Automated driving system, traffic rescheduling method, and traffic rescheduling program

Abstract

To provide an automatic driving system, a driving arrangement method, and a driving arrangement program that can accurately set risk areas and enable safe automatic driving.SOLUTION: An automatic driving system includes: a risk area setting unit 111 that identifies risk types from planning or operational field information recorded in a business information database 101 and an infrastructure information database 103 and sets a predetermined area in a field area as a risk area based on the risk type; and a vehicle route setting unit 117 that sets a travel route for a vehicle 2 based on vehicle location information of the vehicle 2 traveling in the field area and the risk area set by the risk area setting unit 111.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an automatic driving system, a timetable rescheduling method, and a timetable rescheduling program. [Background technology]

[0002] There is an infrastructure-cooperative autonomous driving system that uses infrastructure information detected by infrastructure sensors installed in the field to drive vehicles automatically within the field. Unlike control methods that use sensors on individual vehicles (on-board sensors), infrastructure-cooperative autonomous driving systems can ensure safety against accidents that are difficult to avoid using on-board sensors alone, such as vehicles suddenly appearing in the blind spots of on-board sensors, by installing infrastructure sensors on the field. Using field information from infrastructure sensors, autonomous driving systems can grasp object information (hazard information) regarding the many areas they control / manage.

[0003] The hazardous state identified from the acquired information differs depending on the type of risk that constitutes the hazardous state. For example, a hazardous state caused by an accident increases the hazard potential in the surrounding area due to the accident response and other factors. Therefore, it is necessary to designate a wide area as a hazardous area (also referred to as a risk area) due to the hazardous state. Furthermore, if the risk value of a specific area in the designated wide hazardous area decreases, it is necessary to partially cancel the hazardous area designation of the area where the risk value has decreased, from the perspective of productivity.

[0004] Patent Document 1 is a known technique relating to vehicle control / operation management that takes such area risks into consideration.

[0005] Patent Document 1 describes the problem as follows: "When processing areas where dangerous conditions occur frequently, even though it is a single sudden braking event, the frequency of occurrence increases, and the area is mistakenly recognized as an area where dangerous conditions occur frequently." As a solution, it describes the following: "From vehicle driving information, a first time and first location at which a dangerous condition occurred in a first vehicle, and a second time and second location at which a dangerous condition occurred in a second vehicle are extracted, and when it is detected that the extracted first time and second time are within a predetermined time range and that the first location and the second location are within a predetermined distance range, the occurrence of the dangerous condition in the first vehicle and the occurrence of the dangerous condition in the second vehicle are integrated and counted as the occurrence of a single dangerous condition." [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-075791 Summary of the Invention [Problem to be solved by the invention]

[0007] The conventional technology described in the above-mentioned Patent Document 1 prevents the expansion of dangerous areas by integrating the number of safety controls in dangerous situations such as sudden braking, but since it determines dangerous areas only based on sudden braking events, there is a possibility that dangerous areas will be overlooked due to incorrect judgment.

[0008] The present invention has been made in consideration of the above circumstances, and its purpose is to provide an automatic driving system, a traffic rescheduling method, and a traffic rescheduling program that can accurately set risk areas to achieve safe automatic driving. [Means for solving the problem]

[0009] In order to solve the above problems, the autonomous driving system of the present invention is characterized by comprising: a business information database that records business information related to business plans or business changes within a site area; an infrastructure information database that records infrastructure information from infrastructure sensors within the site area; a risk area setting unit that identifies a risk type from the planned or operational site information recorded in the business information database and the infrastructure information database and sets a specified area of ​​the site area as a risk area based on the risk type; and a vehicle route setting unit that sets a driving route for the vehicle based on vehicle position information of the vehicle traveling within the site area and the risk area set by the risk area setting unit.

[0010] In addition, the traffic rescheduling method of the present invention is characterized by including: a business information recording step for recording business information related to business plans or business changes within a site area; an infrastructure information recording step for recording infrastructure information from infrastructure sensors within the site area; a risk area setting step for identifying a risk type from the planned or operational site information recorded in the business information recording step and the infrastructure information recording step, and setting a specified area within the site area as a risk area based on the risk type; and a vehicle route setting step for setting a driving route for a vehicle traveling within the site area based on vehicle position information of the vehicle and the risk area set in the risk area setting step.

