Traffic detection method and traffic detection system

Abstract

A first vehicle (10) is an unmanned vehicle and holds a first digital certificate according to at least one among the usage of the first vehicle (10) and the service of the first vehicle (10), and a second vehicle (11) holds a second digital certificate according to at least one among the usage of the second vehicle (11) and the service of the second vehicle (11). This traffic determination method includes: an acquisition step (S1103) for acquiring the first digital certificate and the second digital certificate; and a determination step (S1105) in which when each of the first vehicle (10) and the second vehicle (11) travels through a transport route, which of the first vehicle (10) and the second vehicle (11) is to be given pass-through priority is determined by using the acquired first digital certificate and second digital certificate.

Description

Technical Field

[0001] The present disclosure relates to a passing determination method and a passing determination system for determining passing between vehicles in a first vehicle and a second vehicle that transport an object to a set location.

Background Art

[0002] In recent years, mobile bodies such as autonomous mobile robots have come to be used in daily life. For example, against the backdrop of an increase in logistics and the like, studies have been conducted on delivery services of articles (an example of an object) by autonomous mobile robots. Patent Document 1 discloses a technique for performing delivery of luggage using a luggage transport vehicle that autonomously travels and includes a luggage storage section.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when there are a plurality of vehicles performing services such as delivery services of such articles, it is desirable that the passing of the plurality of vehicles is appropriately performed according to the service content and the like for each of the plurality of vehicles.

[0005] Therefore, the present disclosure provides a determination method and a determination system capable of appropriately performing the passing of a plurality of vehicles. [[ID=四十一]]

Means for Solving the Problems

[0006] A passage determination method according to one aspect of the present disclosure is a passage determination method for determining passage between a first vehicle and a second vehicle that transport an object to a set location, wherein the first vehicle is an unmanned vehicle and holds a first digital certificate corresponding to at least one of the use of the first vehicle and the services of the first vehicle, and the second vehicle holds a second digital certificate corresponding to at least one of the use of the second vehicle and the services of the second vehicle, and the passage determination method includes an acquisition step of acquiring the first digital certificate and the second digital certificate, and a first determination step of determining which of the first vehicle and the second vehicle should be given priority when the first vehicle and the second vehicle are traveling along a transport route, using the acquired first digital certificate and the second digital certificate.

[0007] A traffic determination system according to one aspect of the present disclosure is a traffic determination system that makes determinations regarding traffic between a first vehicle and a second vehicle that transport an object to a set location, wherein the first vehicle is an unmanned vehicle and holds a first digital certificate corresponding to at least one of the use of the first vehicle and the services of the first vehicle, and the second vehicle holds a second digital certificate corresponding to at least one of the use of the second vehicle and the services of the second vehicle, and the traffic determination system comprises an acquisition unit that acquires the first digital certificate and the second digital certificate, and a determination unit that, when the first vehicle and the second vehicle each travel along a transport route, uses the acquired first digital certificate and the second digital certificate to determine which of the first vehicle and the second vehicle should be given priority to pass. [Effects of the Invention]

[0008] According to one aspect of this disclosure, it is possible to realize a traffic determination method that can appropriately manage the passage of multiple vehicles. [Brief explanation of the drawing]

[0009] [Figure 1]Figure 1 is a diagram showing an example of the overall configuration of the transportation system according to Embodiment 1. [Figure 2] Figure 2 is a block diagram showing an example of the functional configuration of a robot according to Embodiment 1. [Figure 3] Figure 3 shows an example of the configuration of a public key certificate according to Embodiment 1. [Figure 4] Figure 4 shows an example of a determination table according to Embodiment 1. [Figure 5] Figure 5 is a sequence diagram showing an example of the operation of the transport system according to Embodiment 1. [Figure 6] Figure 6 is a flowchart showing an example of the operation for detecting proximity between vehicles according to Embodiment 1. [Figure 7] Figure 7 shows an example of an image of avoidance behavior based on the priority determination result according to Embodiment 1. [Figure 8] Figure 8 shows an example of the overall configuration of a transport system according to a modified example of Embodiment 1. [Figure 9] Figure 9 is a block diagram showing an example of the functional configuration of a robot according to a modified example of Embodiment 1. [Figure 10] Figure 10 is a block diagram showing an example of the functional configuration of a roadside unit according to a modified example of Embodiment 1. [Figure 11] Figure 11 is a sequence diagram showing an example of the operation of a transport system according to a modified embodiment of the first embodiment. [Figure 12] Figure 12 is a flowchart showing an example of the operation for detecting the approach of a vehicle according to a modified example of Embodiment 1. [Figure 13] Figure 13 shows an example of the overall configuration of the transportation system according to Embodiment 2. [Figure 14] Figure 14 is a block diagram showing an example of the functional configuration of a robot according to Embodiment 2. [Figure 15] Figure 15 is a block diagram showing an example of the functional configuration of a service server according to Embodiment 2. [Figure 16]FIG. 16 is a block diagram showing an example of the functional configuration of a certification authority according to Embodiment 2. [Figure 17] FIG. 17 is a sequence diagram showing an example of an operation of issuing a newly public key certificate according to Embodiment 2. [Figure 18] FIG. 18 is a sequence diagram showing an example of an operation of switching a public key certificate for each provided service according to Embodiment 2. [Figure 19] FIG. 19 is a diagram showing an example of the overall configuration of a transportation system according to a modification of Embodiment 2. [Figure 20] FIG. 20 is a block diagram showing an example of the functional configuration of a robot according to a modification of Embodiment 2. [Figure 21] FIG. 21 is a block diagram showing an example of the functional configuration of a roadside unit according to a modification of Embodiment 2. [Figure 22] FIG. 22 is a block diagram showing an example of the functional configuration of a certification authority according to a modification of Embodiment 2. [Figure 23] FIG. 23 is a sequence diagram showing an example of an operation of issuing a CRL for managing the revocation of an already issued public key certificate according to a modification of Embodiment 2. [Figure 24] FIG. 24 is a sequence diagram showing an example of the operation of a transportation system according to a modification of Embodiment 2. [Figure 25] FIG. 25 is a diagram showing an example of a user interface screen.

MODE FOR CARRYING OUT THE INVENTION

[0010] (Background Leading to the Present Disclosure) In two vehicles performing a delivery service or the like, a part of the delivery route (an example of a transportation route) may overlap.Partial overlap of the delivery route includes the delivery routes intersecting and passing through the same section (for example, a crosswalk or a road with a width where vehicles can pass without colliding).In such a case, it is necessary to prioritize the passage of one of the two vehicles.

[0011] Here, the goods delivered by the vehicle (an example of the object) can be divided into those that need to be delivered urgently and those that do not. Similarly, the services provided by the vehicle (for example, delivery services) can be divided into those that need to be delivered urgently and those that do not.

[0012] If one or both of two vehicles are autonomous robots, a determination is made to determine which vehicle should have priority when the two vehicles meet. Ideally, this determination should be based on the goods being delivered or the services provided by the vehicles. For example, a vehicle delivering goods that require urgent delivery should be given priority over a vehicle delivering goods that do not require urgent delivery. Furthermore, it is desirable that the determination of which vehicle should have priority be made appropriately (e.g., fairly).

[0013] Therefore, the inventors of this application have diligently studied a traffic determination method and traffic determination system that can appropriately manage the passage of multiple vehicles, that is, a traffic determination method and traffic determination system that can appropriately determine which vehicle should be given priority, and have devised the traffic determination method and traffic determination system shown below.

[0014] A passage determination method according to one aspect of the present disclosure is a passage determination method for determining passage between a first vehicle and a second vehicle that transport an object to a set location, wherein the first vehicle is an unmanned vehicle and holds a first digital certificate corresponding to at least one of the use of the first vehicle and the services of the first vehicle, and the second vehicle holds a second digital certificate corresponding to at least one of the use of the second vehicle and the services of the second vehicle, and the passage determination method includes an acquisition step of acquiring the first digital certificate and the second digital certificate, and a first determination step of determining which of the first vehicle and the second vehicle should be given priority when the first vehicle and the second vehicle are traveling along a transport route, using the acquired first digital certificate and the second digital certificate.

