Mobile control system and mobile control method

Abstract

To hinder storage of a moving body highly required for the storage, since an open area cannot be acquired by storing the moving body with less need for the storage, in a moving body storage area.SOLUTION: A movement control system comprises a calculation part, a storage part, and a communication part. The storage part holds storage reservation information in a storage area of a moving body. The calculation part determines presence / absence of an empty area in the storage area capable of storing a first moving body, based on the storage reservation information when receiving storage reservation application information from the first moving body into the storage area; calculates movement priority of the moving body stored in the storage area, based on the storage reservation information, when there is no empty area capable of storing the first moving body; and outputs an instruction of movement for producing the empty area capable of storing the first moving body with respect to at least one moving body exhibiting high movement priority via the communication part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a mobile control system that manages parking and stopping of mobile objects (for example, vehicles). [Background technology]

[0002] Currently, technologies related to autonomous driving of vehicles are being actively developed. Autonomous driving technologies enable vehicles to move between cabins without a driver in parking spaces such as parking lots.

[0003] The following Patent Document 1 describes a parking area management technology for effectively utilizing parking and stopping areas for mobile objects. The document aims to provide a parking area management device that can effectively utilize parking areas by taking into account the differences in the autonomous driving levels of each mobile object, and states:

[0004] The paper discloses a technology called "a storage area management device that manages a storage area that stores moving objects and moves the moving objects to a predetermined storage position within the storage area, the storage area management device comprising: an acquisition unit that acquires autonomous movement level information regarding the autonomous movement that the moving object is capable of; and a processing unit that instructs the moving object to change its autonomous movement level when the moving object needs to move within the storage area after entering the storage area" (see abstract). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-149709 Summary of the Invention [Problem to be solved by the invention]

[0006] Use cases for parking in parking and stopping storage areas include cases where an arriving mobile vehicle can freely select and park in a space that suits its conditions, and cases where a vehicle can park in a location that has been reserved in advance for a specified date and time, as well as cases where a storage area management device uses technology such as that described in Patent Document 1 to instruct an autonomously driving mobile vehicle on the location of the desired space, so that the vehicle automatically parks in the designated space.

[0007] As the number of autonomous vehicles that can drive on roads and park and stop without a driver increases, there will be an increasing number of cases where vehicles that do not have a travel purpose or that wait for a certain period of time park in parking and stopping areas to save energy consumption or to wait for a certain period of time. On the other hand, there will also be cases where vehicles that have a high need to park and stop due to breakdowns, maintenance, energy replenishment, or users getting in and out of the vehicle will park in parking and stopping areas. The latter vehicles have a higher need to park and stop in specific parking and stopping areas than the former. However, if the number of former vehicles increases, it will become difficult to secure available parking spaces in parking and stopping areas, which may hinder the parking and stopping of vehicles that have a high need to park and stop, such as the latter.

[0008] The present invention has been made in consideration of the above-mentioned problems, and the driving control system according to the present invention secures a parking area by preferentially moving parked vehicles that are capable of autonomous driving and have a low need for parking when a vehicle that has a high need for parking requests parking. An object of the present invention is to provide a technology that can effectively utilize parking areas. [Means for solving the problem]

[0009] In order to achieve at least one of the above objects, the present invention provides a mobile control system including a calculation unit, a storage unit, and a communication unit, wherein the storage unit holds accommodation reservation information for a mobile object in an accommodation area, the accommodation reservation information includes the position and size of a moving object already accommodated in the accommodation area; The calculation unit receives the signal from the first moving body. Including the size of the first moving objectWhen receiving accommodation reservation application information for the accommodation area, determining whether or not there is an empty area in the accommodation area that can accommodate the first moving object based on the accommodation reservation information, and if there is no empty area that can accommodate the first moving object, calculating a movement priority of the moving object accommodated in the accommodation area based on the accommodation reservation information; determining whether a free space capable of accommodating the first moving body can be generated by moving at least one moving body having a high movement priority within the accommodation area, and if a free space capable of accommodating the first moving body can be generated, outputting, via the communication unit, an instruction to move at least one moving body having a high movement priority within the accommodation area as a movement instruction for generating a free space capable of accommodating the first moving body; and, if a free space capable of accommodating the first moving body cannot be generated, moving, via the communication unit, the at least one moving body having a high movement priority outside the accommodation area as a movement instruction for generating a free space capable of accommodating the first moving body. It is characterized by outputting instructions. [Effects of the Invention]

[0010] According to the mobile control system of one aspect of the present invention, when a moving body (e.g., a vehicle) that has a high need for parking requests a parking space, the system prioritizes the movement of parked vehicles that have a low need for parking, thereby securing a parking space. Problems, configurations, and effects other than those described above will become clear from the description of the following embodiments. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 2 is an explanatory diagram illustrating an outline of the operation of the traffic control system according to the first embodiment of the present invention. [Figure 2A] 1 is a functional block diagram showing a configuration of a traffic control system according to a first embodiment of the present invention. [Figure 2B] 1 is a block diagram showing a hardware configuration of a traffic control system according to a first embodiment of the present invention. [Figure 3] 4 is a flowchart illustrating an operation when the cruise control system according to the first embodiment of the present invention secures a vehicle compartment. [Figure 4] FIG. 10 is an explanatory diagram illustrating an outline of the operation of a traffic control system according to a second embodiment of the present invention. [Figure 5] 10 is a flowchart illustrating an operation of a cruise control system according to a second embodiment of the present invention when securing a vehicle compartment. DETAILED DESCRIPTION OF THE INVENTION [Example]

[0012] FIG. 1 is an explanatory diagram showing an outline of the operation of a traffic control system 20 according to the first embodiment of the present invention.

[0013] Specifically, FIG. 1 shows a state in which the travel control system 20 parks and stops the vehicle 30 in a parking and stopping storage area 10. Note that the vehicles in this embodiment (e.g., vehicle 30 and moving vehicle 40) are examples of moving bodies. The parking and stopping storage area 10 is an example of a storage area for a moving body. Parking and stopping (i.e., parking or stopping) is an example of storing a moving body in a storage area. The travel control system 20 is an example of a mobile control system that controls the movement of a moving body. The communication network 60 indicates an internet line or the like that connects the travel control system 20 and each vehicle. The travel control system 20 parks the vehicle 30 in the following order: (1) receiving parking and stopping reservation application information from the vehicle 30, (2) checking for availability of a space in the parking and stopping storage area 10, (3) selecting the moving vehicle 40 and issuing a movement instruction, (4) securing the space 50, and (5) parking the vehicle 30.

