group. For example, before the departure of each moving object of the moving object group, the delivery plan creation system in the modified example of the first embodiment may complete the execution of each process in the delivery plan creation method, determine a delivery plan including a handover of the delivery object in advance, and then cause the selected first moving object and second moving object to execute this delivery plan. Also, while each moving object of the moving object group is executing a delivery plan that does not take handover into consideration, or while running without using a delivery plan, the delivery plan creation system in the modified example of the first embodiment may start the execution of each process in the delivery plan creation method and cause the selected first moving object and second moving object to execute the created delivery plan including the handover of the delivery object. For example, the remaining energy of the first moving object may be equal to or less than a predetermined threshold value as a trigger for starting the execution of each process in the delivery plan creation method. For example, when the first moving object is already delivering the delivery object, the destination determination unit 104 selects the second moving object from the moving object group.

[0101] As described above, in the modification of the first embodiment, it is possible to select the first moving body and the second moving body whose energy for travel is unlikely to be depleted from the group of moving bodies. This makes it easier to prevent delivery of the delivery target from failing due to depletion of the moving body's energy for travel.

[0102] (Embodiment 2) The entire configuration of the delivery plan creation system according to the second embodiment of the present disclosure and a delivery plan creation method by the delivery plan creation system will be described in detail below.

[0103] Fig. 7 is a diagram showing the overall configuration of a delivery schedule creation system 3 in embodiment 2. Among the components of the delivery schedule creation system 3 in embodiment 2, components having the same functions as those in embodiment 1 are given the same reference numerals and will not be described.

[0104] 7, the delivery plan creation system 3 includes a start point determination unit 101, an end point determination unit 102, a destination determination unit 304, a plan creation unit 105, a travel distance acquisition unit 306, a required time estimation unit 307, and a remaining energy level transition estimation unit 308. The destination determination unit 304 basically has the same functions as the destination determination unit 104 in the first embodiment or the modified example of the first embodiment.

[0105] Like delivery plan creation system 1, delivery plan creation system 3 is a delivery plan creation system that transfers a delivery object from a first moving body to a second moving body and creates a delivery plan for delivering the delivery object from a start point to an end point.

[0106] The travel distance acquisition unit 306 acquires the travel distance when the second moving body travels to the end point. For example, the travel distance acquisition unit 306 acquires the travel distance of an arbitrary section when the second moving body travels to the end point. For example, the travel distance acquisition unit 306 acquires the travel distance when the second moving body travels from the starting point to the transfer point and the travel distance when it travels from the transfer point to the end point as the travel distance of the arbitrary section. In addition, when the destination determination unit 304 determines the second supply point as the destination, the travel distance acquisition unit 306 acquires the travel distance when the second moving body travels to the second supply point. For example, the travel distance acquisition unit 306 acquires the travel distance of an arbitrary section when the second moving body travels to the second supply point. For example, the travel distance acquisition unit 306 acquires not only the travel distance when the second moving body travels from the starting point to the transfer point and the travel distance when it travels from the transfer point to the end point as the travel distance of the arbitrary section, but also the travel distance when it travels from the end point to the second supply point. Furthermore, the travel distance acquisition unit 306 may acquire a travel distance when the first moving body travels to the first resupply point. For example, the travel distance acquisition unit 306 may acquire a travel distance of an arbitrary section when the first moving body travels to the first resupply point. For example, the travel distance acquisition unit 306 may acquire a travel distance when the first moving body travels from the departure point to the start point, a travel distance when the first moving body travels from the start point to the handover point, and a travel distance when the first moving body travels from the handover point to the first resupply point as the travel distance of the arbitrary section.

[0107] The required time estimation unit 307 estimates the time required for the second moving body to travel to the end point. For example, the required time estimation unit 307 estimates the required time for an arbitrary section when the second moving body travels to the end point. For example, the required time estimation unit 307 estimates the required time for the second moving body to travel from the starting point to the handover point and the required time for travel from the handover point to the end point as the required time for the arbitrary section. Note that, when the destination determination unit 304 also determines the second supply point as the destination, the required time estimation unit 307 estimates the required time for the second moving body to travel to the second supply point. For example, the required time estimation unit 307 estimates the required time for an arbitrary section when the second moving body travels to the second supply point. For example, the required time estimation unit 307 estimates not only the required time for the second moving body to travel from the starting point to the transfer point and the required time for travel from the transfer point to the end point as the required time for the arbitrary section, but also the required time for travel from the end point to the second supply point. The required time estimation unit 307 may also estimate the required time for the first moving body to travel to the first supply point. For example, the required time estimation unit 307 may estimate the required time for the arbitrary section when the first moving body travels to the first supply point. For example, the required time estimation unit 307 may estimate the required time for the first moving body to travel from the starting point to the starting point, the required time for travel from the starting point to the transfer point, and the required time for travel from the transfer point to the first supply point as the required time for the arbitrary section.