[0015] This allows for a determination of which vehicle, the first or the second, should be given priority based on at least one of their intended use and services. Furthermore, since digital certificates are used for the determination, manipulation of the determination results can be suppressed. Therefore, the traffic determination method, which uses digital certificates to determine traffic based on at least one of the vehicle's intended use and services, allows for the appropriate management of traffic for multiple vehicles.

[0016] Furthermore, for example, in the first determination step, if there is an overlapping portion between the transport route of the first vehicle and the transport route of the second vehicle, the first digital certificate and the second digital certificate may be used to determine which of the first vehicle and the second vehicle should be given priority to pass through the overlapping portion.

[0017] This makes it possible to determine which of the first and second vehicles should have priority when passing through an overlapping section of their transport routes. Therefore, according to this passage determination method, when the first and second vehicles meet at an overlapping section of their transport routes, the passage of the two vehicles can be appropriately managed.

[0018] Furthermore, for example, in the first determination step, a first priority may be determined for the first vehicle to pass through the overlapping portion based on the first digital certificate, a second priority may be determined for the second vehicle to pass through the overlapping portion based on the second digital certificate, and based on the determined first and second priorities, a decision may be made as to which of the first and second vehicles should be given priority to pass.

[0019] This allows for decisions regarding passage to be made using priority.

[0020] Furthermore, the procedure may further include, for example, a second determination step of determining whether the first vehicle and the second vehicle are in close proximity around the overlapping portion, and if the second determination step determines that the first vehicle and the second vehicle are in close proximity, the acquisition step and the first determination step may be executed.

[0021] This allows for a determination regarding passage in the section where the transport routes of the first and second vehicles overlap when they are in close proximity. In other words, if the first and second vehicles do not meet in the section where the transport routes overlap, no passage determination is made. Therefore, unnecessary determination processing can be suppressed.

[0022] Furthermore, for example, the first digital certificate may be issued for each type of use of the first vehicle, and the second digital certificate may be issued for each type of use of the second vehicle.

[0023] This makes it possible to determine which vehicle, the first or the second, should be given priority for passage, depending on the intended use of each vehicle.

[0024] Furthermore, for example, the aforementioned usage category may include emergency vehicles.

[0025] This allows for the appropriate passage of multiple vehicles, depending on whether they are emergency vehicles or not.

[0026] Furthermore, for example, the first digital certificate may be issued for each type of service provided by the first vehicle, and the second digital certificate may be issued for each type of service provided by the second vehicle.

[0027] This allows for a determination of which vehicle, the first or the second, should be given priority based on the type of service provided by each vehicle.

[0028] Furthermore, for example, the service types may include services that have an expiration date.

[0029] This allows for a determination of which vehicle, the first or the second, should be given priority based on the expiration dates of the services provided by the first and second vehicles.

[0030] Furthermore, for example, the expiration date of the service may be an expiration date corresponding to the duration of service provision.

[0031] This allows the system to determine which vehicle, the first or the second, should be given priority based on the validity period corresponding to the service provision time.

[0032] Furthermore, for example, the subject matter may include food and beverages, and the serving time may be based on the permitted serving time for the food and beverages.

[0033] This allows for determining which vehicle, the first or the second, should be given priority based on the permitted duration for serving food and beverages.

[0034] Alternatively, for example, the first digital certificate may be issued when the first vehicle is manufactured and may be stored in the first vehicle beforehand.

[0035] This eliminates the need for vehicle users to store digital certificates, thereby improving the convenience of both the first and second vehicles.

[0036] Furthermore, for example, if the first vehicle is authorized to provide the first service, the first digital certificate corresponding to the first service may be transmitted to the first vehicle from a server that is communicably connected to the first vehicle.

[0037] This allows for appropriate determinations regarding traffic access in accordance with new services, even if new services for vehicles are authorized.

[0038] Furthermore, for example, if the authorization to provide the service corresponding to the first digital certificate is revoked, the first digital certificate may be revoked, and if the authorization to provide the service corresponding to the second digital certificate is revoked, the second digital certificate may be revoked.

[0039] This helps to prevent the first judgment step from being inaccurate due to the use of inappropriate public key certificates, such as those that have expired or pose a risk of information leakage.

[0040] Furthermore, for example, the first vehicle may hold two or more digital certificates, including the first digital certificate corresponding to the first service and the third digital certificate corresponding to the second service, and in response to switching from one of the first service and the second service to the other, the digital certificate used in the first determination step may be switched from one of the first digital certificate and the third digital certificate to the other.

[0041] This means that when the service switches in the first vehicle, the digital certificate used for determination will automatically switch, further improving the convenience of the pass determination method.

[0042] Furthermore, for example, the commencement of the first service is defined as the first timing when the object is placed on the first vehicle, and the termination of the first service is defined as the second timing when the object is unloaded. At either the first or second timing, the first digital certificate and the third digital certificate may be switched to the other.

[0043] This allows for the digital certificate to be switched at the second point in time, when the cargo is unloaded.

[0044] Furthermore, for example, if the determination in the first determination step determines that the second vehicle should be given priority, the first vehicle may slow down or come to a complete stop.

[0045] This allows the second vehicle to pass safely.

[0046] Furthermore, for example, the first determination step may be performed by external devices of the first and second vehicles, and if the determination in the first determination step determines that the second vehicle should be given priority, the first vehicle may receive an instruction from the external device to slow down or stop.

[0047] This allows the second vehicle to pass safely based on instructions received from an external device.

[0048] Alternatively, for example, the determination result of the first determination step may be presented to a monitor who remotely monitors the transportation system including the first vehicle and the second vehicle.

[0049] This allows the system to present the user with the judgment results and other relevant information.

[0050] A traffic determination system according to one aspect of the present disclosure is a traffic determination system that makes determinations regarding traffic between a first vehicle and a second vehicle that transport an object to a set location, wherein the first vehicle is an unmanned vehicle and holds a first digital certificate corresponding to at least one of the use of the first vehicle and the services of the first vehicle, and the second vehicle holds a second digital certificate corresponding to at least one of the use of the second vehicle and the services of the second vehicle, and the traffic determination system comprises an acquisition unit that acquires the first digital certificate and the second digital certificate, and a determination unit that, when the first vehicle and the second vehicle each travel along a transport route, uses the acquired first digital certificate and the second digital certificate to determine which of the first vehicle and the second vehicle should be given priority to pass.

[0051] This produces the same effect as the above-mentioned method for determining whether a vehicle is allowed to pass.

[0052] Furthermore, for example, the system may also include a display unit that displays the determination result of the determination unit on a screen.

[0053] This allows the display unit to show the user the judgment results and other information.

[0054] These general or specific embodiments may be implemented using a system, method, integrated circuit, computer program, or a non-temporary recording medium such as a computer-readable CD-ROM, or any combination of a system, method, integrated circuit, computer program, or recording medium. The program may be pre-stored on the recording medium or supplied to the recording medium via a wide-area communication network, including the Internet.

[0055] The embodiments will be described in detail below with reference to the drawings.

[0056] The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, components, arrangement and connection configurations of components, steps, and the order of steps shown in the following embodiments are examples only and are not intended to limit this disclosure. Furthermore, any components in the following embodiments that are not described in an independent claim will be described as optional components.

[0057] Furthermore, each figure is a schematic diagram and not necessarily a strictly accurate representation. Therefore, for example, the scale may not necessarily match in each figure. Also, in each figure, substantially identical components are given the same reference numerals, and redundant explanations are omitted or simplified.

[0058] Furthermore, in this specification, terms indicating relationships between identical or equivalent elements, as well as numerical values ​​and numerical ranges, are not expressions that represent only strict meanings, but also expressions that include substantially equivalent ranges, for example, differences of a few percent (for example, about 10%).

[0059] (Embodiment 1) The following describes a transportation system that uses the passage determination method according to this embodiment, with reference to Figures 1 to 7.

[0060] [1-1. Configuration of the Transportation System] First, the configuration of the transport system according to this embodiment will be explained with reference to Figures 1 to 4. Figure 1 is a diagram showing an example of the overall configuration of the transport system 1000 according to this embodiment. The arrows in Figure 1 indicate the direction of travel of robots 10 and 11.