[0014] Here, the parking and stopping area 10 is an area that can accommodate one or more vehicles 30 for parking and stopping. For example, the parking and stopping area 10 may be a so-called parking lot, or a roadside area where parking and stopping of vehicles is permitted, etc. A vehicle compartment 50 is a section included in the parking and stopping area 10 that can accommodate one vehicle, and each parking and stopping area 10 includes one or more vehicle compartments. Each vehicle compartment 50 may be a regular section that is separated by, for example, a wall or a white line, and has a fixed position and size, or may be an irregular section whose position and size may change. In Example 1, an example will be described in which each vehicle compartment 50 is a regular section.

[0015] In the process from the parking reservation application to parking, it would be useful for the vehicle 30 if it could be parked without having to wait for a space to become available between driving on the road and stopping.

[0016] If there is no available space in the parking and stopping area 10, the vehicle 30 may wait until a space becomes available or may cancel parking. However, if the vehicle 30 experiences a breakdown while traveling, or if it runs out of fuel or its battery dies, the need for parking the vehicle 30 increases. Nevertheless, if the vehicle 30 is unable to park in the desired space and ends up stopping on the road, for example, it will occupy the road, causing problems such as obstructing the travel of other vehicles.

[0017] Therefore, in the first embodiment of the present invention, a technology of a travel control system is provided that efficiently ensures availability of a vehicle compartment when parking or stopping a vehicle 30. This allows a vehicle that is highly in need of parking or stopping to park or stop in a desired vehicle compartment without having to wait.

[0018] FIG. 2A is a functional block diagram showing the configuration of a traffic control system 20 according to the first embodiment of the present invention.

[0019] The travel control system 20 includes a reservation management unit 120, a vehicle compartment management unit 130, a candidate vehicle selection unit 140, a movement management unit 150, a vehicle compartment monitor unit 160, and a vehicle compartment reservation database 170.

[0020] The reservation management unit 120 acquires parking reservation application information from the vehicle 30.

[0021] The vehicle compartment management unit 130 manages section information 180 (see FIG. 2B ) such as the location, size (for example, the maximum size of a vehicle that can be parked in the vehicle compartment), and load capacity of vehicle compartments that can be managed for parking by the cruise control system 20. In addition, the vehicle compartment management unit 130 selects a vehicle compartment that meets the user's wishes based on the location information included in the parking reservation application information for the vehicle compartment where the user wishes to park.

[0022] The movement candidate vehicle selection unit 140 selects a movement candidate vehicle to which the movement request is to be sent from among the vehicles parked in the vehicle compartment.

[0023] The mobility management unit 150 manages the movement of the selected mobility candidate vehicles. Specifically, the mobility management unit 150 transmits a movement request to the mobility candidate vehicles and receives a notification of the movement result from the mobility candidate vehicles.

[0024] The vehicle compartment monitor unit 160 identifies whether or not there are vehicles parked in the vehicle compartment, and if there are any parked vehicles, identifies each vehicle. For example, an image sensor installed in each vehicle compartment captures an image of the parked vehicles, and the vehicle compartment monitor unit 160 recognizes the license plate included in the image, thereby identifying the parked vehicles in addition to the parking status of the vehicle compartment.

[0025] FIG. 2B is a block diagram showing a hardware configuration of the traffic control system 20 according to the first embodiment of the present invention.

[0026] The travel control system 20 is realized by a system having, for example, a calculation unit 231, a storage unit 232, an input unit 233, a display unit 234, and a communication unit 235.

[0027] The calculation unit 231 can be configured using a calculation device such as a CPU (Central Processing Unit). Each of the functional units provided in the calculation unit 231, such as the reservation management unit 120 to the vehicle interior monitor unit 160, can be configured using a circuit device that implements the function, or can be configured by the calculation unit 231 executing software that implements the function. Each functional unit provided in the calculation unit 231 can be configured as a part of the calculation unit 231, or can be configured as a separate functional unit.

[0028] The memory unit 232 is a storage device that stores software executed by the calculation unit 231, information referenced in the processing executed by the calculation unit 231, and information generated as a result of the processing. The memory unit 232 may include, for example, a main storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). In this embodiment, the memory unit 232 stores the cabin reservation database 170 and the section information 180.

[0029] The input unit 233 is a device that accepts information input from a user of the driving control system 20, and may include, for example, at least one of a keyboard, a mouse, and a touch panel. The display unit 234 is a device that outputs information to a user of the driving control system 20, and may be, for example, an image display device. The communication unit 235 is connected to the communication network 60 and communicates with other devices. In the example of FIG. 2B , the communication unit 235 communicates with the image sensor 250 and the terminal 260 via the communication network 60.

[0030] The image sensor 250 is, for example, an optical camera or a three-dimensional scanner, and one or more image sensors 250 may be installed in each parking area 10. The image sensor 250 transmits captured two-dimensional or three-dimensional image information to the cruise control system 20. The vehicle interior monitor unit 160 of the cruise control system 20 can determine whether a vehicle is parked in each vehicle compartment 50 in each parking area 10 based on the image information received from the image sensor 250. The vehicle interior monitor unit 160 may further obtain the vehicle's position, size, vehicle model, and identification information (e.g., registration information read from the license plate) from the image information.

[0031] Each terminal 260 may be, for example, an in-vehicle terminal device mounted in each vehicle, or a portable terminal device (such as a so-called smartphone) carried by the user of the vehicle. If the terminal 260 is an in-vehicle terminal device, it may be, for example, a navigation terminal, or if mounted in an autonomously driven vehicle, it may be a terminal capable of communicating with an autonomous driving control device of the vehicle to transmit movement instructions, etc. Parking reservation application information is transmitted, for example, from the terminal 260 to the cruise control system 20, and the result of the application (such as information on whether the reservation has been registered) is transmitted from the cruise control system 20 to the terminal 260. Furthermore, as will be described later, information requesting permission to move and a response thereto may be communicated between the cruise control system 20 and the terminal 260.