[0011] In addition, the operation rescheduling program of the present invention is characterized in that it causes a computer to execute the following steps: a business information recording procedure for recording business information related to business plans or business changes within a site area; an infrastructure information recording procedure for recording infrastructure information from infrastructure sensors within the site area; a risk area setting procedure for identifying a risk type from the planned or operational site information recorded in the business information recording procedure and the infrastructure information recording procedure and setting a specified area within the site area as a risk area based on the risk type; and a vehicle route setting procedure for setting a driving route for a vehicle traveling within the site area based on vehicle position information of the vehicle and the risk area set in the risk area setting procedure. [Effects of the Invention]

[0012] According to the present invention, risk types are identified from site information and risk areas are set from the site area, so that risk areas can be set accurately to achieve safe automated driving.

[0013] Problems, configurations, and effects other than those described above will become clear from the following description of the embodiments. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a schematic configuration diagram of an autonomous driving system according to an embodiment of the present invention. [Figure 2] 1 is a configuration diagram of an autonomous driving system according to an embodiment of the present invention. [Figure 3] FIG. 10 is an explanatory diagram of a risk type DB. [Figure 4] FIG. 10 is an explanatory diagram of a risk area range DB. [Figure 5] FIG. 10 is an explanatory diagram of an area risk value list DB. [Figure 6] 10 is an explanatory diagram of an example of the operation of the risk area setting unit to set a risk area; FIG. [Figure 7] 10 is an explanatory diagram of an example of the operation of the risk area setting unit to cancel (reset) a risk area. FIG. [Figure 8]10 is an explanatory diagram of an example of the operation of a risk area setting unit and a vehicle route setting unit (risk area due to accident occurrence). FIG. [Figure 9] 10 is an explanatory diagram of an example of the operation of a risk area setting unit and a vehicle route setting unit (risk areas due to sensor blind spots and equipment failures). FIG. [Figure 10] 10 is an explanatory diagram of an example of the operation of a risk area setting unit and a vehicle route setting unit (risk areas due to people or manned vehicles). FIG. [Figure 11] 10A and 10B are explanatory diagrams illustrating examples of display on a display screen of an information display unit. [Figure 12] 4 is a flowchart of a main routine of the control device. [Figure 13] 10 is a flowchart of a subroutine (risk area setting process) of the control device. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0016] FIG. 1 is a schematic configuration diagram of an autonomous driving system 1 according to one embodiment of the present invention.

[0017] The automatic driving system 1 includes a vehicle (automatic driving vehicle) 2, an infrastructure sensor 3, and a control device 4.

[0018] The vehicle (autonomously driven vehicle) 2 receives driving route information from the control device 4 and performs autonomous driving within the site area, which is the driving area. Note that under certain circumstances, the vehicle (autonomously driven vehicle) 2 may perform autonomous driving within the site area using information acquired by sensors mounted on the vehicle 2, map information, etc. Furthermore, the vehicle (autonomously driven vehicle) 2 may output vehicle position information detected using information acquired by sensors mounted on the vehicle 2, map information, etc. to the control device 4.

[0019] The infrastructure sensor (also referred to as a field sensor) 3 is a sensor for detecting objects (target objects) within the site area. The infrastructure sensor 3 is composed of, for example, a camera, LiDAR, radar, etc. installed in the site area. The infrastructure sensor 3 outputs detection information of objects within the site area (hereinafter also referred to as infrastructure information) to the control device 4. The infrastructure sensor 3 may also detect a vehicle 2 traveling within the site area and output the vehicle position information to the control device 4.

[0020] The control device 4 sets a travel route for the vehicle 2 within the site area based on the detection information (infrastructure information) of the infrastructure sensors 3, and transmits the set travel route to the vehicle 2 via wireless communication.

[0021] FIG. 2 is a configuration diagram of the autonomous driving system 1 according to one embodiment of the present invention, and particularly shows the internal configuration of the control device 4.

[0022] The control device 4 of the autonomous driving system 1 includes, as storage units, a business information database (DB) 101, a risk type database (DB) 102, an infrastructure information database (DB) 103, a risk area range database (DB) 105, an area risk value list database (DB) 107, and a vehicle route list database (DB) 109, and, as functional units, a risk area setting unit 111, a vehicle route setting unit (also referred to as a reroute setting unit) 117, and an information display unit 119. The risk area setting unit 111 includes an area risk value calculation unit 113 and a risk area detection unit 115.