[0061] As shown in Figure 1, the transport system 1000 according to this embodiment includes robots 10 and 11. Robots 10 and 11 are autonomous mobile robots that operate autonomously. Robot 10 transports (travels) its target object according to a transport route, and robot 11 transports (travels) its target object according to a transport route. Figure 1 shows robots 10 and 11 approaching the same pedestrian crossing from opposite directions for passage.

[0062] In such cases, the passage determination method described below is used to determine which of robots 10 or 11 should be given priority. As will be detailed later, the passage determination method of this disclosure is characterized by using the public key certificates held by each of robots 10 and 11 to determine which of robots 10 or 11 should be given priority. The passage determination method of this disclosure is not limited to the scenario shown in Figure 1, but may be used in any scenario in which robots 10 and 11 cannot pass simultaneously. For example, this could be used when approaching a road that is only wide enough for one robot to pass at a time. Furthermore, the passage determination method of this disclosure may be used to determine whether to prioritize a robot traveling on a road (e.g., an autonomous vehicle) or a robot crossing the road (e.g., a robot crossing a pedestrian crossing).

[0063] The number of robots included in the transport system 1000 is not particularly limited and may be three or more.

[0064] Next, the configurations of robots 10 and 11 will be described with reference to Figure 2. Figure 2 is a block diagram showing an example of the functional configuration of robot 10 according to this embodiment. The configuration of robot 11 may be the same as that of robot 10, and its explanation will be omitted. The objects transported by the robots will also be referred to as cargo or loads.

[0065] The robot 10 includes an external communication unit 1101, a travel route management unit 1102, a certificate management unit 1103, a priority determination unit 1104, a travel instruction unit 1105, an input unit 1106, a display unit 1107, a user authentication unit 1108, a lock / unlock management unit 1109, a luggage management unit 1110, a monitoring unit 1111, and a drive unit 1112.

[0066] The external communication unit 1101 is a communication circuit (communication module) for robot 10 to communicate with the outside world. Robot 10 communicates with robot 11, for example, via the external communication unit 1101. The external communication unit 1101 receives the public key certificate held by robot 11 from robot 11. The external communication unit 1101 is an example of an acquisition unit.

[0067] The travel route management unit 1102 manages the travel route that the robot 10 takes to transport the cargo. The travel route management unit 1102 is a memory device that stores pre-set travel routes. In addition to its own travel route, the robot 10 may also store the travel routes of other robots (for example, robot 11) that travel within a predetermined range. The predetermined range is, for example, the range that includes the travel route of robot 10. Hereafter, the act of storing information will also be referred to as "retaining." The travel route is just one example of a transport route.

[0068] The certificate management unit 1103 manages the public key certificate (see Figure 3) held by the robot 10. The certificate management unit 1103 is a storage device that stores pre-configured public key certificates. A public key certificate is an example of a digital certificate.

[0069] The priority determination unit 1104 determines the priority of passage based on the determination table (see Figure 4) described later and the public key certificate. In the situation shown in Figure 1, the priority determination unit 1104 determines which of robots 10 and 11 will have priority in crossing the pedestrian crossing, based on the public key certificates held by each robot and the determination table. Hereafter, the determination of which of robots 10 and 11 will have priority in crossing the pedestrian crossing will also be referred to as passage priority determination.

[0070] Furthermore, the priority determination unit 1104 may determine whether there is an overlapping section in the travel routes of robots 10 and 11, and if there is an overlapping section, whether robots 10 and 11 will come into contact in that overlapping section. The priority determination unit 1104 may also determine the priority if robots 10 and 11 come into contact in that overlapping section.

[0071] The driving instruction unit 1105 obtains information regarding the driving route from the driving route management unit 1102 and issues driving instructions to the drive unit 1112.

[0072] The input unit 1106 receives input (operation) from the user. The input unit 1106 is a touch display, switch, etc., that the user directly inputs, but it may also receive input from the user via voice or gestures. For example, the input unit 1106 may receive input from the user at the delivery destination regarding the receipt of the item via communication.

[0073] The display unit 1107 presents predetermined information to the user. If the priority determination unit 1104 determines that robot 10 should be given priority over robot 11, and robot 11 is slowing down or stopped, the display unit 1107 may indicate that robot 11 is slowing down or stopped in order to give priority to robot 10. The display unit 1107 is a display (display device), light (light-emitting device), etc., that directly displays information to the user. Robot 10 may also be configured to provide information by sound, either together with the display unit 1107 or in place of the display unit 1107.

[0074] The user authentication unit 1108 authenticates the user receiving the transported package using existing technologies such as passwords and facial recognition.

[0075] The lock / unlock management unit 1109 manages the locks that protect the cargo management unit 1110 in order to safely transport cargo. The lock / unlock management unit 1109 performs locking and unlocking based on the authentication result from the user authentication unit 1108.

[0076] The cargo management unit 1110 holds the cargo to be transported. The cargo management unit 1110 is, for example, a box-shaped object. The cargo management unit 1110 may have functions such as heat retention, refrigeration, or freezing.

[0077] The monitoring unit 1111 monitors the environment around the robot 10 based on information from sensors, cameras, etc., in order to recognize the environment surrounding the robot 10. Based on this information, the monitoring unit 1111 may acquire information such as the position of objects around the robot 10, the distance from the robot 10 to the objects, the speed and direction of movement of the objects. Sensors and cameras are mounted on the robot 10, although they are not shown in the figures. The cameras take images, which may be still images or moving images.

[0078] The drive unit 1112 performs actions such as moving forward or stopping based on instructions from the travel instruction unit 1105.

[0079] Robots 10 and 11 may be mobile vehicles capable of transporting objects. Robots 10 and 11 may be, for example, small robots for providing delivery services to residential areas. The small robot may, for example, have a box-shaped storage compartment for storing objects and travel with the objects contained within the storage compartment. At least one of robots 10 and 11 may be a road-traveling robot. For example, at least one of robots 10 and 11 may travel across a pedestrian crossing. At least one of robots 10 and 11 may be a robot driven by a person on board, or it may be a robot remotely controlled by a person (operator) at a distance. Robot 10 is an example of a first vehicle, and robot 11 is an example of a second vehicle.

[0080] Robots 10 and 11 may also obtain a Certificate Revocation List (CRL) issued by an external device (e.g., a certification authority).

[0081] Here, the public key certificate and the determination table managed by the certificate management unit 1103 will be explained with reference to Figures 3 and 4. Figure 3 is a diagram showing an example of the configuration of a public key certificate according to this embodiment. The public key certificate shown in Figure 3 is used for determining priority in the priority determination unit 1104. For example, the public key certificate shown in Figure 3 is used for determining priority in the priority determination unit 1104.

[0082] As shown in Figure 3, a public key certificate includes the version, issuer, start and end dates of the validity period, vehicle / service use, certificate ID, and signature of the certification authority. This embodiment is characterized by the inclusion of "vehicle / service use" in the public key certificate.

[0083] "Version" indicates the version of the public key certificate standard; "Issuer" indicates the issuer of the public key certificate (e.g., a Certificate Authority); "Start and End Dates of Validity Period" indicates the start and end dates of the period during which the public key certificate is valid; "Certificate ID" indicates the identification number (serial number) of the public key certificate; and "Certificate Authority Signature" indicates the digital signature of the issuer of the public key certificate. The validity period included in the public key certificate may be set based on, for example, the useful life of robot 10, or based on the period (e.g., expiration date) of the services provided by robot 10.

[0084] "Vehicle / Service Use" indicates at least one of the use of the vehicle (in this case, robot 10) and the services provided by the vehicle. The vehicle use is information corresponding to the object that robot 10 transports. The vehicle use may differ depending on whether the object is a person (living being) or an item. The type of vehicle use (use type) includes, for example, emergency vehicles, non-emergency vehicles, etc.

[0085] Emergency vehicles are robots that must prioritize their operation and stop other robots. Examples include robots transporting highly urgent objects such as patients, or robots urgently heading to a specific location. Ambulances, fire trucks, and police cars are examples of such vehicles.