[0032] FIG. 3 is a flowchart illustrating the operation of the cruise control system 20 according to the first embodiment of the present invention when securing a vehicle compartment.

[0033] Specifically, Fig. 3 shows the flow of processing from when the cruise control system 20 receives a parking reservation request from the vehicle 30, to when the cruise control system 20 secures a vehicle space and notifies the vehicle 30 of the parking reservation result. Each step in Fig. 3 will be described below.

[0034] (Figure 3: Step S301) The vehicle 30 transmits parking reservation application information to the reservation management unit 120. This transmission is performed, for example, by a terminal 260 mounted on the vehicle 30 or carried by the user of the vehicle 30. The transmitted parking reservation application information is information relating to an application for a parking reservation for the vehicle 30 to the cruise control system 20, and includes vehicle information such as the identifier of the vehicle 30, vehicle width, length, and weight, location information of the compartment where the vehicle is desired to park, time information relating to the parking period, and parking purpose information indicating the degree of necessity for parking.

[0035] (Figure 3: Step S302) Transfer the parking reservation application information to the parking space management unit When the reservation management unit 120 receives the parking reservation application information sent from the vehicle 30 in step S301, it sends it to the vehicle compartment management unit 130 and inquires with the vehicle compartment management unit 130 about whether the vehicle 30 can reserve the vehicle compartment desired by the vehicle 30.

[0036] (FIG. 3: Step S303) The vehicle compartment management unit 130 searches the vehicle compartment candidate list. The vehicle space management unit 130 uses the parking reservation application information received from the reservation management unit 120 to search the vehicle space reservation database 170 for a list of candidate vehicle spaces where the vehicle 30 can park. The parking reservation application information includes vehicle information, location information, time information, and parking purpose information, as described above. Meanwhile, the vehicle space reservation database 170 may include information on the location, size, and load-bearing capacity limit of each vehicle space 50 in each parking storage area 10, as well as information on vehicles 30 that have already been reserved for parking in each vehicle space 50. Furthermore, the vehicle space reservation database 170 includes information on vehicles currently parked in the vehicle spaces 50. This information includes at least information indicating whether the vehicle is capable of driverless autonomous driving and parking purpose information for the vehicle. This information may be obtained, for example, from the parking reservation application information transmitted when the vehicle reserved the vehicle space 50.

[0037] The vehicle compartment management unit 130 uses reservation information, vehicle information, location information, and time information as search conditions, and searches for a vehicle compartment that meets each condition from among the vehicle compartments registered in the vehicle compartment reservation database 170 by referring to the section information 180. The vehicle information is used as a search condition to determine whether the size and load-bearing capacity restrictions of the vehicle compartment 50 for parking the vehicle 30 match. In addition, a search using location information as a search condition may be performed by, for example, specifying a specific location on the vehicle side using latitude, longitude, altitude, etc., and selecting a vehicle compartment within a specified distance range around that location. In addition, a location search condition may be that the vehicle compartment is located within a parking and stopping area within a specific facility. The time search condition is used to determine the availability of the vehicle compartment 50 during the relevant time period. If one or more vehicle compartments that meet the search conditions are found, they are registered in a vehicle compartment candidate list.

[0038] (Figure 3: Step S304) Select a vehicle compartment from the vehicle compartment candidate list If a vacant vehicle compartment 50 that meets the conditions is found from the vehicle compartment search results in step S303 (FIG. 3: Yes in step S303), the vehicle compartment management unit 130 selects a vehicle compartment 50 to be used by the vehicle 30 from the vehicle compartment candidate list. When selecting a vehicle compartment 50, a prioritized vehicle compartment 50 may be selected based on factors such as parking fees and proximity to a designated location. In addition, parking purpose information included in the parking reservation application information may be used to evaluate the priority. For example, if the traveler aboard the vehicle 30 is parking to visit a specific store, it is conceivable to prioritize a vehicle compartment 50 close to that store or a vehicle compartment 50 in a parking facility affiliated with the store.

[0039] (Figure 3: Step S305) Selecting a candidate vehicle for travel If the vehicle compartment management unit 130 cannot find an available vehicle compartment 50 that satisfies the conditions from the vehicle compartment search result in step S303 (FIG. 3: No in step S303), it performs a process of selecting a candidate vehicle to be requested to move from among the vehicles already parked in each vehicle compartment 50. The vehicle compartment management unit 130 sends the vehicle compartment candidate list to the candidate vehicle selection unit 140 and instructs it to select a candidate vehicle to move.

[0040] The transfer candidate vehicle selection unit 140 creates a list of transfer candidate vehicles to be requested to transfer from among the parked vehicles parked in each vehicle compartment registered in the vehicle compartment candidate list. First, the transfer candidate vehicle selection unit 140 checks whether each parked vehicle is capable of autonomous driving. It checks the functional conditions of each parked vehicle, such as whether each parked vehicle can be moved from the vehicle compartment by driverless autonomous driving, and if the conditions are met, adds the vehicle information of the parked vehicle to the transfer candidate vehicle list.

[0041] (Figure 3: Step S306) Prioritizing candidate vehicles Next, the travel candidate vehicle selection unit 140 determines a priority for each vehicle in the travel candidate vehicle list as a travel candidate vehicle. The parking purpose information included in the parking reservation application information for each vehicle indicates the degree of necessity for parking. The degree of necessity for parking is called the parking purpose level. The travel candidate vehicle selection unit 140 evaluates the parking purpose level of each travel candidate vehicle, and evaluates vehicles with a lower parking purpose level (i.e., vehicles with a lower necessity for parking) as having a higher travel priority.

[0042] For example, if the battery or fuel, which are the energy sources necessary for vehicle movement, is insufficient, or if the vehicle breaks down, the vehicle is in a state in which the energy source needs to be replenished or repaired. If vehicle 30 also needs to maintain these conditions, it is difficult to move from compartment 50, and the vehicle is evaluated as having a high parking purpose level. On the other hand, if a vehicle is parked with no purpose, the vehicle's parking purpose level is evaluated as being low. Here, a vehicle with no purpose may be, for example, a vehicle that does not have a fixed user, such as a so-called car sharing vehicle or a rental car, and may be a vehicle that does not currently have a fixed user, or a vehicle that is exclusively used by an individual and has no plans to be used in the near future.