[0023] The business information DB 101 stores (records) business information related to business plans or business changes input or transmitted by the system operator. The business information here includes planned site information such as road and equipment maintenance information within the site area.

[0024] The infrastructure information DB 103 stores (records) detection information (infrastructure information) from the infrastructure sensors 3. The infrastructure information here includes operational site information such as information on the presence or absence of people and vehicles (manned vehicles, autonomous vehicles, etc.) within the site area and information on sensor blind spots.

[0025] The risk type DB 102 stores (records) information on risk scores (risk values) for each risk type. As shown in Fig. 3, in the risk type DB 102, the risk values ​​are managed separately for each risk type.

[0026] The risk area range DB 105 stores (records) a risk area range setting table that sets the range of a risk area based on a risk type and an area risk value, as will be described later. The risk area range setting table is a table that defines the relationship between the risk type included in a detection area, as will be described later, and the risk area setting range, as shown in Fig. 4.

[0027] As shown in Figure 5, the area risk value list DB107 stores (records) area risk values ​​(total risk values) calculated for each predetermined area in the site area, as well as information on risk areas set based on the area risk values ​​and risk types (details will be explained later).

[0028] The vehicle route list DB 109 stores (records) information on the travel route (vehicle route) for each vehicle 2 set based on the risk area, as will be described later.

[0029] The area risk value calculation unit 113 of the risk area setting unit 111 identifies a risk type from business information related to business plans or business changes stored in the business information DB 101 or detection information (infrastructure information) from the infrastructure sensors 3 stored in the infrastructure information DB 103, and calculates an area risk value for the entire area managed by the system (in other words, the detection area of ​​the infrastructure sensors 3). The area risk value calculation unit 113 calculates an area risk value for each predetermined area set in advance within the site area based on the identified risk type. The area risk value calculation unit 113 refers to the risk type DB 102 (FIG. 3) and determines the area risk value for each predetermined area by the sum of the risk values ​​of the identified risk types. The area risk value calculated for each predetermined area is stored in the area risk value list DB 107 (FIG. 5) together with the risk types that make up the area risk value.

[0030] The risk area detection unit 115 of the risk area setting unit 111 compares the area risk value calculated previously (previously or at a certain point in time) with the current area risk value, and if a certain amount of change occurs, sets a risk area according to the risk types that make up the area risk value (in other words, according to the combination with the risk types that make up the area risk value). Combinations with risk types include combinations where an accident has occurred, combinations where people or manned vehicles are present, combinations where a sensor blind spot is present, combinations where equipment failure is present, etc. (See also FIG. 4).

[0031] In detail, the risk area detection unit 115 compares the area risk value calculated previously (the last time or at a certain point in time) with the current area risk value, and identifies as a detection area a specified area where the increase in the area risk value exceeds a specified change amount.

[0032] The risk area detection unit 115 checks the risk area range setting table (FIG. 4) of the risk area range DB 105, and if the risk type constituting the area risk value of the detection area matches the risk type in the risk area range setting table, it sets the risk area based on the risk area setting range of the risk area range setting table. In the example shown in FIG. 4, if the risk type of the detection area includes "accident," a wide area (such as the detection area + two adjacent areas) is set as the risk area. Also, if the risk type of the detection area includes "equipment failure" or "sensor blind spot," the detection area + one adjacent area is set as the risk area. Also, if the risk type of the detection area includes "person" or "manned vehicle," only the detection area is set as the risk area.

[0033] Fig. 6 shows an example of the risk area setting operation of the risk area setting unit 111. In the example shown in Fig. 6, as a result of the risk area setting unit 111 calculating the area risk value, a certain amount of change has occurred in area B (the increase in the area risk value exceeds a predetermined amount of change). Then, for reasons such as the risk types of area B including "equipment failure" and "sensor blind spot," area B, as well as areas A and C adjacent to area B, are set as risk areas.

[0034] In addition, the risk area setting unit 111 (risk area detection unit 115) focuses on the amount of change in the area risk value for an area set as a risk area, and when the area risk value decreases by a certain amount (in other words, when the amount of decrease in the area risk value of a specified area set as a risk area exceeds a specified amount of change), it performs a risk area (re)setting to remove the area from the risk area.

[0035] Fig. 7 shows an example of the operation of releasing (resetting) a risk area in the risk area setting unit 111. In the example shown in Fig. 7, as a result of the risk area setting unit 111 calculating the area risk value, a certain amount of change occurs in area C (the amount of decrease in the area risk value exceeds a predetermined amount of change). Then, area C is released from the risk area and a risk area is (re)set.