[0086] Non-emergency vehicles are robots that transport able-bodied people, goods (such as food and beverages), etc. Examples include taxis and delivery robots. Delivery robots have different usage categories depending on whether the goods they transport are food or beverages. Examples include "food delivery," which indicates that the robot's purpose is food delivery, and "regular," which indicates that the robot's purpose is other than food delivery.

[0087] Furthermore, the system may store information regarding the vehicle's intended use, such as ambulance, fire truck, police car, taxi, or delivery robot.

[0088] Thus, public key certificates may be issued for each type of use of robots 10 and 11. For example, public key certificates may be issued for each object.

[0089] Furthermore, the services provided by the vehicle (services provided using the vehicle) are information corresponding to the services provided by the robot 10. The services provided by the vehicle include, for example, those with a time period (e.g., an expiration date). The services provided by the vehicle are information corresponding to the time period (e.g., an expiration date). The services provided by the vehicle are, for example, different information depending on the expiration date.

[0090] The validity period of a service is a period based on the constraints imposed by the time the service is provided. It can also be said that the validity period of a service is a period corresponding to the time the service is provided. For example, if the object is food or beverages, the constraints imposed by the time the service is provided are the constraints imposed by the allowable time for the provision of food or beverages. When the object is food or beverages, the provision time is the time corresponding to the allowable time for the provision of food or beverages. Food and beverages include hot food, raw food, etc. Furthermore, for example, if the object is a person, the constraints imposed by the time the service is provided are the constraints imposed by the time of arrival at the destination.

[0091] Examples of service types offered by vehicles include "express" services for urgent transport and "time-specified" services for transporting items at specific times.

[0092] Thus, public key certificates may be issued for each type of service provided by robots 10 and 11.

[0093] Thus, the public key certificate contains information corresponding to at least one of the intended use of robot 10 and the services provided by robot 10. In other words, robot 10 holds a public key certificate corresponding to at least one of the intended use of robot 10 and the services provided by robot 10. Similarly, robot 11 also holds a public key certificate corresponding to at least one of the intended use of robot 11 and the services provided by robot 11. The public key certificate held by robot 10 is an example of a first digital certificate, and the public key certificate held by robot 11 is an example of a second digital certificate.

[0094] The public key certificate may be issued by the certification authority when the robot 10 is manufactured and may be stored in the robot 10 beforehand. In other words, the public key certificate may already be stored in the robot 10 when it is delivered. This is effective when the intended use of the robot 10 is predetermined. Alternatively, the public key certificate may be issued by the certification authority after the robot 10 is manufactured and stored in the robot 10 retrospectively. For example, a public key certificate may be issued for each food delivery.

[0095] Figure 4 shows an example of a determination table according to this embodiment. The determination table shown in Figure 4 is used for determining priority in the priority determination unit 1104. For example, the determination table shown in Figure 4 is used for determining priority in the priority determination unit 1104.

[0096] As shown in Figure 4, the determination table is a table that associates priority with vehicle / service use. In the example in Figure 4, priority "S" indicates the highest priority, and priority "D" indicates the lowest priority. The vehicle / service use in the determination table includes, for example, all types that may be included in the vehicle / service use of a public key certificate. In the example in Figure 4, the determination table has five levels of priority set for each vehicle / service use of the public key certificate.

[0097] Emergency and emergency vehicle deliveries have a priority of "S," food deliveries that are urgent have a priority of "A," regular deliveries (other than food deliveries) that are urgent have a priority of "B," food deliveries have a priority of "C," and regular deliveries have a priority of "D." Note that the priority levels are not limited to five levels; two or more levels are sufficient. Priorities "C" and "D" indicate that the delivery is not urgent.

[0098] The decision table shown in Figure 4 contains information that is commonly used for all robots in the transport system 1000, including robots 10 and 11.

[0099] [1-2. Operation of the Transportation System] Next, the operation of the transport system 1000 configured as described above will be explained with reference to Figures 5 to 7. Figure 5 is a sequence diagram showing an example of the operation (passage determination method) of the transport system 1000 according to this embodiment. Figure 5 shows a passage determination method for determining passage between robots 10 and 11 (an example between vehicles) in a transport system 1000 that includes robots 10 and 11 that transport an object to a set location. In Figure 5, it is assumed that robots 10 and 11 are each transporting an object.

[0100] (S1101) Robots 10 and 11 constantly or at regular intervals perform proximity recognition to determine whether they are close to each other, and when robots 10 and 11 approach each other, they recognize that they are close to each other. An example of the recognition method will be described later using Figure 6. Step S1101 is performed, for example, by the monitoring unit 1111. In step S1101, it is determined whether robots 10 and 11 are close to each other in the vicinity of the overlapping portion (for example, the overlapping section, which in the example of Figure 1 is a pedestrian crossing). The overlapping portion of robot 10's transport route and robot 11's transport route may be a position where the transport routes intersect, or it may be a section where the transport routes overlap. Step S1101 is an example of the second determination step.

[0101] If it is determined in the second determination step that robot 10 and robot 11 are in close proximity, the acquisition step (e.g., S1103) and the first determination step (e.g., S1104 to S1107) are executed.

[0102] (S1102) The adjacent robots 10 and 11 begin communicating with each other. The communication method used for communication between robots 10 and 11 is not particularly limited, but when an object is recognized, a two-dimensional code such as a QR code (registered trademark, hereinafter the same) may be read by a camera to establish a means of communication with each other, or communication with all robots may be established at the start of movement. Step S1102 is performed, for example, by the external communication unit 1101. The QR code stores the IP (Internet Protocol) address of the robot, the communication method, etc. The QR code is attached, for example, to the outer surface of robots 10 and 11.

[0103] (S1103) When robots 10 and 11 begin communication, they exchange the public key certificates they each hold. Robot 10 sends its public key certificate (first digital certificate) to robot 11 via the external communication unit 1101, and robot 11 sends its public key certificate (second digital certificate) to robot 10 via the external communication unit. Step S1103 is an example of an acquisition step. In step S1103, robot 10 may also acquire its own public key certificate from the certificate management unit 1103. In this case, the priority determination unit 1104 functions as an acquisition unit that acquires robot 10's public key certificate from the certificate management unit 1103.

[0104] (S1104) Robots 10 and 11 determine whether the acquired public key certificate is a valid public key certificate. Robot 10 determines whether the public key certificate acquired from robot 11 is a valid public key certificate, and robot 11 determines whether the public key certificate acquired from robot 10 is a valid public key certificate. It can also be said that robots 10 and 11 determine whether there are any errors in the verification of the public key certificate (public key certificate verification process). The public key certificate verification process includes, for example, decrypting the signature contained in the public key certificate with the public key and verifying whether the signature is correct. In step S1104, it is determined whether the acquired public key certificate is an invalid public key certificate, such as one that has been rewritten.

[0105] Then, if robots 10 and 11 determine that the public key certificate is not valid, that is, if an error is detected during the public key certificate verification process (shown as "N" in S1104 of Figure 5), they notify the error and terminate the process. If an error is detected by either robot 10 or 11, the error is notified and the process terminates. Also, if robots 10 and 11 determine that the public key certificate is valid, that is, if no error is detected during the public key certificate verification process (shown as "Y" in S1104 of Figure 5), they proceed to step S1105. Step S1104 is executed, for example, by the priority determination unit 1104.

[0106] (S1105) Robots 10 and 11 determine priority for passage based on the vehicle and service usage information described in both public key certificates obtained from the acquired public key certificates and the determination table shown in Figure 4. The priority determination unit 1104 of robot 10 determines the priority of robot 10 based on the vehicle and service usage information of the public key certificate it holds and the determination table shown in Figure 4, and determines the priority of robot 11 based on the vehicle and service usage information of the public key certificate obtained from robot 11 and the determination table shown in Figure 4. Similarly, the priority determination unit of robot 11 determines the priority of robot 11 based on the vehicle and service usage information of the public key certificate it holds and the determination table shown in Figure 4, and determines the priority of robot 10 based on the vehicle and service usage information of the public key certificate obtained from robot 10 and the determination table shown in Figure 4.