[0043] In addition, a vehicle for visiting a store, whose purpose is for the vehicle user to visit a designated store, will be parked in a parking space close to the location of the vehicle user during the time period when the vehicle user is going to and from the store. In such a case, the purpose of parking is clear and the parking purpose level can be said to be high, but since the vehicle is unlikely to be used while the vehicle user is at the store, the parking purpose level for that period can be set low.

[0044] Furthermore, regardless of whether the vehicle user is visiting a store or not, if the vehicle user is far from the parked vehicle they are using, it may take time for the vehicle user to travel to the vehicle, and the vehicle's parking purpose level may be lowered during that time period. In this case, it is necessary to measure the vehicle user's location information. One method of obtaining location information is to have the vehicle user carry an information terminal (e.g., terminal 260 may be equivalent to this) equipped with a location estimation function such as GPS, and obtain the vehicle user's location information via that information terminal. Another method is to recognize the vehicle user using a surveillance camera or the like installed in the vicinity, and obtain the location information via the surveillance camera.

[0045] The movement candidate vehicle selection unit 140 also evaluates the parking purpose level of the vehicle 30 that wishes to park and stop, and compares it with each parking purpose level of the movement candidate vehicle list. If the parking purpose level of the vehicle 30 is lower than the parking purpose level of each vehicle in the movement candidate vehicle list, the parking vehicle is given priority for continuing to park. In other words, in this case, a movement instruction (step S307), which will be described later, is not sent to the parking vehicle.

[0046] The candidate vehicle selection unit 140 sends the candidate vehicle list to the vehicle space management unit 130 as a prioritized candidate vehicle list, along with vehicle information of the vehicle 30 that wishes to park and the parking purpose level of each vehicle evaluated by the above-mentioned means.

[0047] The vehicle compartment management unit 130 sends the prioritized moving candidate vehicle list acquired from the moving candidate vehicle selection unit 140 to the mobility management unit 150, which manages the mobility of the moving candidate vehicles, and proceeds to manage the mobility of each vehicle.

[0048] <Additional information on the priority evaluation method> In evaluating the parking purpose level, the parking purpose level may be set higher by having the user of the vehicle space 50 pay a parking fee higher than for normal parking. This increases the usage fee for vehicle spaces 50 that many vehicles wish to use, thereby reducing the use by vehicles with a low parking purpose level.

[0049] (Figure 3: Step S307) Movement instruction and movement management The mobility management unit 150 requests movement by sending a movement instruction in order of priority to the candidate vehicle to be moved. It is assumed that a parked vehicle capable of autonomous driving can move from the passenger compartment upon receiving a movement instruction from outside the vehicle. Such a vehicle is equipped with, for example, an information processing terminal (e.g., terminal 260) inside the vehicle that can communicate with an external system (e.g., driving control system 20), and when a movement instruction is received from the external system, the information processing terminal can set a destination, search for and select a route, and control the vehicle to travel along the route.

[0050] The mobility management unit 150 sends a movement instruction to each of the candidate mobility vehicles in descending order of priority, requesting that the vehicle move from its cabin. Upon receiving the movement instruction, the vehicle 40 checks its own status again and determines whether it is possible to move. It then responds to the mobility management unit 150 with the result of its determination regarding whether it is possible to move. Note that this determination regarding whether it is possible to move may be made by inquiring about the possibility of moving from the owner or user of the vehicle and obtaining approval.

[0051] The mobility management unit 150 receives the determination result from the vehicle 40, and if movement is not possible, selects the vehicle with the next highest priority from the prioritized list of movement candidate vehicles and sends a movement instruction. However, if the vehicle with the next highest priority is the vehicle 30 that wishes to park, it determines whether to cancel parking of the vehicle 30 that wishes to park. In this way, the mobility management unit 150 repeats the process of selecting a vehicle to send a movement instruction to based on priority, sending the movement instruction, and receiving the determination result, and finally selects a vehicle to move or determines whether to cancel parking of the vehicle that wishes to park.

[0052] <Selecting destination candidates> In step S307, the movement management unit 150 may recommend a destination and route to the candidate vehicle based on the candidate vehicle's parking purpose, rather than simply sending the candidate vehicle a movement instruction to leave the parking space. For example, if the candidate vehicle is parking to wait or rest while en route to a specific destination, the movement management unit 150 may recommend a space reservation and introduction in a new parking area closer to the specific destination, or a route to the destination that allows the candidate vehicle to use up the waiting time. The traffic control system 20 can obtain information on spaces and their availability, or manage reservations, not only for parking areas in a specific region but also for parking areas in other regions, thereby enabling movement instructions for vehicles across parking areas 10.

[0053] Furthermore, for example, if there is a vacant space within the parking storage area 10 but the vacant space does not meet the conditions for the vehicle 30 that wishes to park (for example, if the vacant space is not large enough to park the vehicle 30), a vacant space that meets the conditions for the vehicle 30 that wishes to park may be created by moving a vehicle that is accommodated in another space within the parking storage area 10 to the vacant space. In such a case, the vacant space within the parking storage area 10 may be specified as the destination for the moving vehicle 40. On the other hand, if there is no vacant space within the parking storage area 10, or if there is a vacant space but a vacant space that meets the conditions for the vehicle 30 cannot be obtained by moving the vehicle within the parking storage area 10, a location outside the parking storage area 10 (for example, another parking storage area) is specified as the destination for the moving vehicle 40.

[0054] (Figure 3: Step S308) If the vehicle 40 that has received a movement instruction from the mobility management unit 150 is able to move, the vehicle 40 responds to the mobility management unit 150 with the result of its movement determination (in this case, that it is able to move) and proceeds to its own movement control.

[0055] (Figure 3: Step S309) When the vehicle 40 has completed moving from the cabin 50, the vehicle 40 notifies the movement management unit 150 of the completion of the movement.