[0108] The remaining energy amount transition estimation unit 308 estimates the transition of the remaining energy amount when the second moving body travels to the end point. For example, the remaining energy amount transition estimation unit 308 estimates the transition of the remaining energy amount in an arbitrary section when the second moving body travels to the end point. For example, the remaining energy amount transition estimation unit 308 estimates the transition of the remaining energy amount when the second moving body travels from the starting point to the handover point and the transition of the remaining energy amount when the second moving body travels from the handover point to the end point as the transition of the remaining energy amount in the arbitrary section. Note that, when the destination determination unit 304 also determines the second supply point as the destination, the remaining energy amount transition estimation unit 308 estimates the transition of the remaining energy amount when the second moving body travels to the second supply point. For example, the remaining energy amount transition estimation unit 308 estimates the transition of the remaining energy amount in an arbitrary section when the second moving body travels to the second supply point. For example, the remaining energy amount transition estimation unit 308 estimates not only the transition of the remaining energy amount when the second moving body travels from the starting point to the handover point and the transition of the remaining energy amount when the second moving body travels from the handover point to the end point as the transition of the remaining energy amount in the arbitrary section, but also the transition of the remaining energy amount when the second moving body travels from the end point to the second supply point. The remaining energy amount transition estimation unit 308 may also estimate the transition of the remaining energy amount when the first moving body travels to the first supply point. For example, the remaining energy amount transition estimation unit 308 may estimate the transition of the remaining energy amount in the arbitrary section when the first moving body travels to the first supply point. For example, the remaining energy amount transition estimation unit 308 may estimate the transition of the remaining energy amount when the first moving body travels from the starting point to the starting point, the transition of the remaining energy amount when the first moving body travels from the starting point to the handover point, and the transition of the remaining energy amount when the first moving body travels from the handover point to the first supply point as the transition of the remaining energy amount in the arbitrary section.

[0109] The delivery plan creation system 3 may be configured without including one or more of the travel distance acquisition unit 306, the required time estimation unit 307, and the remaining energy level transition estimation unit 308.

[0110] The destination determination unit 304 determines, as the destination, a handover point where the delivery target is handed over from the first moving body to the second moving body and a first supply point where the first moving body is replenished with energy, based on the start point, the end point, the position of the first moving body and the position of the second moving body, the traveling distance acquired by the traveling distance acquisition unit 306, the required time estimated by the required time estimation unit 307, and the transition of the remaining energy estimated by the remaining energy transition estimation unit 308.

[0111] The destination determination unit 304 may further determine, as a destination, a second recharge point where energy is replenished by the second moving body, based on the start point, the end point, the position of the first moving body, the position of the second moving body, the travel distance acquired by the travel distance acquisition unit 306, the required time estimated by the required time estimation unit 307, and the transition of the remaining energy amount estimated by the remaining energy amount transition estimation unit 308. It is only an example that the destination determination unit 304 determines the second recharge point as a destination, and the second recharge point does not have to be determined as a destination.

[0112] If the delivery plan creation system 3 does not include the mileage acquisition unit 306 , the destination determination unit 304 determines the destination without using the mileage acquired by the mileage acquisition unit 306 .

[0113] Furthermore, if the delivery plan creation system 3 does not include the required time estimation unit 307, the destination determination unit 304 determines the destination without using the required time estimated by the required time estimation unit 307.

[0114] In addition, if the delivery plan creation system 3 does not include the remaining energy amount transition estimation unit 308, the destination determination unit 304 determines the destination without using the transition of the remaining energy amount estimated by the remaining energy amount transition estimation unit 308.

[0115] In addition, in the description of the delivery plan creation system 3 in embodiment 2 of the present disclosure, a case will be described in which the destination determination unit 304 also determines the second resupply point as the destination. However, even if the destination determination unit 304 does not determine the second resupply point as the destination, the gist of the contents disclosed in the description of the delivery plan creation system 3 in embodiment 2 of the present disclosure is the same, and this does not limit the present disclosure.

[0116] In addition, similar to the destination determination unit 104 in the variant of embodiment 1, the destination determination unit 304 may acquire the position of each moving body in the group of moving bodies, and select a first moving body and a second moving body from the group of moving bodies based on the start point, the end point, and the acquired positions of each moving body.

[0117] Next, the operation of the delivery plan creation system 3, that is, the details of the delivery plan creation method executed by the delivery plan creation system 3 will be described with reference to FIG.

[0118] FIG. 8 is a flowchart showing an example of a delivery plan creating method by the delivery plan creating system 3 in the second embodiment.

[0119] Among the components of the delivery schedule creation system 3 in the second embodiment, steps related to components that perform the same operations as those of the delivery schedule creation system 1 in the first embodiment are given the same reference numerals and descriptions thereof are omitted.

[0120] The operations in steps S201, S202 and S204 are the same as those in the first embodiment.

[0121] The travel distance acquisition unit 306 acquires the travel distance when the second moving body travels to the end point (step S405). In addition, when the destination determination unit 304 also determines the second supply point as the destination, the travel distance acquisition unit 306 acquires the travel distance when the second moving body travels to the second supply point. Here, the travel distance acquisition unit 306 also acquires the travel distance when the first moving body travels to the first supply point. As the travel route of the first moving body, various route candidates when the first moving body travels to the first supply point are considered. Specifically, various routes from the departure point of the first moving body to the start point and various routes from the start point to the handover point are considered. Furthermore, as the travel route of the first moving body, various route candidates from the handover point to the first supply point are considered. As the travel route of the second moving body, various route candidates when the second moving body travels to the end point are considered. Specifically, various routes from the departure point of the second moving body to the handover point and various routes from the handover point to the end point are considered. When the destination determination unit 304 also determines the second supply point as a destination, various route candidates for the second moving body traveling to the second supply point are considered. Specifically, various routes from the starting point of the second moving body to the handover point, various routes from the handover point to the end point, and various routes from the end point to the second supply point are considered. For this reason, the travel distance acquisition unit 306 acquires, for example, the travel distance for each of the various route candidates.