[0107] For example, the priority determination unit 1104 of robot 10 determines that robot 10 has a priority of "A" if the vehicle and service usage information in the public key certificate it holds indicates that the usage type is "food delivery" and the service type is "urgent". Similarly, the priority determination unit 1104 of robot 10 determines that robot 11 has a priority of "C" if the vehicle and service usage information in the public key certificate obtained from robot 11 indicates that the usage type is "food delivery" and the service type is not "urgent". The priority determination unit of robot 11 similarly determines the priority of robots 10 and 11.

[0108] Furthermore, the priority determination unit 1104 may determine which of the robots 10 and 11 should be allowed to pass first based on the determined priorities of each robot. The priority determination unit 1104 determines that the robot with the higher priority of robots 10 and 11 should be allowed to pass first. For example, in the first determination step, the first priority for robot 10 to pass through the overlapping area is determined based on the public key certificate of robot 10, and the second priority for robot 11 to pass through the overlapping area is determined based on the public key certificate of robot 11, and based on the determined first and second priorities, it is determined which of robots 10 and 11 should be allowed to pass first. The process in step S1105 can also be described as the process of determining the priority of robots 10 and 11.

[0109] Note that the process in step S1105 can be performed by either robot 10 or 11.

[0110] (S1106) Robots 10 and 11 exchange priority determination results. Robots 10 and 11 transmit priority determination results to each other.

[0111] (S1107) Robots 10 and 11 determine whether the judgment results match or not. If the judgment results do not match (indicated as "N" in S1107 of Figure 5), robots 10 and 11 notify an error and terminate the process. If either robot 10 or 11 determines that the judgment results do not match, an error is notified and the process terminates. If the judgment results match (indicated as "Y" in S1107 of Figure 5), robots 10 and 11 proceed to step S1108.

[0112] Thus, as robots 10 and 11 travel along the transport route, as shown in steps S1105 to S1107, the public key certificates of robot 10 and robot 11 are used to determine which robot 10 or 11 should be given priority to pass through the overlapping section. Steps S1105 to S1107 are an example of the first determination step.

[0113] The first determination step is performed if there is an overlap between the transport route of robot 10 and the transport route of robot 11.

[0114] (S1108) The robot determined to have higher priority starts moving. In the example in Figure 5, robot 11 has higher priority than robot 10, so in step S1108, robot 11 starts moving. In the example in Figure 1, robot 11 starts moving across the pedestrian crossing. While robot 11 is proceeding with priority, robot 10 slows down or stops. In other words, while robot 11 is crossing the pedestrian crossing, robot 10 does not cross the pedestrian crossing. Alternatively, robot 10 may start moving along a detour route without crossing the pedestrian crossing.

[0115] If the processing prior to step S1108 was performed while robots 10 and 11 were being transported (for example, while robots 10 and 11 were delivering objects), the robot 10's travel instruction unit 1105 may further control the robot 10's movement in step S1108. The robot 10's travel instruction unit 1105 may also slow down or temporarily stop the robot 10 before it enters the pedestrian crossing.

[0116] (S1109) Robot 10, which has been determined to have low priority, determines whether or not robot 11, which has been determined to have high priority, has moved a certain distance away from robot 10 after crossing the pedestrian crossing. The priority determination unit 1104 of robot 10 determines whether or not the distance between robots 10 and 11, obtained as a result of monitoring by the monitoring unit 1111, is greater than or equal to a certain distance. If robot 10 has not moved a certain distance away from robot 11 after crossing the pedestrian crossing (shown as "N" in S1109 of Figure 5), robot 10 continues to decelerate or stop and performs the determination in step S1109 again. If robot 11 has moved a certain distance away from robot 10 after crossing the pedestrian crossing (shown as "Y" in S1109 of Figure 5), robot 10 ends decelerating or stopping and proceeds to step S1110.

[0117] (S1110) Robot 10, which is determined to have a low priority, will start moving normally after a certain distance has passed from robot 11, which is determined to have a high priority, after it has crossed the pedestrian crossing.

[0118] Although Figure 1 shows an example where robots 10 and 11 enter the pedestrian crossing from the opposite side, even when robots 10 and 11 enter the pedestrian crossing from the same direction, the process shown in Figure 5 may be used to determine which robot should be given priority.

[0119] Note that the proximity recognition (proximity detection) in step S1101 does not necessarily have to be performed. For example, if robots 10 and 11 can exchange information about each other's transport routes and transport times in advance, the processes in steps S1102 to S1107 may be performed before the robots approach each other at a crosswalk.

[0120] In the example shown in Figure 5, the first determination step is executed when it is determined that robot 10 and robot 11 are in close proximity. However, the first determination step may be executed even when robot 10 and robot 11 are far apart. When robot 10 and robot 11 are far apart, it means, for example, that they are far enough apart that they cannot be detected by the monitoring unit 1111.

[0121] Next, the process of step S1101 will be explained with reference to Figure 6. Figure 6 is a flowchart showing an example of the operation for detecting proximity between vehicles (between robots) according to this embodiment. Although Figure 6 describes a proximity recognition method using a camera, it is not limited to this, and other proximity recognition methods may be adopted. Examples of other proximity recognition methods include methods using proximity sensors, lidar, etc. Furthermore, although the processing in robot 10 will be described below, the same processing will be performed in robot 11.

[0122] (S1201) The monitoring unit 1111 of the robot 10 recognizes the captured object based on the image taken by the camera. In the example in Figure 1, the monitoring unit 1111 recognizes the robot 11 as the object.

[0123] (S1202) The monitoring unit 1111 determines whether the recognized object is a transport robot. In the example in Figure 1, the monitoring unit 1111 determines whether the robot 11 is a transport robot that transports an object. The monitoring unit 1111 may perform this determination using a machine learning model that has been trained to take an image as input and output whether or not it is a transport robot. Alternatively, the monitoring unit 1111 may determine that the robot 11 is a transport robot if it has a predetermined mark or the like based on the image.

[0124] If robot 11 is a transport robot (indicated as "Y" in S1202), proceed to step S1203; otherwise, return to step S1201.

[0125] (S1203) Robot 10 temporarily stops moving in order to perform priority determination.

[0126] Next, the movement of each robot after priority has been determined will be explained with reference to Figure 7. Figure 7 is a diagram showing an example of an avoidance action based on the priority determination result according to this embodiment. In Figure 7, it is determined that robot 10 should have priority to pass between robots 10 and 11.

[0127] Figure 7 shows a case where approach between vehicles is detected, and as a result of priority determination, one robot 11 temporarily stops, giving priority to the other robot 10. This allows, for example, robot 10, whose service type is "urgent," to cross the pedestrian crossing with priority over robot 11, whose service type is not "urgent."

[0128] (Modified version of Embodiment 1) The following description will explain the transport system according to this modified example with reference to Figures 8 to 12. Note that the following description will focus on the differences from Embodiment 1, and the explanation of identical or similar configurations will be omitted or simplified. Figure 8 is a diagram showing an example of the overall configuration of the transport system 10100 according to this modified example.

[0129] As shown in Figure 8, the modified transport system 10100 includes robots 110 and 111 and a roadside unit 120. The modified transport system 10100 has a roadside unit 120 in addition to the transport system 1000 according to Embodiment 1. The robots 110 and 111 and the roadside unit 120 are connected in a communicative manner. In this modified version, the roadside unit 120 performs various determinations, including priority determination.

[0130] The roadside unit 120 is installed and fixed to the road, sidewalk, etc. The roadside unit 120 is, for example, taller than the robots 110 and 111. The roadside unit 120 may be, for example, a utility pole, traffic light, sign, etc., that has communication functions.

[0131] Figure 9 is a block diagram showing an example of the functional configuration of robot 110 according to this modified example. The configuration of robot 111 may be the same as that of robot 110, and its explanation is omitted.

[0132] Robot 110 includes an external communication unit 1101, a travel route management unit 1102, a certificate management unit 1103, a travel instruction unit 1105, an input unit 1106, a display unit 1107, a user authentication unit 1108, a lock / unlock management unit 1109, a luggage management unit 1110, and a drive unit 1112. In other words, robot 110 has a configuration in which the priority determination unit 1104 and the monitoring unit 1111 are removed from robot 10 according to Embodiment 1.