[0056] (Figure 3: Step S310) The movement management unit 150 receives the result of the movement determination from the vehicle 40 and, if movement is possible, information on the movement result, and then notifies the vehicle compartment management unit 130 of information on the vehicle 40 that has completed movement.

[0057] If all parked vehicles are unable to move, the movement management unit 150 notifies the vehicle compartment management unit 130 that the vehicle 30 that wishes to park or stop will stop parking.

[0058] (Figure 3: Step S311) Check for vehicle vacancy The vehicle compartment management unit 130 checks the vehicle compartment number of the vehicle 40 that received the movement notification in step S310, and instructs the vehicle compartment monitor unit 160 to check the availability of the vehicle compartment 50 with that vehicle compartment number. The vehicle compartment monitor unit 160 checks the availability of the vehicle compartment 50 that is expected to be available, based on information acquired from the image sensor 250, for example, and notifies the vehicle compartment management unit 130 of the confirmation result.

[0059] (Figure 3: Step S312) Reserve the selected car space The vehicle space management unit 130 reserves the vehicle space 50 whose availability was confirmed in step S311 as a planned parking space for the vehicle 30. The vehicle space management unit 130 registers the parking reservation application information and the reservation time of the vehicle 30 to be parked in association with the information on the planned parking space in the vehicle space reservation database 170.

[0060] (FIG. 3: Step S313) Notify the reservation management department of the reservation result The vehicle compartment management unit 130 notifies the reservation management unit 120 of the reservation result for the parking reservation application for the vehicle 30. If the reservation is completed, the result includes the vehicle compartment number.

[0061] The reservation management unit 120 notifies the vehicle 30 of the reservation result.

[0062] (Figure 3: Step S314) Upon receiving the reservation result, if the reservation is complete, the vehicle 30 sets the destination to the vehicle compartment 50 with the notified vehicle compartment number and controls the movement to the vehicle compartment 50. On the other hand, if the reservation is not possible, the vehicle 30 issues a new parking reservation application or makes a new driving plan such as continuing to drive until a vehicle compartment reservation becomes possible.

[0063] <Mechanism to let you know that you have made a reservation> In order to prevent an unreserved vehicle from accidentally parking in a reserved vehicle compartment 50, the reservation management unit 120 notifies a vehicle currently parked or a vehicle 30 that wishes to park there of the reservation status of each vehicle compartment 50 in the vehicle compartment reservation database 170.

[0064] <About the Mobile Vehicle Incentive> According to the traffic control system 20 of this embodiment, a vehicle with a low parking intent level receives a movement instruction and leaves the parking lot. In this case, the vehicle 40 may consume more energy than if it had continued parking, or if the vehicle has paid a parking fee in advance, it may incur a loss due to a shortened usage time. To compensate for such losses, the traffic control system 20 may provide a mechanism for providing an incentive to the moving vehicle 40, such as a partial refund of the parking fee previously paid, or for the user or owner of the new vehicle 30 wishing to park to pay compensation for the loss. In other words, when instructing the vehicle 40 to move, the traffic control system 20 may calculate and output a compensation for the movement to be paid to the user or owner of the vehicle 40.

[0065] <Example 1: Summary> The travel control system 20 according to the first embodiment compares and evaluates the parking purpose level of the vehicle 30 that wishes to park and stop with that of each parked vehicle, and determines that a vehicle with a low parking purpose level has a low need for a vehicle space, i.e., that the vehicle is to be moved from the vehicle space. Movement instructions are sent to vehicles with higher priority in order, and vehicles that can move move from the vehicle space by autonomous driving. The travel control system 20 checks the movement of the vehicle and availability of the vehicle space, reserves the vehicle space for the vehicle 30, and notifies the vehicle 30 of the result of the vehicle space reservation. As a result, it becomes possible to efficiently secure an available vehicle space when parking and stopping the vehicle 30. [Example]

[0066] Next, a description will be given of a second embodiment of the present invention. Except for the differences described below, each unit of the system of the second embodiment has the same function as each unit in the first embodiment to which the same reference numerals are assigned, and therefore, the description thereof will be omitted.

[0067] In the first embodiment, in order to secure a compartment 50 for a vehicle that wishes to park, a priority vehicle to be moved is selected from among the parked vehicles based on the degree of necessity for parking, and is moved from the compartment 50. When the compartment 50 section is determined in advance, the pairing relationship between the compartment 50 and the vehicle is determined, but when vehicles of various sizes are parked, dynamically changing the compartment 50 section is effective for utilizing the parking space.

[0068] In the second embodiment, priority is given to securing vehicle interior space by narrowing the gaps between parked vehicles (vehicle spacing), and the vehicle interiors of parked vehicles are dynamically moved to effectively utilize the vehicle interior space for parking and stopping vehicles with various vehicle interior space requirements. In the following description, moving a vehicle to narrow the gap is also referred to as "pulling over." However, this may refer to either a movement to narrow the gap between adjacent vehicles in the front-to-rear direction or a movement to narrow the gap between adjacent vehicles in the left-to-right direction, as long as it is a movement of other vehicles to secure space for parking and stopping a vehicle 30 that wishes to park. The total amount of movement of each vehicle due to the pulling over is at least equivalent to the width or length of the new vehicle that wishes to park and stop. Therefore, even if the parking and stopping purpose level of each vehicle is high, it is expected that the movement will not be contrary to that purpose. Therefore, a feature of the second embodiment is that new vehicle interior space is secured by pulling over parked vehicles as much as possible.

[0069] Hereinafter, a specific example of the second embodiment will be described in which the compartment is dynamically changed to reserve a compartment for a vehicle that wants to park or stop. The configuration of the travel control system 20 is the same as that of the first embodiment.

[0070] FIG. 4 is an explanatory diagram showing an outline of the operation of the traffic control system 20 according to the second embodiment of the present invention.

[0071] Specifically, Fig. 4 shows how the traffic control system 20 parks the vehicle 30 in the second embodiment. The parking and stopping storage area 200 is a storage area where the vehicle compartment is not pre-determined. The traffic control system 20 parks the vehicle 30 in the following order: (1) receiving parking reservation application information from the vehicle 30, (2) designing the vehicle compartment area requirements for the vehicle 30, (3) confirming the space for the vehicle compartment, (4) selecting a vehicle to move and issuing a movement instruction, (5) reserving the vehicle compartment, and (6) parking the vehicle 30.