[0122] As a specific means for the mileage acquisition unit 306 to acquire the mileage of the first moving body and the second moving body, for example, the mileage acquisition unit 306 may include a route information acquisition unit that acquires route information, which is a graph representation of a road network, and acquire the mileage using the route information acquired by the route information acquisition unit. In addition, at this time, the mileage acquisition unit 306 may obtain the route between the points from which the mileage is to be acquired by a known best-first search such as Dijkstra's algorithm, with the weight of an edge being the distance of the road represented by that edge, and acquire the sum of the weights of the edges of the obtained route (specifically, the distance of the road represented by that edge) as the mileage. In addition, for example, the mileage acquisition unit 306 may include a communication unit and acquire the mileage acquired by an external system via communication. Note that these are merely examples and do not limit the present disclosure.

[0123] The required time estimation unit 307 estimates the required time for the second moving body to travel to the end point (step S406). When the destination determination unit 304 also determines the second supply point as the destination, the required time estimation unit 307 estimates the required time for the second moving body to travel to the second supply point. Here, the required time estimation unit 307 also estimates the required time for the first moving body to travel to the first supply point. As the travel route of the first moving body, various candidates of the route when the first moving body travels to the first supply point are considered. Specifically, various routes from the departure point of the first moving body to the start point and various routes from the start point to the handover point are considered. Furthermore, as the travel route of the first moving body, various candidates of the route from the handover point to the first supply point are also considered. As the travel route of the second moving body, various candidates of the route when the second moving body travels to the end point are considered. Specifically, various candidates of the route from the departure point of the second moving body to the handover point and various candidates of the route from the handover point to the end point are considered. When the destination determination unit 304 also determines the second supply point as a destination, various route candidates for the second moving body traveling to the second supply point are considered. Specifically, various routes from the starting point of the second moving body to the handover point, various routes from the handover point to the end point, and various routes from the end point to the second supply point are considered. For this reason, the required time estimation unit 307 estimates, for example, the required time for each of the various route candidates.

[0124] A specific means for the required time estimation unit 307 to estimate the required time of the first moving body and the second moving body is, for example, a means in which the required time estimation unit 307 includes a route information acquisition means for acquiring route information that is a graph representation of a road network, and estimates the required time using the route information acquired by the route information acquisition means. In addition, at this time, the required time estimation unit 307 may, for example, obtain a route between points for which the required time is to be estimated by a known best-first search such as Dijkstra's algorithm, with the weight of an edge being the average required time of the road represented by that edge, and estimate the required time as the sum of the weights of the edges of the obtained route (specifically, the average required time of the road represented by that edge). In addition, for example, the required time estimation unit 307 may include a communication means, and may acquire the required time estimated by an external system via communication. Note that these are merely examples and do not limit the present disclosure.

[0125] The remaining energy amount transition estimation unit 308 estimates the transition of the remaining energy amount when the second moving body travels to the end point (step S407). In addition, when the destination determination unit 304 also determines the second supply point as the destination, the remaining energy amount transition estimation unit 308 estimates the transition of the remaining energy amount when the second moving body travels to the second supply point. Here, the remaining energy amount transition estimation unit 308 also estimates the transition of the remaining energy amount when the first moving body travels to the first supply point. As the travel route of the first moving body, various candidates of the route when the first moving body travels to the first supply point are considered. Specifically, various routes from the departure point of the first moving body to the start point and various routes from the start point to the handover point are considered. Furthermore, as the travel route of the first moving body, various candidates of the route when the second moving body travels to the end point are considered. Specifically, various candidates of routes from the starting point of the second moving body to the handover point, and various candidates of routes from the handover point to the end point are considered. Note that, when the destination determination unit 304 also determines the second supply point as the destination, various candidates of routes when the second moving body travels to the second supply point are considered. Specifically, various candidates of routes from the starting point of the second moving body to the handover point, various candidates of routes from the handover point to the end point, and various candidates of routes from the end point to the second supply point are considered. For this reason, the remaining energy amount transition estimation unit 308 estimates, for example, the transition of the remaining energy amount for each of the various route candidates.

[0126] Specific means for the remaining energy amount transition estimation unit 308 to estimate the transition of the remaining energy amount of each of the first moving body and the second moving body include the following means. For example, the remaining energy amount transition estimation unit 308 includes a storage means and a communication means, and the first moving body and the second moving body include a remaining energy amount measurement means and a communication means. The first moving body and the second moving body each periodically measure the remaining energy amount using the remaining energy amount measurement means, and transmit the measured remaining energy amount to the remaining energy amount transition estimation unit 308 using the communication means. Then, the remaining energy amount of each of the first moving body and the second moving body transmitted from the first moving body and the second moving body is received by the remaining energy amount transition estimation unit 308 using the communication means, the received remaining energy amount of each of the first moving body and the second moving body is stored in the storage means, and the subsequent transition of the remaining energy amount is estimated based on the past remaining energy amount of each of the first moving body and the second moving body stored in the storage means.