[0133] Figure 10 is a block diagram showing an example of the functional configuration of the roadside unit 120 according to this modified example.

[0134] As shown in Figure 10, the roadside unit 120 includes a communication unit 1201, a proximity monitoring unit 1202, a priority determination unit 1203, and a driving instruction unit 1204.

[0135] The communication unit 1201 is a communication circuit (communication module) for the roadside unit 120 to communicate with the outside world. The roadside unit 120 communicates with robots 110 and 111, for example, via the communication unit 1201.

[0136] The proximity monitoring unit 1202 monitors the area around robots 110 and 111 based on information from sensors, cameras, etc. Based on this information, the proximity monitoring unit 1202 monitors the approach of robots 110 and 111. The sensors and cameras may be mounted on the roadside unit 120 or may be implemented by other components (e.g., surveillance cameras). The image captured by the camera may be, for example, an overhead view showing robots 110 and 111.

[0137] The priority determination unit 1203 determines the priority of passage for robots 110 and 111 based on the determination table (see Figure 4) and the public key certificates held by robots 110 and 111. The priority determination unit 1203 executes the processing performed by the priority determination unit 1104 according to Embodiment 1. The priority determination unit 1203 is an example of a determination unit.

[0138] The driving instruction unit 1204 transmits driving instructions to robots 110 and 111 via the communication unit 1201 based on the determination result of the traffic priority. The driving instructions include instructions to drive with priority and instructions to slow down or stop.

[0139] Next, the operation of the transport system 10100 configured as described above will be explained with reference to Figures 11 and 12. Figure 11 is a sequence diagram showing an example of the operation (passage determination method) of the transport system 10100 according to this modified example. Figure 11 shows a passage determination method for determining passage between robots (between vehicles) in a transport system 10100 that includes robots 110 and 111 that transport an object to a set location. In Figure 11, it is assumed that robots 110 and 111 are each transporting an object.

[0140] (S11101) The roadside unit 120 constantly or at regular intervals recognizes whether robots 110 and 111 are approaching. For example, when robot 110 approaches the roadside unit 120, the unit recognizes the approach of robot 110. An example of the recognition method will be described later with reference to Figure 12.

[0141] (S11102) The roadside unit 120 starts communication with the nearby robot 110 via the communication unit 1201. The communication method used for communication between the roadside unit 120 and the robot 110 is not particularly limited, but when an object is recognized, the camera may read a QR code or the like provided on the robot 110 to establish a means of communication between them, or communication with all robots may be established at the start of travel.

[0142] (S11103) When communication between the roadside unit 120 and the robot 110 begins, the robot 110 sends the public key certificate it holds to the roadside unit 120.

[0143] (S11104) The roadside unit 120 determines whether the public key certificate obtained from the robot 110 is a valid public key certificate. The roadside unit 120 also determines whether there is an error in the verification of the public key certificate (public key certificate verification process). If the roadside unit 120 determines that the public key certificate is not a valid public key certificate, that is, if an error is detected in the public key certificate verification process (shown as "N" in S11104 of Figure 11), it notifies the error and terminates the process. If the public key certificate is a valid public key certificate, that is, if no error is detected in the public key certificate verification process (shown as "Y" in S11104 of Figure 11), the roadside unit 120 determines that the public key certificate can be used to determine the priority with the robot 111. Step S11104 is performed, for example, by the priority determination unit 1203.

[0144] (S11105) When the roadside unit 120 approaches the robot 111, it recognizes the robot's approach. An example of the recognition method will be described later using Figure 12.

[0145] (S11106) The roadside unit 120 starts communication with the nearby robot 111 via the communication unit 1201. The communication method used for communication between the roadside unit 120 and the robot 111 is not particularly limited, but when an object is recognized, the camera may read a QR code or the like provided on the robot 111 and establish a means of communication between them, or communication with all robots may be established at the start of travel.

[0146] (S11107) When communication between the roadside unit 120 and the robot 111 begins, the robot 111 sends the public key certificate it holds to the roadside unit 120.

[0147] (S11108) The roadside unit 120 determines whether the public key certificate obtained from the robot 111 is a valid public key certificate. The processing in step S11108 is the same as in step S11104. If the roadside unit 120 determines that the public key certificate is not a valid public key certificate (indicated as "N" in S11108 in Figure 11), it notifies an error and terminates processing. If the roadside unit 120 determines that the public key certificate is a valid public key certificate (indicated as "Y" in S11108 in Figure 11), it determines that the public key certificate can be used to determine priority with the robot 110. Step S11108 is performed, for example, by the priority determination unit 1203.

[0148] (S11109) The priority determination unit 1203 of the roadside unit 120 determines the priority of passage for robots 110 and 111 based on the vehicle and service usage information described in the two acquired public key certificates and the determination table shown in Figure 4. The priority determination unit 1203 outputs information to the driving instruction unit 1204 indicating which of robots 110 or 111 should be given priority. For example, the priority determination unit 1203 outputs the priority of robots 110 and 111 to the driving instruction unit 1204. The information indicating which of robots 110 or 111 should be given priority is an example of the determination result.

[0149] (S11110) The roadside unit 120's driving instruction unit 1204 transmits a driving instruction to robots that are determined to have high priority based on the judgment result, and transmits a deceleration or temporary stop instruction to robots that are determined to have low priority. In the example in Figure 11, the driving instruction unit 1204 transmits a deceleration or temporary stop instruction to robot 110 and a driving instruction to robot 111 via the communication unit 1201.

[0150] (S11111) The robot that has received the driving instruction begins to drive. In the example in Figure 11, robot 111 begins to cross the pedestrian crossing. This allows the robot with higher priority to pass through the section where the transport routes of robots 110 and 111 overlap.

[0151] (S11112) The driving instruction unit 1204 of the roadside unit 120 determines whether the robot determined to have high priority has moved a certain distance away. Here, the certain distance may be the distance between the roadside unit 120 and the robot determined to have high priority, or the distance between the robot determined to have low priority and the robot determined to have high priority. If the robot 111 has not moved a certain distance away from the robot 110 or the roadside unit 120 after passing over the pedestrian crossing (shown as "N" in S11112 of Figure 11), the driving instruction unit 1204 returns to step S11112 and performs the determination in step S11112 again. Also, if the robot 111 has moved a certain distance away from the robot 110 or the roadside unit 120 after passing over the pedestrian crossing (shown as "Y" in S11112 of Figure 11), the driving instruction unit 1204 proceeds to step S11113.

[0152] (S11113) The roadside unit 120 transmits a driving instruction to the robot that has been determined to have a low priority.

[0153] (S11114) The robot, having received the driving instruction, begins to drive. In the example in Figure 11, robot 110 begins to cross the pedestrian crossing.

[0154] As described above, priority determination is performed by an external device (roadside device 120 in the above example) of robots 110 and 111, robot 110 may receive instructions to slow down or stop from the external device, and robot 111 may receive instructions to continue moving from the external device.

[0155] Steps S11101 to S11104 and steps S11105 to S11108 may be executed in parallel.

[0156] Next, the processes in steps S11101 and S11105 will be explained with reference to Figure 12. Figure 12 is a flowchart showing an example of the operation for detecting the approach of a vehicle according to this modified example. Although Figure 12 describes a proximity recognition method using a camera, it is not limited to this, and other proximity recognition methods may be adopted. Examples of other proximity recognition methods include methods using proximity sensors, lidar, etc.

[0157] (S12201) The proximity monitoring unit 1202 of the roadside unit 120 recognizes objects based on images captured by the camera. In the example shown in Figure 8, the proximity monitoring unit 1202 recognizes robots 110 and 111 as objects.

[0158] (S12202) The proximity monitoring unit 1202 determines whether the recognized object is a transport robot or not. In the example in Figure 8, the proximity monitoring unit 1202 determines whether each of the robots 110 and 111 is a transport robot that transports an object. The proximity monitoring unit 1202 may perform this determination using a machine learning model that has been trained to take an image as input and output whether or not it is a transport robot.