[0036] Information on the risk areas set by the risk area setting unit 111 (the risk area detection unit 115) is stored in the area risk value list DB 107 (FIG. 5).

[0037] The vehicle route setting unit 117 resets (reroutes) the driving route of the vehicle 2 traveling within the site area based on the vehicle position information of the vehicle 2 traveling within the site area and the risk area information extracted from the area risk value list DB 107. As described above, the vehicle position information may be detected based on the detection information (infrastructure information) of the infrastructure sensor 3, or may be detected using information acquired by a sensor mounted on the vehicle 2, map information, etc.

[0038] The vehicle route setting unit 117 sets driving routes based on different conditions for a vehicle that is present within a risk area, a vehicle that is present outside the risk area, and a vehicle that is planning to travel from outside the risk area into the risk area. In other words, the vehicle route setting unit 117 changes the driving route of the vehicle 2 depending on whether the vehicle is traveling inside or outside the risk area or traveling from outside the risk area into the risk area.

[0039] As described above, the risk area setting range differs depending on the type of risk in the area (risk area setting unit 111), and the reroute setting method for the vehicle 2 located inside and outside the risk area differs (vehicle route setting unit 117). Specific examples of the reroute setting method of the vehicle route setting unit 117 will be described for each type of risk (risk type) together with the risk area setting method of the risk area setting unit 111 using Figs. 8 to 10.

[0040] (1) Risk areas due to accidents When an accident occurs, work vehicles and emergency vehicles will enter to respond to the accident, and the risk potential (risk value) of the wide area will increase significantly. Therefore, the risk area setting unit 111 sets the wide area including the location of the accident (detection area) (for example, the detection area plus two adjacent areas, and all areas used for vehicle travel to handle the accident) as a risk area (see the risk area range setting table of the risk area range DB 105 in FIG. 4).

[0041] In this case, the vehicle route setting unit 117 sets a reroute for an autonomous vehicle that is present inside the risk area to quickly exit the wide-area risk area (see the left diagram in FIG. 8).

[0042] Furthermore, for an autonomously driven vehicle that is outside a risk area, the vehicle route setting unit 117 sets a reroute that does not enter a wide-area risk area (see the right diagram in FIG. 8).

[0043] (2) Risk areas due to sensor blind spots and equipment failure When an equipment failure or a sensor blind spot occurs, a work vehicle enters to deal with the equipment failure or remove the sensor blind spot, increasing the risk potential (risk value) of the surrounding area. Therefore, the risk area setting unit 111 sets the surrounding area (for example, the detection area + one adjacent area) including the location where the dangerous event occurred (detection area) as a risk area (see the risk area range setting table of the risk area range DB105 in FIG. 4).

[0044] In this case, the vehicle route setting unit 117 sets a reroute for an autonomously driven vehicle that is present inside the risk area so that the vehicle does not travel through the dangerous incident occurrence area (see the left diagram in FIG. 9).

[0045] Furthermore, for an automatically driven vehicle that is outside a risk area, the vehicle route setting unit 117 sets a reroute that does not enter the risk area (see the right diagram in FIG. 9).

[0046] (3) Risk areas due to people and manned vehicles Even if there are many people and manned vehicles, there are no intrusions of work vehicles, etc., so the risk potential (risk value) of the surrounding area does not change. Therefore, the risk area setting unit 111 sets only the location where the dangerous event occurred (detection area) as the risk area (see the risk area range setting table of the risk area range DB 105 in FIG. 4).

[0047] In this case, the vehicle route setting unit 117 sets a reroute for the automatically driven vehicle that does not travel through the risk area, regardless of whether the vehicle is inside or outside the risk area (see FIG. 10).

[0048] Information about the travel route set by the vehicle route setting unit 117 is transmitted by wireless communication to the vehicle 2. The vehicle 2 can perform automatic driving (automatic travel) within the site area based on the travel route transmitted from the vehicle route setting unit 117.

[0049] Furthermore, information on the travel route set by the vehicle route setting unit 117 is stored in the vehicle route list DB 109 .

[0050] 11, the information display unit 119 displays, on a display screen on the system operator's desk, the area risk value for each area within the site area, the set risk areas, the set driving routes of each vehicle, etc., from the information stored in the area risk value list DB 107 and the vehicle route list DB 109. By referring to the display screen on the desk, the system operator can, for example, grasp the risk areas and correct the driving routes of each vehicle.