[0127] As a specific means for estimating the transition of the remaining energy amount based on the past remaining energy amount of each of the first moving body and the second moving body stored in the storage means, for example, when storing the remaining energy amount of each of the first moving body and the second moving body in the storage means, the travel distance between the energy remaining amount measurement points of each of the first moving body and the second moving body obtained from the positions of each of the first moving body and the second moving body may also be stored in the storage means, and the transition of the remaining energy amount may be estimated based on the past remaining energy amount and travel distance of each of the first moving body and the second moving body stored in the storage means. At this time, the transition of the remaining energy amount may be estimated using a mathematical approximation such as a linear approximation, or the correlation between the travel distance and the transition of the remaining energy amount may be examined in advance, and the transition of the remaining energy amount may be estimated based on the correlation. At this time, if the delivery plan creation system 3 includes a travel distance acquisition unit 306, the transition of the remaining energy amount each time each point on the planned travel route is reached may be estimated based on the travel distance between each point on the planned travel route acquired by the travel distance acquisition unit 306. At this time, the travel distance between each point on the route of the delivery plan created by the plan creation unit 105 may be acquired by the travel distance acquisition unit 306, and a transition of the remaining energy amount each time each point on the route of the delivery plan created by the plan creation unit 105 is reached may be estimated based on the acquired travel distance.

[0128] As another specific means for estimating the transition of the remaining energy amount based on the past remaining energy amount of each of the first moving body and the second moving body stored in the storage means, for example, the remaining energy amount transition estimation unit 308 may further include a time acquisition unit for acquiring the current time, and when storing the remaining energy amount of each of the first moving body and the second moving body in the storage means, the running time between the energy remaining amount measurement points of each of the first moving body and the second moving body obtained from the current time may also be stored in the storage means, and the transition of the remaining energy amount may be estimated based on the past remaining energy amount and running time of each of the first moving body and the second moving body stored in the storage means. At this time, the transition of the remaining energy amount may be estimated using a mathematical approximation such as a linear approximation, or the correlation between the running time and the transition of the remaining energy amount may be examined in advance, and the transition of the remaining energy amount may be estimated based on the correlation. At this time, if the delivery plan creation system 3 includes the required time estimation unit 307, the transition of the remaining energy amount each time each of the points on the planned traveling route is reached may be estimated based on the required time between each of the points on the planned traveling route acquired by the required time estimation unit 307. At this time, the required time between each point on the route of the delivery plan created by the plan creation unit 105 may be acquired by the required time estimation unit 307, and based on the acquired required time, the change in the remaining energy amount each time each point on the route of the delivery plan created by the plan creation unit 105 is reached may be estimated.

[0129] In addition, when the delivery plan creation system 3 is mounted on the first moving body or the second moving body, the remaining energy level transition estimation unit 308 may acquire the remaining energy level measured using the remaining energy level measurement means without going through the communication means.

[0130] Note that these specific means by which the remaining energy amount transition estimation unit 308 estimates the transition of the remaining energy amount of each of the first moving object and the second moving object are merely examples and do not limit the present disclosure.

[0131] 8 is a flowchart in which steps S201, S202, S405, S406, and S407 are executed in sequence, but steps S201, S202, S405, S406, and S407 do not necessarily need to be executed in sequence in this order, and each may be executed any number of times at any time before execution of step S403. Also, for example, each may be executed for the first time when it becomes necessary to execute step S403, triggered by that, or may be executed in advance before execution of step S403. When executed in advance before execution of step S403, it may be executed periodically or by some other trigger. Note that these are merely examples and do not limit the present disclosure.

[0132] The destination determination unit 304 determines, as the destination, a handover point where the delivery target is handed over from the first moving body to the second moving body, a first supply point where the first moving body is replenished with energy, and a second supply point where the second moving body is replenished with energy, based on the start point, the end point, the position of the first moving body, the position of the second moving body, the mileage acquired by the mileage acquisition unit 306 (e.g., one or more of the mileage distances for each of the various route candidates as described above), the required time estimated by the required time estimation unit 307 (e.g., one or more of the required times for each of the various route candidates as described above), and the trend in remaining energy estimated by the remaining energy trend estimation unit 308 (e.g., one or more of the trend in remaining energy for each of the various route candidates as described above) (step S403).

[0133] In addition, when the destination determination unit 304 acquires the position of each moving body of the moving body group and selects the first moving body and the second moving body from the moving body group based on the start point, the end point, and the acquired position of each moving body, the destination is determined based on the start point, the end point, the positions of the first moving body and the second moving body selected from each moving body of the moving body group, the traveling distance acquired by the traveling distance acquisition unit 306, the required time estimated by the required time estimation unit 307, and the transition of the remaining energy amount estimated by the remaining energy amount transition estimation unit 308. In addition, the destination determination unit 304 determines the destination after selecting the first moving body and the second moving body from the moving body group, but this is not limited to this. For example, the destination determination unit 304 may simultaneously select the first moving body and the second moving body and determine the destination. In addition, for example, the destination determination unit 304 may repeatedly select the first moving body and the second moving body and determine the destination, thereby optimizing the destination to be finally determined.