[0159] If robots 110 and 111 are both transport robots (indicated as "Y" in S12202), proceed to step S12203. If at least one of robots 110 and 111 is not a transport robot (indicated as "N" in S12202), return to step S12201.

[0160] (S12203) The roadside unit 120 sends instructions to robots 110 and 111 to temporarily stop driving in order to determine priority.

[0161] As a result, in the transport system 10100, the roadside unit 120 can centralize the priority determination process, so robots 110 and 111 do not need to perform the determination process, reducing the processing load on robots 110 and 111, which have limited computing resources. In addition, because the roadside unit 120 performs proximity recognition, it may be able to recognize proximity even if robots 110 and 111 do not recognize each other's proximity, thus increasing the reliability of proximity recognition.

[0162] (Embodiment 2) The transportation system according to this embodiment will be described below with reference to Figures 13 to 18. Note that the following description will focus on the differences from Embodiment 1, and the same or similar configurations as in Embodiment 1 will be omitted or simplified. In this embodiment, the robot holds multiple public key certificates, and an example will be described in which the public key certificate used for priority determination is switched according to the current service content, application, etc.

[0163] [2-1. Configuration of the Transportation System] First, the configuration of the transport system according to this embodiment will be explained with reference to Figures 13 to 16. Figure 13 is a diagram showing an example of the overall configuration of the transport system 2000 according to this embodiment. The arrows in Figure 13 indicate the direction of travel of robots 210 and 211.

[0164] As shown in Figure 13, the transportation system 2000 according to this embodiment includes robots 210 and 211, service servers 30 to 33, and a certification authority 40. Robots 210 and 211 are autonomous mobile robots that operate autonomously. Robot 210 transports its target object according to a transport route, and robot 211 transports its target object according to a transport route. Figure 13 shows robots 210 and 211 approaching the same pedestrian crossing from opposite directions.

[0165] Each service server 30-33 is a server dedicated to a specific service. Service servers 30 and 31 are connected to robot 210 for communication and handle communication regarding the services provided by robot 210. Service servers 32 and 33 are connected to robot 211 for communication and handle communication regarding the services provided by robot 211. Communication regarding services includes sending a public key certificate corresponding to the service provided by the robot to the robot, and sending information to the robot indicating which of multiple services it will provide. Each service server 30-33 is an example of a server.

[0166] Furthermore, the number of robots that each service server 30-33 can communicate with is not limited to one; it may be multiple. Also, a single service server may be able to communicate with multiple robots.

[0167] The Certificate Authority 40 is responsible for issuing and revoking public key certificates, authorizing services provided by robots, and has the function of revoking issued public key certificates. The Certificate Authority 40 communicates with each service server 30-33 regarding the issuance and revocation of public key certificates. When the Certificate Authority 40 obtains at least one of the robot's services and uses from any of the service servers 30-33, it sends a public key certificate corresponding to the obtained information to the service server. Furthermore, if the authorization to provide a service corresponding to the public key certificate held by robot 210 (an example of a first digital certificate) is revoked, the Certificate Authority 40 revokes the said public key certificate, and if the authorization to provide a service corresponding to the public key certificate held by robot 211 (an example of a second digital certificate) is revoked, the Certificate Authority 40 revokes the said public key certificate.

[0168] The certification authority 40 may function as a server that centrally manages the services and uses of multiple robots included in the transport system 2000, including robots 210 and 211. For example, each of the service servers 30 to 33 may be a server of a different operator, and the certification authority 40 may have the function of centrally managing the public key certificates issued to each operator.

[0169] Next, the configurations of robots 210 and 211 will be described with reference to Figure 14. Figure 14 is a block diagram showing an example of the functional configuration of robot 210 according to this embodiment. The configuration of robot 211 may be the same as that of robot 210, and its explanation will be omitted.

[0170] Robot 210 includes a certificate switching unit 1113 in addition to the configuration of robot 10 according to Embodiment 1. Furthermore, robot 210 holds multiple public key certificates according to service content, application, etc. For example, robot 210 holds two or more public key certificates, including a public key certificate corresponding to a first service (an example of a first digital certificate) and a public key certificate corresponding to a second service (an example of a third digital certificate).

[0171] The certificate switching unit 1113 performs a process of switching from multiple public key certificates to the public key certificate that corresponds to the service currently being provided, based on instructions from the service server 30 or 31. Priority determination is performed using the switched public key certificate.

[0172] The certificate switching unit 1113 may, for example, obtain information indicating the public key certificate after the switch from the service server 30 or 31 and switch to the public key certificate identified based on that information, or it may obtain information indicating the content of the services to be provided and switch to the public key certificate corresponding to the content of the services.

[0173] Next, the configurations of each service server 30 to 33 will be described with reference to Figure 15. Figure 15 is a block diagram showing an example of the functional configuration of service server 30 according to this embodiment. The configurations of service servers 31 to 33 may be the same as those of service server 30, and their explanation will be omitted.

[0174] As shown in Figure 15, the service server 30 includes a communication unit 2301, a service setting unit 2302, a vehicle management unit 2303, and a display unit 2304.

[0175] The communication unit 2301 is a communication circuit (communication module) for the service server 30 to communicate with the outside world. The service server 30 communicates with the robot 210 and the certification authority 40, for example, via the communication unit 2301.

[0176] The service setting unit 2302 sets information regarding the services to be provided to the robot 210. This information includes the service content, transport route, transport time, etc.

[0177] The vehicle management unit 2303 holds information on the public key certificates that each robot possesses in order to select a robot according to the service to be provided. The vehicle management unit 2303 is a storage device such as semiconductor memory.

[0178] The display unit 2304 consists of a display, lights, etc., for showing the server administrator the status of service provision.

[0179] Next, the configuration of the certification authority 40 will be explained with reference to Figure 16. Figure 16 is a block diagram showing an example of the functional configuration of the certification authority 40 according to this embodiment.

[0180] As shown in Figure 16, the certification authority 40 comprises a communication unit 2401, a certificate management unit 2402, and a certificate issuance unit 2403.

[0181] The communication unit 2401 is a communication circuit (communication module) for the certification authority 40 to communicate with the outside world. The certification authority 40 communicates with each service server 30-33, for example, via the communication unit 2401.

[0182] The certificate management unit 2402 stores the issued public key certificates. The certificate management unit 2402 is a storage device such as semiconductor memory.

[0183] The certificate issuing unit 2403 issues public key certificates according to the application details from each service server 30-33. The certificate issuing unit 2403 issues different public key certificates for each service and application of the robot 210. Specifically, the certificate issuing unit 2403 issues different public key certificates for each service and application of the robot 210, with different "vehicle / service application" information as shown in Figure 3.

[0184] Furthermore, the certification authority 40 may include, for example, a reception unit that accepts operations from an administrator to authorize a service and to revoke an issued public key certificate. The reception unit may be, for example, a touch panel, buttons, a keyboard, etc., but it may also be configured to accept operations by voice or the like.

[0185] [2-2. Operation of the Transportation System] Next, the operation of the transport system 2000 configured as described above will be explained with reference to Figures 17 and 18. First, the process of issuing a public key certificate by the certification authority 40 will be explained with reference to Figure 17. Figure 17 is a sequence diagram showing an example of the operation (pass-through determination method) for issuing a new public key certificate according to this embodiment. Below, we will explain the case where a request for issuing a public key certificate comes from the service server 30. The operation for issuing a public key certificate for each purpose is performed in the same manner.

[0186] (S2301) The service server 30 requests the certification authority 40 to issue a public key certificate corresponding to the services to be provided. The service server 30 sends information indicating the services to be provided to the certification authority 40.

[0187] (S2302) If the certificate issuing unit 2403 of the certification authority 40 determines that it authorizes the acquired service content, it issues the corresponding public key certificate. The certification authority 40 issues a public key certificate containing information indicating the service content to be provided, which was sent from the service server 30 in step S2301.

[0188] (S2303) The certificate issuing unit 2403 of the certification authority 40 sends the public key certificate it issued to the service server 30 via the communication unit 2401.

[0189] (S2304) The Certificate Authority 40 and the Service Server 30 each store the public key certificate.