[0072] The processing flow of the second embodiment differs from that of the first embodiment in the steps S303, S304, S305, S306, and S307.

[0073] FIG. 5 is a flowchart illustrating the operation of the cruise control system 20 according to the second embodiment of the present invention when securing a vehicle compartment.

[0074] 5 is a partial flowchart for matching the processing steps from step S303 to step S307 in embodiment 1 with the processing steps in embodiment 2. That is, in embodiment 2, steps S303 to S307 in FIG. 3 are replaced by steps S501 to S505 in FIG. 5, respectively.

[0075] (Figure 5: Step S501) In the second embodiment, the vehicle compartment management unit 130 uses the parking reservation application information received from the reservation management unit 120 to design vehicle compartment area requirements necessary for parking and stopping the vehicle 30. The vehicle compartment area requirements here refer to the location conditions necessary for parking and stopping the vehicle 30, and specify the length and width, vehicle height, and load capacity. The vehicle compartment area requirements also include the space required around the vehicle 30, such as the space required for people to get on and off the vehicle 30 and for loading and unloading goods.

[0076] (Figure 5: Step S502) The vehicle compartment management unit 130 searches the vehicle compartment reservation database for an available area that meets the vehicle compartment area requirements of the vehicle 30, and if there is an available area, redefines that area as a vehicle compartment and reserves it (Yes in step S501). During this search, the positions of each parked vehicle are measured via the vehicle compartment monitor unit 160 and registered in the vehicle compartment reservation database.

[0077] (Figure 5: Step S503) If there is no area that meets the vehicle compartment area requirements, in the second embodiment as well, a vehicle compartment area is secured by moving a parked vehicle (No in step S501). The vehicle compartment management unit 130 creates a parked vehicle list from the vehicle compartment reservation database 170 and sends it to the moving candidate vehicle selection unit 140. The moving candidate vehicle selection unit 140 checks whether each parked vehicle is capable of autonomous driving. The moving candidate vehicle selection unit 140 checks the functional conditions of each parked vehicle, such as whether it can move from the vehicle compartment by driverless autonomous driving, and if the conditions are met, adds the vehicle information to the moving candidate vehicle list. In addition, parking purpose information of each parked vehicle is also acquired, and the parking purpose level is also evaluated and added to the vehicle information as in the first embodiment.

[0078] (Figure 5: Step S504) The movement management unit 150 creates a movement plan for parked vehicles to secure an area suitable for the vehicle 30's cabin area requirements. The movement management unit 150 calculates the amount of movement to move closer to the vehicle's side based on the position information of each vehicle from the movement candidate vehicle list. For example, in FIG. 4, the first movement candidate vehicle 210 and the second movement candidate vehicle 220 move closer to the vehicle's side in turn, shortening the distance between the vehicles and thereby securing a cabin area for the vehicle 30 behind the second movement candidate vehicle 220. In step S504, the movement amount and movement order required to move closer to the vehicle's side for the first movement candidate vehicle 210 and the second movement candidate vehicle 220 are determined as a movement plan.

[0079] (Figure 5: Step S505) Based on the movement plan created in step S504, the movement management unit 150 instructs the first movement candidate vehicle 210 and the second movement candidate vehicle 220 to move forward in sequence in accordance with the movement order. Each vehicle that receives the movement instruction determines whether or not it is possible to move, confirms with the owner or user, starts movement control, and notifies the movement management unit 150 of the movement result or the result of the movement possibility determination, in the same manner as in step S307 in the first embodiment.

[0080] In addition, if the movement management unit 150 determines that an area in which the vehicle 30 can be parked cannot be secured by moving each candidate moving vehicle within the parking and stopping accommodation area 200 (i.e., by moving it to the side), the movement management unit 150 may output an instruction to move at least one of the candidate moving vehicles outside the parking and stopping accommodation area 200 (e.g., to another parking and stopping accommodation area).

[0081] <Mechanism to let you know that you have made a reservation> When the movement of the candidate vehicle is completed, the vehicle compartment management unit 130 reserves the area secured by the movement as a vehicle compartment area, and notifies the vehicle 30 that has requested parking of the reserved vehicle compartment.

[0082] When the cruise control system 20 reserves a vehicle compartment area, a reserved mark may be displayed in the area so that the user and each vehicle can know that the vehicle compartment area is a reserved area. Also, each vehicle may be notified that the area has been reserved.

[0083] <Example 2: Summary> The driving control system 20 according to the second embodiment prioritizes securing cabin space by moving parked vehicles closer to the road, and by dynamically moving each cabin of a parked vehicle, it is possible to effectively utilize the cabin space for parking vehicles with various cabin space requirements.

[0084] <Modifications of the present invention> The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

[0085] The above-described configurations, functions, processing units, processing means, etc. may be implemented in part or in whole in hardware, for example, by designing them as integrated circuits. Furthermore, the above-described configurations, functions, etc. may be implemented in software by a processor interpreting and executing a program that implements each function. Information such as programs, tables, and files that implement each function may be stored in memory, a recording device such as a hard disk or solid-state drive (SSD), or a computer-readable non-transitory data recording medium such as an IC card or SD card. Furthermore, the control lines and information lines shown are those considered necessary for explanation, and not all control lines and information lines in the product are necessarily shown. In reality, it can be assumed that almost all components are interconnected.

[0086] The system according to the embodiment of the present invention may be configured as follows, for example.

[0087] (1) A mobile control system having a calculation unit (e.g., calculation unit 231), a memory unit (e.g., memory unit 232), and a communication unit (e.g., communication unit 235), in which the memory unit stores reservation information (e.g., vehicle space reservation database 170) for a storage area (e.g., parking storage area 10 or 200) for a mobile body (e.g., vehicle), and when the calculation unit receives reservation information for storage in the storage area from a first mobile body (e.g., vehicle 30), determines whether there is any available space in the storage area that can accommodate the first mobile body based on the reservation information (e.g., step S303), and if there is no available space that can accommodate the first mobile body, calculates the movement priority of the mobile body accommodated in the storage area based on the reservation information (e.g., step S306), and outputs a movement instruction via the communication unit to at least one mobile body with a high movement priority (e.g., at least one of mobile vehicle 40, first mobile candidate vehicle 210, and second mobile candidate vehicle 220) to generate an available space that can accommodate the first mobile body (e.g., step S307).