[0134] A specific means by which the destination determination unit 304 selects a first moving body and a second moving body from a group of moving bodies includes, for example, calculating a third traveling distance, which is the traveling distance of a route from the position of the first candidate moving body, which is acquired by the traveling distance acquisition unit 306, via the starting point and a candidate handover point (e.g., a point near the midpoint between the starting point and the end point), to a candidate first supply point (e.g., a supply point near the candidate handover point), and a fourth traveling distance, which is the traveling distance of a route from the position of the second candidate moving body, which is via the candidate handover point and the end point, to a candidate second supply point (e.g., a supply point near the end point), and selecting the first moving body and the second moving body based on the third traveling distance and the fourth traveling distance. In addition, at this time, the destination determination unit 304 may, for example, select the first moving body and the second moving body so that the sum of the third traveling distance and the fourth traveling distance is smallest, or may select the first moving body and the second moving body so that the third traveling distance and the fourth traveling distance are equal.

[0135] Another specific means for the destination determination unit 304 to select the first moving body and the second moving body is, for example, a means for calculating a third required time, which is the required time for a route from the position of the first candidate moving body to the first supply point via the start point and the candidate handover point, and a fourth required time, which is the required time for a route from the position of the second candidate moving body to the second supply point via the candidate handover point and the end point, estimated by the required time estimation unit 307, for all combinations of the first candidate moving body and the second candidate moving body belonging to the moving body group, and selecting the first moving body and the second moving body based on the third required time and the fourth required time. In addition, at this time, the destination determination unit 304 may select the first moving body and the second moving body so that the sum of the third required time and the fourth required time is smallest, or may select the first moving body and the second moving body so that the third required time and the fourth required time are equal.

[0136] Another specific means by which the destination determination unit 304 selects the first and second moving bodies is, for example, to calculate a third energy remaining transition, which is the transition of the remaining energy when the first candidate moving body travels a route from the position of the first candidate moving body via the starting point and the candidate handover point to the first candidate supply point, and a fourth energy remaining transition, which is the transition of the remaining energy when the second candidate moving body travels a route from the position of the second candidate moving body via the candidate handover point and the end point to the second candidate supply point, for all combinations of a first candidate moving body and a second candidate moving body belonging to a group of moving bodies, estimated by the energy remaining transition estimation unit 308, and to select the first and second moving bodies based on the third energy remaining transition and the fourth energy remaining transition. In addition, at this time, the destination determination unit 304 may select the first moving body and the second moving body so that, for example, each of the remaining energy amounts obtained from the third energy remaining amount trend and the fourth energy remaining amount trend does not become below a predetermined threshold value, or may select the first moving body and the second moving body so that the sum of the third energy remaining amount, which is the energy decrease amount obtained from the third energy remaining amount trend (the difference between the initial and final energy remaining amounts of the first candidate moving body in the delivery of the delivery target by the first candidate moving body) and the fourth energy decrease amount, which is the energy decrease amount obtained from the fourth energy remaining amount trend (the difference between the initial and final energy remaining amounts of the second candidate moving body in the delivery of the delivery target by the second candidate moving body), is smallest, or may select the first moving body and the second moving body so that the third energy decrease amount and the fourth energy decrease amount are equal.

[0137] Note that these specific means by which the destination determination unit 304 selects the first moving body and the second moving body are all merely examples and do not limit the present disclosure.

[0138] A specific means for the destination determination unit 304 to determine the destination is, for example, a means for determining the destination based on a first travel distance, which is the travel distance of a route from the position of the first moving body to a candidate for the first supply point via a start point and a candidate for the handover point, and a second travel distance, which is the travel distance of a route from the position of the second moving body to a candidate for the second supply point via a candidate for the handover point and an end point, both of which are acquired by the travel distance acquisition unit 306. In addition, at this time, the destination determination unit 304 may determine the destination so that the sum of the first travel distance and the second travel distance is smallest, or may determine the destination so that the first travel distance and the second travel distance are equal. In addition, for example, the destination determination unit 304 may further include a handover candidate point acquisition means for acquiring one or more handover candidate points such as a logistics base or a parking lot, and a refueling point acquisition means for acquiring one or more refueling points such as a charging station, a gas station, a hydrogen station, a charging port, a logistics base with gasoline or hydrogen, or any point where charging equipment, gasoline or hydrogen can be brought in, and may determine a handover point from among the one or more handover candidate points acquired by the handover candidate point acquisition means, and may determine a first refueling point and a second refueling point from among the one or more refueling points acquired by the refueling point acquisition means.