[0051] 12 and 13 are flowcharts of the main routine and subroutine (risk area setting process) of the control device 4, respectively.

[0052] In step S200 of FIG. 12, it is determined whether or not the sensor data has been registered in the system, and if the sensor data has been registered in the system, the process proceeds to step S201.

[0053] In step S201, it is determined whether or not the business plan and business change data have been registered in the system, and if the business plan and business change data have been registered in the system, the process proceeds to step S202.

[0054] In step S202, the data registered in steps S200 and S201 is read out.

[0055] In step S203, the area risk value calculation unit 113 of the risk area setting unit 111 calculates an area risk value for each area within the site region.

[0056] In step S204, the risk area detection unit 115 of the risk area setting unit 111 executes a risk area setting process.

[0057] In step S205, the vehicle route setting unit 117 executes a vehicle reroute setting process based on the risk area set in step S204.

[0058] In step S206, the information display unit 119 displays the area risk value calculated in step S203, the risk area set in step S204, the travel route (reroute) set in S205, and the like.

[0059] In the risk area setting process of step S204, in step S300 of FIG. 13, the area risk value before update for the entire area is obtained from the area risk value data.

[0060] In step S301, the area risk values ​​before and after the update for the entire area are compared.

[0061] In step S302, it is determined whether the area risk value has increased by a certain amount between before and after the update (whether the increase in the area risk value has exceeded a predetermined amount of change). If it has increased by a certain amount, proceed to step S303, set the range of the risk area based on the risk type in the area risk value (FIGS. 4 and 6), and proceed to step S304. If it has not increased by a certain amount, skip step S303 and proceed to step S304.

[0062] In step S304, it is determined whether the area risk value has decreased by a certain amount between before and after the update (whether the amount of decrease in the area risk value of the specified area set as the risk area has exceeded a certain amount of change). If it has decreased by a certain amount, proceed to step S305, and the range of the risk area is reduced and set according to the risk type (Figures 4 and 7). If it has not decreased by a certain amount, step S305 is skipped and the risk area setting process is terminated.

[0063] As described above, the autonomous driving system 1 of this embodiment comprises a business information database 101 that records business information related to business plans or business changes within a site area, an infrastructure information database 103 that records infrastructure information from infrastructure sensors 3 within the site area, a risk area setting unit 111 that identifies a risk type from planned or operational site information recorded in the business information database 101 and the infrastructure information database 103 and sets a specified area of ​​the site area as a risk area based on the risk type, and a vehicle route setting unit 117 that sets a driving route for the vehicle 2 based on vehicle position information of the vehicle 2 traveling within the site area and the risk area set by the risk area setting unit 111.

[0064] The risk area setting unit 111 calculates an area risk value based on the risk type for each predetermined area in the site area, and sets the predetermined area identified based on the risk type and the area risk value as the risk area.

[0065] The risk area setting unit 111 identifies a specified area in which the increase in the area risk value exceeds a specified change amount as a detection area, and sets the specified area identified based on the detection area and the risk type that constitutes the area risk value of the detection area (in combination with the risk type) as the risk area.

[0066] The risk area setting unit 111 has a risk area range database 105 that records a risk area range setting table that sets the range of the risk area based on the risk type and the area risk value, and sets the range of the risk area based on the risk area range setting table recorded in the risk area range database 105.

[0067] When the amount of decrease in the area risk value of the predetermined area set as the risk area exceeds a predetermined amount of change, the risk area setting unit 111 resets the risk area.

[0068] When the amount of decrease in the area risk value of the predetermined area set as the risk area exceeds a predetermined amount of change, the risk area setting unit 111 (partially) removes the predetermined area from the risk area.

[0069] That is, the autonomous driving system 1 of this embodiment identifies risk types from planned or operational site information, and For each area, An area risk value is calculated based on the risk type (area risk value calculation unit 113), a risk area is detected or set based on the risk type and the area risk value (risk area detection unit 115), and a vehicle driving route is set based on the risk area (vehicle route setting unit 117).

[0070] According to this embodiment, risk types are identified from site information and risk areas are set from the site area, so that risk areas can be set accurately to achieve safe automated driving.

[0071] It should be noted that the present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to an embodiment having all of the described configurations.