[0088] This allows for securing a parking and stopping area when a new moving body (e.g., a vehicle) with a high need for parking and stopping requests to park and stop, by giving priority to moving parked vehicles with a low need for parking and stopping.

[0089] (2) In (1) above, the accommodation reservation information includes information indicating the degree of necessity of accommodating the accommodated mobile body, and the calculation unit calculates the movement priority so that the higher the necessity of accommodating, the lower the movement priority.

[0090] This allows parked vehicles that have little need to be parked to be moved preferentially.

[0091] (3) In (2) above, the degree of necessity for accommodating the accommodated mobile object is determined based on at least one of the condition of the accommodated mobile object, the positional relationship between the accommodation area and the user of the accommodated mobile object, and the fee paid by the user for accommodation.

[0092] This allows the necessity of parking to be properly evaluated.

[0093] (4) In (3) above, the calculation unit determines the degree of necessity for accommodating the accommodated mobile body so that the necessity for accommodating the accommodated mobile body becomes high in at least one of the following cases: when there is an abnormality in the accommodated mobile body; when there is a high need for energy replenishment in the accommodated mobile body; when the distance between the accommodation area and the user of the accommodated mobile body is short; and when the fee paid by the user for accommodation is high.

[0094] This allows the necessity of parking to be properly evaluated.

[0095] (5) In (2) above, the accommodation reservation application information includes information indicating the degree of necessity for accommodating the first mobile body, and if the necessity for accommodating the accommodated mobile body is higher than the necessity for accommodating the first mobile body, the calculation unit does not output a movement instruction for the accommodated mobile body.

[0096] This prevents vehicles that are relatively in need of parking from moving.

[0097] (6) In (1) above, the accommodation reservation information includes at least one of information indicating an abnormality in the accommodated moving body and information indicating the need for energy replenishment, and the calculation unit calculates the movement priority so that the movement priority of the moving body is low when the accommodated moving body is abnormal or there is a high need for energy replenishment.

[0098] This makes it possible to automatically determine the vehicle that should be given priority for movement according to predetermined conditions.

[0099] (7) In (1) above, the accommodation reservation information includes information indicating the purpose of accommodation of the accommodated mobile object, and when the calculation unit instructs the mobile object accommodated in the accommodation area to move, it outputs information recommending a destination and a route to the destination based on the purpose of accommodation of the mobile object.

[0100] This reduces the inconvenience to users caused by travel.

[0101] (8) In (1) above, when the calculation unit instructs a moving body with a high movement priority to move, it transmits information to the user of the moving body requesting consent to the movement, and if consent is obtained, it instructs the moving body to move.

[0102] This reduces the inconvenience to users caused by travel.

[0103] (9) In the above (1), when the calculation unit instructs a moving object with a high moving priority to move, it outputs information indicating the price to be paid to the owner or user of the moving object.

[0104] This reduces the inconvenience to users caused by travel.

[0105] (10) In (1) above, the storage area includes one or more compartments (e.g., vehicle compartments) each capable of accommodating one mobile object, the memory unit stores information indicating the location of each compartment and information indicating at least one of the conditions for the size and weight of the mobile object that can be accommodated in each compartment (e.g., compartment information 180), the storage reservation application information from the first mobile object includes the size and weight of the first mobile object, the calculation unit determines that there is no available space capable of accommodating the first mobile object if there is no available space within the storage area that satisfies the size and weight conditions for the first mobile object (e.g., step S303), and the movement instruction to generate an available space capable of accommodating the first mobile object is an instruction to move to another compartment within the storage area or an instruction to move outside the storage area.

[0106] This allows appropriate determination of movement in the case of a fixed vehicle compartment.

[0107] (11) In (1) above, the accommodation reservation information includes the position and size of the moving body already accommodated in the accommodation area, and the accommodation reservation application information from the first moving body includes the size of the first moving body. If there is no available space available to accommodate the first moving body, the calculation unit determines whether available space available to accommodate the first moving body can be created by moving at least one moving body with a high movement priority within the accommodation area, and if available space available to accommodate the first moving body can be created, outputs an instruction to move at least one moving body with a high movement priority within the accommodation area, and if it is not possible to create available space available to accommodate the first moving body, outputs an instruction to move at least one moving body with a high movement priority outside the accommodation area (steps S503 to S505).

[0108] This allows appropriate determination of movement in the case of a variable compartment.

[0109] (12) In (1) above, the accommodation reservation information includes information indicating whether the moving bodies accommodated in the accommodation area are capable of autonomous movement, and the calculation unit calculates the movement priority of the moving bodies that are capable of autonomous movement among the moving bodies accommodated in the accommodation area (e.g., steps S305 and S306).

[0110] This allows a vehicle capable of autonomous movement to be selected as the object of movement.

[0111] (13) In (1) above, the system further includes a terminal device (e.g., terminal 260) connected to the communication unit via a network, and the terminal device transmits accommodation reservation application information for accommodating the first moving body in the accommodation area (e.g., step S301).

[0112] This allows you to make a reservation for parking via the network.

[0113] (14) In (1) above, the system further includes a terminal device (e.g., terminal 260) connected to the communication unit via a network, and upon receiving a movement instruction, the terminal device transmits the movement instruction to the control device of the moving body.