[0139] Another specific means for the destination determination unit 304 to determine the destination is, for example, a means for determining the destination based on a first required time, which is the required time for a route from the position of the first moving body to a candidate for the first supply point via a start point and candidate handover points, and a second required time, which is the required time for a route from the position of the second moving body to a candidate for the second supply point via a candidate handover point and an end point, both of which are acquired by the required time estimation unit 307. In addition, at this time, the destination determination unit 304 may determine the destination so that the sum of the first required time and the second required time is smallest, or may determine the destination so that the first required time and the second required time are equal. In addition, for example, the destination determination unit 304 may further include a handover candidate point acquisition means for acquiring one or more handover candidate points such as a logistics base or a parking lot, and a refueling point acquisition means for acquiring one or more refueling points such as a charging station, a gas station, a hydrogen station, a charging port, a logistics base with gasoline or hydrogen, or any point where charging equipment, gasoline or hydrogen can be brought in, and may determine a handover point from among the one or more handover candidate points acquired by the handover candidate point acquisition means, and may determine a first refueling point and a second refueling point from among the one or more refueling points acquired by the refueling point acquisition means.

[0140] In addition, the destination determination unit 304 may determine the destination so that the remaining energy of the first moving body and the second moving body at the time when the execution of the delivery plan created by the plan creation unit 105 is completed, which is obtained from the transition of the remaining energy estimated by the energy remaining amount transition estimation unit 308, does not become equal to or less than a predetermined threshold. The predetermined threshold is, for example, an energy remaining amount at which the moving body becomes unable to run. In other words, the destination determination unit 304 may determine the destination so that the first moving body and the second moving body do not become unable to run due to lack of energy at the time when the execution of the delivery plan is completed. Specifically, the destination determination unit 304 may determine the destination based on one or more of the remaining energy amounts of the second moving body at the time when the second moving body arrives at each of the end point and the candidate destinations (specifically, the candidate handover point or the candidate second supply point) obtained from the transition of the remaining energy amount estimated by the energy remaining amount transition estimation unit 308. This is because it is possible to estimate whether the remaining energy of the second moving body at the time when the execution of the delivery plan is finally completed from the remaining energy at a specific point will be equal to or less than a predetermined threshold. In addition, similar to the case of the second moving body, the destination determination unit 304 may determine the destination based on one or more of the remaining energy amounts of the first moving body at the time when the first moving body arrives at each of the starting point and the candidate destinations (specifically, the candidate handover point or the candidate first supply point) obtained from the transition of the remaining energy amount estimated by the remaining energy amount transition estimation unit 308.

[0141] Another specific means by which the destination determination unit 304 determines the destination is, for example, determining the destination based on a first energy remaining amount transition, which is the transition of the remaining energy when a first moving body travels a route from the position of the first moving body via a starting point and a candidate handover point to a first supply point, estimated by the energy remaining amount transition estimation unit 308, and a second energy remaining amount transition, which is the transition of the remaining energy when a second moving body travels a route from the position of the second moving body via a candidate handover point and an end point to a second supply point candidate. In addition, at this time, the destination determination unit 304 may determine the destination so that, for example, each of the remaining energy amounts obtained from the first energy remaining amount trend and the second energy remaining amount trend does not become equal to or below a predetermined threshold value, or may determine the destination so that the sum of the first energy decrease amount, which is the energy decrease amount obtained from the first energy remaining amount trend (the difference between the initial and final energy remaining amounts of the first moving body in the delivery of the delivery target by the first moving body), and the second energy decrease amount, which is the energy decrease amount obtained from the second energy remaining amount trend (the difference between the initial and final energy remaining amounts of the second moving body in the delivery of the delivery target by the second moving body), is smallest, or may determine the destination so that the first energy decrease amount and the second energy decrease amount are equal. In addition, for example, the destination determination unit 304 may further include a handover candidate point acquisition means for acquiring one or more handover candidate points such as a logistics base or a parking lot, and a refueling point acquisition means for acquiring one or more refueling points such as a charging station, a gas station, a hydrogen station, a charging port, a logistics base with gasoline or hydrogen, or any point where charging equipment, gasoline or hydrogen can be brought in, and may determine a handover point from among the one or more handover candidate points acquired by the handover candidate point acquisition means, and may determine a first refueling point and a second refueling point from among the one or more refueling points acquired by the refueling point acquisition means.

[0142] In this way, the candidate handover point, the candidate first resupply point, and the candidate second resupply point that meet predetermined conditions related to, for example, the travel distance, the required time, the transition of the remaining energy, the resupply point, etc. are determined as the destination. As described above, the predetermined conditions include a condition that shortens the travel distance, a condition that shortens the required time, a condition that reduces energy consumption, a condition that the location is available for resupply, etc.

[0143] Note that these specific means by which the destination determination unit 304 determines the destination are all merely examples and do not limit the present disclosure.

[0144] Although FIG. 8 shows a flowchart in which step S403 and step S204 are executed sequentially in this order, step S403 and step S204 do not necessarily have to be executed sequentially in this order.

[0145] For example, steps S403 and S204 may be repeatedly executed until a certain standard is satisfied. In this case, for example, an evaluation function for evaluating the delivery plan created in step S204 is determined in advance, and if the evaluation value when the delivery plan created in step S204 is evaluated by the evaluation function is lower than a predetermined threshold value, the destination determination unit 304 may execute step S403 again to determine the destination again, and the plan creation unit 105 may execute step S204 again using the re-determined destination to create a delivery plan again.

[0146] Also, for example, the process of step S403 and the process of step S204 may be executed integrally. In this case, for example, the plan creation unit 105 may call the destination determination process of step S403 in the delivery plan creation process of step S204, or may divide the processes of step S403 and step S204 into several parts and call each other for each division unit.