[0072] Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. The above-described configurations, functions, etc. may also be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the programs, tables, and files that implement each function can be stored in a memory, a storage device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0073] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected. [Explanation of symbols]

[0074] 1. Autonomous driving system 2 vehicles 3 Infrastructure sensors 4 Control equipment 101 Business Information Database (DB) 102 Risk Type Database (DB) 103 Infrastructure Information Database (DB) 105 Risk Area Range Database (DB) 107 Area Risk Value List Database (DB) 109 Vehicle Route List Database (DB) 111 Risk Area Setting Department 113 Area Risk Value Calculation Unit 115 Risk Area Detection Unit 117 Vehicle route setting unit 119 Information display section

Claims

1. a business information database that records business information related to business plans or business changes within a field area; an infrastructure information database that records infrastructure information obtained by infrastructure sensors within the site area; a risk area setting unit that identifies a risk type from planned or operational site information recorded in the business information database and the infrastructure information database, and sets a predetermined area of ​​the site area within a predetermined range based on the risk type as a risk area; A vehicle route setting unit that sets a driving route of the vehicle based on vehicle position information of the vehicle traveling within the site area and the risk area set by the risk area setting unit, The risk area setting unit calculates an area risk value for each specified area of ​​the site area by adding up the risk values ​​for each risk type, identifies specified areas where the increase in the area risk value exceeds a specified change amount as detection areas, and sets specified areas within a predetermined range based on the risk types that constitute the area risk value of the detection area as the risk area.

2. The automated driving system according to claim 1, The risk area setting unit has a risk area range database that records a risk area range setting table that sets the range of the risk area based on the risk type, and sets the range of the risk area based on the risk area range setting table recorded in the risk area range database.

3. The automated driving system according to claim 1, An autonomous driving system characterized in that the risk area setting unit re-sets the risk area when the amount of decrease in the area risk value of the specified area set as the risk area exceeds a specified amount of change.

4. The automated driving system according to claim 1, The risk area setting unit is characterized in that, when the amount of decrease in the area risk value of the specified area set as the risk area exceeds a specified amount of change, the specified area is removed from the risk area.

5. The automated driving system according to claim 1, The vehicle route setting unit sets a driving route for a vehicle located within the risk area based on a first condition, and sets a driving route for a vehicle located outside the risk area based on a second condition that is different from the first condition in the method of setting a driving route for the risk area.

6. The automated driving system according to claim 5, The autonomous driving system is characterized in that the vehicle route setting unit sets a driving route for a vehicle that is planned to travel from outside the risk area into the risk area based on a third condition that differs from the first condition and the second condition in the method of setting a driving route for the risk area.

7. a business information recording step of recording business information relating to business plans or business changes within a field area; an infrastructure information recording step of recording infrastructure information obtained by infrastructure sensors within the site area; a risk area setting step of identifying a risk type from the planned or operational site information recorded in the business information recording step and the infrastructure information recording step, and setting a predetermined area of ​​the site area within a range preset based on the risk type as a risk area; a vehicle route setting step of setting a driving route for the vehicle based on vehicle position information of the vehicle traveling within the site area and the risk area set in the risk area setting step, In the risk area setting step, the computer calculates an area risk value for each specified area of ​​the site area by adding up the risk values ​​for each risk type, identifies specified areas where the increase in the area risk value exceeds a specified change amount as detection areas, and sets specified areas within a predetermined range based on the risk types that constitute the area risk value of the detection area as the risk area, a traffic rescheduling method characterized by the above.

8. a business information recording procedure for recording business information relating to business plans or business changes within a field area; an infrastructure information recording step of recording infrastructure information obtained by infrastructure sensors within the site area; a risk area setting procedure for identifying a risk type from the planned or operational on-site information recorded in the business information recording procedure and the infrastructure information recording procedure, and setting a predetermined area of ​​the on-site area within a range preset based on the risk type as a risk area; a vehicle route setting procedure for setting a driving route of the vehicle based on vehicle position information of the vehicle traveling within the site area and the risk area set in the risk area setting procedure, In the risk area setting procedure, a traffic rescheduling program calculates an area risk value for each specified area of ​​the site area by adding up the risk values ​​for each risk type, identifies specified areas where the increase in the area risk value exceeds a specified change amount as detection areas, and sets specified areas within a predetermined range as the risk area based on the risk types that constitute the area risk value of the detection area.

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