[0114] This allows a vehicle capable of autonomous movement to move. [Explanation of symbols]

[0115] 10: Parking area 20: Driving control system 30: Vehicle 40: Mobile vehicle 50: Vehicle interior 60: Communication Network 120: Reservation Management Department 130: Cabin management department 140: Travel candidate vehicle selection department 150:Mobility Management Department 160: Vehicle interior monitor unit 170: Parking space reservation database 180:Plot information 200: Parking area 210: First moving candidate vehicle 220:Second movement candidate vehicle 231: Arithmetic section 232: Storage section 233: Input section 234: Display section 235: Communications Department

Claims

1. A mobile air traffic control system, The device has a calculation unit, a storage unit, and a communication unit, the storage unit holds accommodation reservation information for an accommodation area of ​​a mobile object; the accommodation reservation information includes the position and size of a moving object already accommodated in the accommodation area; The calculation unit When receiving accommodation reservation application information from a first moving object for the accommodation area, including the size of the first moving object, determining whether or not there is an empty space in the accommodation area that can accommodate the first moving object based on the accommodation reservation information; If there is no available space capable of accommodating the first moving object, calculate a movement priority of the moving objects accommodated in the accommodation area based on the accommodation reservation information, and determine whether or not a space capable of accommodating the first moving object can be generated by moving at least one moving object with a high movement priority within the accommodation area; When it is possible to generate a free space capable of accommodating the first moving object, outputting, via the communication unit, an instruction to move at least one of the moving objects having a high movement priority within the accommodation space as a movement instruction for generating a free space capable of accommodating the first moving object; A mobile control system characterized by outputting, via the communication unit, an instruction to move at least one of the mobile bodies having a high movement priority outside the accommodation area as a movement instruction to create an empty area capable of accommodating the first mobile body when it is not possible to create an empty area capable of accommodating the first mobile body.

2. The mobile control system according to claim 1, The accommodation reservation information includes information indicating the degree of necessity of accommodating the accommodated mobile object, A movement control system characterized in that the calculation unit calculates the movement priority so that the movement priority becomes lower as the need for accommodation becomes higher.

3. 3. The mobile control system according to claim 2, A mobile control system characterized in that the degree of necessity for accommodating the accommodated mobile body is determined based on at least one of the condition of the accommodated mobile body, the positional relationship between the accommodation area and the user of the accommodated mobile body, and the fee paid by the user for accommodation.

4. The mobile control system according to claim 3, A mobile control system characterized in that the calculation unit determines the degree of necessity of accommodating the accommodated mobile body so that the necessity of accommodating the accommodated mobile body becomes high in at least one of the following cases: when there is an abnormality in the accommodated mobile body; when there is a high need for energy replenishment for the accommodated mobile body; when the distance between the accommodation area and the user of the accommodated mobile body is short; and when the fee paid by the user for accommodation is high.

5. 3. The mobile control system according to claim 2, the accommodation reservation application information includes information indicating the degree of necessity for accommodating the first moving object, A mobile control system characterized in that the calculation unit does not output the movement instruction to the accommodated mobile body if the need to accommodate the accommodated mobile body is higher than the need to accommodate the first mobile body.

6. The mobile control system according to claim 1, the accommodation reservation information includes at least one of information indicating an abnormality in the accommodated moving body and information indicating a need for energy replenishment, A mobile control system characterized in that the calculation unit calculates the movement priority so that the movement priority of the accommodated mobile body is low when the accommodated mobile body is abnormal or in high need of energy replenishment.

7. The mobile control system according to claim 1, The accommodation reservation information includes information indicating the purpose of accommodating the accommodated mobile object, A mobility control system characterized in that, when instructing a mobile object housed in the housing area to move, the calculation unit outputs information recommending a destination and a route to the destination based on the purpose of housing the mobile object.

8. The mobile control system according to claim 1, A mobility control system characterized in that, when instructing a mobile body with a high mobility priority to move, the calculation unit transmits information to the user of the mobile body requesting consent to the move, and if consent is obtained, instructs the mobile body to move.

9. The mobile control system according to claim 1, A mobility control system characterized in that the calculation unit outputs information indicating a price to be paid to the owner or user of a mobile body when instructing the mobile body with a high mobility priority to move.

10. The mobile control system according to claim 1, the storage area includes one or more compartments each for storing one of the moving objects; the storage unit holds information indicating the position of each of the compartments and information indicating at least one of the size and weight of the moving object that can be accommodated in each of the compartments; the accommodation reservation application information from the first moving object includes the size and weight of the first moving object; the calculation unit determines that there is no vacant area capable of accommodating the first moving object when there is no vacant area within the accommodation area where the size and weight of the first moving object satisfy the conditions; A mobile control system characterized in that the movement instruction to create an empty space capable of accommodating the first moving body is an instruction to move to another section within the storage area or an instruction to move outside the storage area.

11. A mobile control system according to claim 1, the accommodation reservation information includes information indicating whether the moving body accommodated in the accommodation area is capable of autonomous movement; A mobility control system characterized in that the calculation unit calculates the mobility priority of autonomously movable mobile bodies among the mobile bodies accommodated in the accommodation area.

12. A mobile control system according to claim 1, Further, a terminal device connected to the communication unit via a network is provided. The mobile control system is characterized in that the terminal device transmits the accommodation reservation application information for accommodating the first moving object in the accommodation area.

13. A mobile control system according to claim 1, Further, a terminal device connected to the communication unit via a network is provided. A mobile control system characterized in that, when the terminal device receives the movement instruction, it transmits the movement instruction to a control device of the mobile body.

14. A mobile traffic control method executed by a mobile traffic control system, comprising: the mobile control system includes a calculation unit, a storage unit, and a communication unit; the storage unit holds accommodation reservation information for an accommodation area of ​​a mobile object; the accommodation reservation information includes the position and size of a moving object already accommodated in the accommodation area; The movement control method includes: a step in which, when the calculation unit receives accommodation reservation application information from a first moving object to the accommodation area, including the size of the first moving object, the calculation unit determines whether or not there is an empty space in the accommodation area that can accommodate the first moving object based on the accommodation reservation information; a step in which, when there is no free space capable of accommodating the first moving object, the calculation unit calculates a movement priority of the moving objects accommodated in the accommodation area based on the accommodation reservation information, and determines whether a free space capable of accommodating the first moving object can be generated by moving at least one moving object with a high movement priority within the accommodation area; a step in which, when a free space capable of accommodating the first moving object can be generated, the calculation unit outputs, via the communication unit, an instruction to move at least one of the moving objects having a high movement priority within the accommodating space as a movement instruction for generating a free space capable of accommodating the first moving object; a step in which, if it is not possible to generate an empty space capable of accommodating the first moving body, the calculation unit outputs, via the communication unit, an instruction to move at least one of the moving bodies having a high movement priority outside the accommodating area as a movement instruction to generate an empty space capable of accommodating the first moving body.

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