[0147] Note that these specific examples regarding the execution order of step S403 and step S204 are merely examples and do not limit the present disclosure.

[0148] In addition, each process in the delivery plan creation method may be started at any time during the operation of the first moving body and the second moving body, or each moving body of the moving body group. For example, before the departure of the first moving body and the second moving body, or each moving body of the moving body group, the execution of each process in the delivery plan creation method may be completed, and a delivery plan including the handover of the delivery target may be determined in advance, and then the first moving body and the second moving body may execute this delivery plan. In addition, while the first moving body and the second moving body, or each moving body of the moving body group is executing a delivery plan that does not take into account the handover of the delivery target, or while traveling without using a delivery plan, the delivery plan creation system 3 may start the execution of each process in the delivery plan creation method and cause the first moving body and the second moving body to execute the created delivery plan including the handover of the delivery target. In this case, the remaining energy of the first moving body being equal to or less than a predetermined threshold may be used as a trigger for starting the execution of each process in the delivery plan creation method.

[0149] Note that these specific examples regarding the execution timing of each process in the delivery plan creation method are merely examples and do not limit the present disclosure.

[0150] In this way, in the second embodiment, the delivery target can be handed over to another moving body to complete the delivery efficiently in terms of the travel distance, the required time, or the consumption of energy. For example, in terms of energy consumption, the energy consumption can be made efficient while suppressing the delivery of the delivery target from ending in failure due to the depletion of the moving energy of the moving body. In addition, the energy of the first moving body can be more reliably prevented from running out before the first moving body completes the handover, and the energy of the second moving body can be more reliably prevented from running out before the second moving body completes the delivery. In other words, it becomes easier to suppress the delivery of the delivery target from ending in failure due to the depletion of the moving energy of the moving body. In addition, the energy of the second moving body can be more reliably prevented from running out after the second moving body completes the delivery, and the energy of the first moving body can be more reliably prevented from running out after the first moving body completes the handover. For example, in terms of the travel distance, the travel distance can be suppressed while suppressing the delivery of the delivery target from ending in failure due to the depletion of the moving energy of the moving body. For example, in terms of the required time, the required time can be suppressed while suppressing the delivery of the delivery target from ending in failure due to the depletion of the moving energy of the moving body.

[0151] (Other embodiments) Although the delivery plan creation system and the delivery plan creation method according to one or more aspects of the present disclosure have been described based on the embodiments, the present disclosure is not limited to these embodiments. As long as they do not deviate from the spirit of the present disclosure, various modifications conceived by a person skilled in the art to each embodiment and forms constructed by combining components in different embodiments may also be included within the scope of one or more aspects of the present disclosure.

[0152] For example, in the above embodiment, the first resupply point is determined as the destination, but the first resupply point does not have to be determined as the destination. Also, the delivery plan is created to make the first moving body travel to the first resupply point via the starting point and the handover point in order, but the delivery plan is not created to make the first moving body travel to the first resupply point. In other words, it is possible to determine only the handover point as the destination of the first moving body, create a delivery plan to make the first moving body travel to the handover point via the starting point, and not create a delivery plan for the first moving body after the handover point.

[0153] For example, the delivery schedule creation system may be a computer such as a server. Furthermore, the components constituting the delivery schedule creation system may be distributed and arranged on a plurality of computers.

[0154] For example, the steps in the delivery plan creation method may be executed by a computer (computer system). For example, a device (such as a server device) capable of communicating with the first mobile body and the second mobile body may execute the steps in the delivery plan creation method. The present disclosure may be realized as a program for causing a computer to execute the steps included in the delivery plan creation method. Furthermore, the present disclosure may be realized as a non-transitory computer-readable recording medium, such as a CD-ROM, on which the program is recorded.

[0155] For example, when the present disclosure is realized by a program (software), each step is executed by executing the program using hardware resources such as a computer's CPU, memory, input / output circuit, etc. In other words, each step is executed by the CPU acquiring data from the memory or input / output circuit, etc., performing calculations, and outputting the calculation results to the memory or input / output circuit, etc.

[0156] In the present disclosure, a unit, an apparatus, or a system. All or a part of a member or part, or all or a part of a functional block in a block diagram shown in a figure, may be implemented by one or more electronic circuits including a semiconductor device, a semiconductor integrated circuit (IC), or an LSI (Large Scale Integration). The LSI or IC may be integrated into one chip, or may be configured by combining multiple chips. For example, functional blocks other than memory elements may be integrated into one chip. Here, although it is called an LSI or an IC, the name may change depending on the degree of integration, and it may be called a system LSI, a VLSI (Very Large Scale Integration), or a ULSI (Ultra Large Scale Integration). A Field Programmable Gate Array (FPGA), which is programmed after the manufacture of an LSI, or a Reconfigurable Logic Device, which can reconfigure the junction relationship inside the LSI or set up the circuit partition inside the LSI, can also be used for the same purpose.

[0157] Furthermore, all or part of the functions or operations of a unit, device, component, or part can be executed by software processing. In this case, the software is recorded in one or more non-transitory recording media such as ROMs, optical disks, hard disk drives, etc., and when the software is executed by a processor, the functions specified in the software are executed by the processor and peripheral devices. The system or device may include one or more non-transitory recording media on which the software is recorded, a processor, and necessary hardware devices, such as an interface. [Industrial Applicability]

[0158] The delivery plan creation system according to the present disclosure can be applied to a system for long-distance delivery of delivery items such as luggage or passengers. [Explanation of symbols]

[0159] 1, 3 Delivery planning system 10 First mobile object 20 Second mobile object 101 Starting Point Determination Unit 102 End point determination unit 104, 304 Destination determination unit 105 Planning Department 306 Mileage Acquisition Unit 307 Required time estimation part 308 Energy remaining amount transition estimation unit

Claims

1. A driving plan creation method executed by a computer, comprising: A point where the first moving body is located is set as a starting point, The destination of the first moving body or the second moving body is set as an end point, determining, as a destination, a contact point where the first moving body and the second moving body come into contact, based on a difference between a distance from the position of the first moving body to the start point and a distance from the position of the second moving body to a midpoint between the start point and the end point; creating a plan to cause the first moving object to travel from the start point to the determined contact point, and to cause the second moving object to travel from the determined contact point to the end point; How to create a driving plan.

2. A driving plan creation method executed by a computer, comprising: A point where the first moving body is located is set as a starting point, The destination of the first moving body or the second moving body is set as an end point, Estimating a transition of a remaining energy amount when the second moving body travels to the end point; determining, as a destination, a contact point where the first moving body and the second moving body come into contact, based on a difference between a distance from the position of the first moving body to the start point and a distance from the position of the second moving body to a midpoint between the start point and the end point, and based on the transition of the remaining energy; creating a plan to cause the first moving object to travel from the start point to the determined contact point, and to cause the second moving object to travel from the determined contact point to the end point; How to create a driving plan.

3. Furthermore, a transition of a remaining energy amount when the second moving body travels to the end point is estimated, In determining the destination, the destination is determined based on a transition of the estimated remaining energy amount. The driving schedule creating method according to claim 1.

4. In determining the destination, the destination is determined so that the remaining energy amount of the second moving body at a time point when execution of the created plan is completed, which is obtained from a transition of the estimated remaining energy amount, does not become equal to or less than a predetermined threshold. The driving schedule creating method according to claim 2 or 3.

5. In determining the destination, the destination is determined based on one or more of the remaining energy amounts of the second moving body at the time when the second moving body arrives at the end point and each of the candidate destination points, which are obtained from the transition of the estimated remaining energy amount. The driving schedule creating method according to claim 3 or 4.

6. In the determination of the destination, a first supply point where the first moving body is supplied with energy is determined as a further destination; In creating the plan, a plan is created in which the first moving body travels from the start point to the determined first supply point via the determined contact point, and the second moving body travels from the determined contact point to the end point. The driving schedule creation method according to any one of claims 1 to 5.

7. In determining the destination, the contact point, the first supply point, and a second supply point where energy of the second moving body is supplied are determined as destinations based on the start point, the end point, and a position of the second moving body; In creating the plan, a plan is created in which the first moving body travels from the start point to the determined first supply point via the determined contact point, and the second moving body travels from the determined contact point to the determined second supply point via the end point. The travel schedule creating method according to claim 6.

8. Furthermore, a travel distance when the second moving body travels to the end point is acquired, In determining the destination, the destination is determined based on the acquired travel distance. The driving schedule creation method according to any one of claims 1 to 7.

9. Furthermore, a required time for the second moving body to travel to the end point is estimated; In determining the destination, the destination is determined based on the estimated required time. The driving schedule creation method according to any one of claims 1 to 8.

10. In determining the destination, Acquire the position of each moving object of the group of moving objects; selecting the first moving object and the second moving object from the group of moving objects based on the start point, the end point, and the acquired positions of each of the moving objects; The driving schedule creation method according to any one of claims 1 to 9.

11. a start point determination unit that sets a point where the first moving object is located as a start point; an end point determination unit that sets a destination of the first moving body or the second moving body as an end point; a destination determination unit that determines a contact point where the first moving body and the second moving body come into contact as a destination based on a difference between a distance from a position of the first moving body to the start point and a distance from a position of the second moving body to a midpoint between the start point and the end point; a plan creation unit that creates a plan to make the first moving object travel from the start point to the contact point determined by the movement destination determination unit, and to make the second moving object travel from the contact point determined by the movement destination determination unit to the end point, Driving plan creation system.

12. a start point determination unit that sets a point where the first moving object is located as a start point; an end point determination unit that sets a destination of the first moving body or the second moving body as an end point; a remaining energy amount transition estimation unit that estimates a transition of a remaining energy amount when the second moving object travels to the end point; a destination determination unit that determines a contact point where the first moving body and the second moving body come into contact as a destination based on a difference between a distance from a position of the first moving body to the start point and a distance from a position of the second moving body to a midpoint between the start point and the end point, and on a transition of the remaining energy amount; a plan creation unit that creates a plan to make the first moving object travel from the start point to the contact point determined by the movement destination determination unit, and to make the second moving object travel from the contact point determined by the movement destination determination unit to the end point, Driving plan creation system.

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