[0190] Then, when the service server 30 is authorized to provide the service, it sends a public key certificate corresponding to the service to the robot 210.

[0191] The operation shown in Figure 17 may be performed before the robot 210 is put into use, or it may be performed after the robot 210 is put into use.

[0192] Next, the process by which each service server 30 to 33 switches the public key certificates used by robots 210 and 211 will be explained with reference to Figure 18. Figure 18 is a sequence diagram showing an example of the operation (pass-through determination method) of switching public key certificates for each service provided according to this embodiment. The following describes the operation when service server 30 switches the public key certificate for robot 210. It is assumed that service server 30 has previously sent public key certificates for each of the multiple service contents that robot 210 can provide to robot 210. In other words, robot 210 holds the same number of public key certificates as the number of service contents it can provide.

[0193] (S2401) The service setting unit 2302 of the service server 30 determines and sets the service content for the robot 210. For example, the service setting unit 2302 determines the service content to be performed by the robot 210 next and sets information regarding the determined service content for the robot 210. Setting means, for example, adding the determined service content, transport route, transport time, etc. to the schedule of the robot 210.

[0194] (S2402) The service server 30 instructs the robot 210 to switch the public key certificate to use the public key certificate appropriate for the service being provided.

[0195] (S2403) The certificate switching unit 1113 of the robot 210 switches the public key certificate to be used from the current public key certificate to the public key certificate instructed by the service server 30. The certificate switching unit 1113 invalidates the currently used public key certificate, reads the public key certificate instructed by the service server 30 from among the multiple public key certificates held in the certificate management unit 1103, and activates the read public key certificate.

[0196] For example, in robot 210, the public key certificate used for determining passage may be switched from one of the first digital certificates and the third digital certificate to the other in response to the switch from one of the first service and the second service to the other. Also, for example, the start of providing the first service is the first timing when the object is placed on robot 210, and the end of the first service is the second timing when the object is removed, and the switch from the first digital certificate to the third digital certificate may be performed at the first timing or at the second timing.

[0197] This allows robot 210 to determine whether to prioritize robot 210 or robot 211 for passage, using a public key certificate corresponding to the service being provided. Note that the public key certificate switching only needs to be performed by at least one of robots 210 or 211.

[0198] (Modified version of Embodiment 2) The following description will explain the transport system according to this modified example, with reference to Figures 19 to 24. The following description will focus on the differences from Embodiment 2, and the explanation of identical or similar configurations will be omitted or simplified. Figure 19 shows an example of the overall configuration of the transport system 20100 according to this modified example.

[0199] As shown in Figure 19, the modified transport system 20100 includes robots 310 and 311, a roadside unit 320, service servers 30 to 33, and a certification authority 340. The modified transport system 20100 includes a roadside unit 320 in addition to the transport system 2000 according to Embodiment 2. Furthermore, the modified transport system 20100 includes robots 310 and 311 instead of robots 210 and 211 of the transport system 2000 according to Embodiment 2, and includes a certification authority 340 instead of certification authority 40. The modified transport system 20100 has a configuration that combines the modified transport system 10100 of Embodiment 1 and the transport system 2000 according to Embodiment 2. In addition, the modified transport system 20100 determines the validity of the public key certificate issued by the certification authority 340.

[0200] Figure 20 is a block diagram showing an example of the functional configuration of robot 310 according to this modified example. The configuration of robot 311 may be the same as that of robot 310, but its explanation will be omitted.

[0201] As shown in Figure 20, the robot 310 has a configuration that is the same as the robot 210 according to Embodiment 2, but with the priority determination unit 1104 and the monitoring unit 1111 removed. The external communication unit 1101 is a communication module (communication circuit) for the robot 310 to communicate with the service server 30, the service server 31 and the roadside unit 320.

[0202] Figure 21 is a block diagram showing an example of the functional configuration of the roadside unit 320 according to this modified example.

[0203] As shown in Figure 21, the roadside unit 320 includes a CRL determination unit 3205 in addition to the roadside unit 120 according to a modified example of Embodiment 1. The CRL determination unit 3205 manages CRLs issued by the certification authority 340 and determines the validity of public key certificates obtained from robots 310 and 311 based on the CRLs. The CRL is a list containing revocation information (serial number and revocation date) of public key certificates. Public key certificates are revoked when the authorization to provide services is revoked. Revoked public key certificates are added to the CRL.

[0204] Figure 22 is a block diagram showing an example of the functional configuration of the certification authority 340 in this modified example.

[0205] As shown in Figure 22, the certification authority 340 includes, in addition to the configuration of the certification authority 40 according to Embodiment 2, a CRL management unit 3403 and a CRL issuance unit 3405.

[0206] The CRL management unit 3403 stores the issued CRLs. The CRL management unit 3403 is a storage device, such as a semiconductor memory.

[0207] The CRL issuing unit 3405 creates a CRL from information such as the expiration date of the public key certificate and any leaked information. The CRL issuing unit 3405 also transmits the created CRL to the roadside unit 320. The CRL issuing unit 3405 transmits the CRL to the roadside unit 320 at predetermined time intervals or whenever the CRL is updated.

[0208] Next, the operation of the transport system 20100 configured as described above will be explained with reference to Figures 23 and 24. Figure 23 is a sequence diagram showing an example of the operation of issuing a CRL to manage the revocation of previously issued public key certificates according to this modified example.

[0209] (S20501) The CRL issuing unit 3405 of the certification authority 340 issues a CRL if the public key certificate has expired, or if there is leaked information.

[0210] (S20502) The CRL issuing unit 3405 of the certification authority 340 transmits the CRL to the roadside unit 320 via the communication unit 2401.

[0211] (S20503) The certification authority 340 and the roadside unit 320 store the CRLs. The certification authority 340 stores the CRLs issued in step S20501 in the CRL management unit 3403. The roadside unit 320 also stores the CRLs obtained from the certification authority 340 in a storage unit (not shown). The roadside unit 320 replaces the CRLs stored in the storage unit with the newly obtained CRLs and stores them.

[0212] Figure 24 is a sequence diagram showing an example of the operation (passage determination method) of the transport system according to this modified example. In Figure 24, the same reference numerals are used for processes that are the same as those in Figure 11 in the modified example of Embodiment 1, and their explanation is omitted.

[0213] (S21111) After step S11104, the CRL determination unit 3205 of the roadside unit 320 determines whether the public key certificate determined to be Yes in step S11104 is valid using the CRL (CRL check). The CRL determination unit 3205 determines that the acquired public key certificate is invalid if it is included in the CRL, and determines that the acquired public key certificate is valid if it is not included in the CRL.

[0214] If the CRL determination unit 3205 determines that the public key certificate is invalid (shown as "N" in S21111 in Figure 24), it notifies an error and terminates processing. If the CRL determination unit 3205 determines that the public key certificate is valid (shown as "Y" in S21111 in Figure 24), it determines that the public key certificate can be used to determine the priority of robots 310 and 311.

[0215] (S21112) After step S11108, the CRL determination unit 3205 of the roadside unit 320 determines whether the public key certificate determined to be Yes in step S11108 is valid using the CRL (CRL check). If the CRL determination unit 3205 determines that the public key certificate is invalid (shown as "N" in S21112 of Figure 24), it notifies an error and terminates processing. If the CRL determination unit 3205 determines that the public key certificate is valid (shown as "Y" in S21112 of Figure 24), it determines that the public key certificate can be used to determine the priority of robots 310 and 311.

[0216] Step S21111 may be executed before step S11104, and step S21112 may be executed before step S11108.

[0217] This helps to prevent situations where priority determination becomes inaccurate due to the use of inappropriate public key certificates, such as those that have expired or pose a risk of information leakage.

[0218] (Example of display of priority determination results) Next, an example of displaying the priority determination result in the above embodiment will be described with reference to Figure 25. Figure 25 is a diagram showing an example of a user interface screen. Figure 25 shows a screen displayed on a display device 350 connected to each service server 30 to 33. The transport system may also include a display device 350 that displays the determination result of the priority determination unit 1203 on a screen. The display device 350 may be implemented by a display unit 2304 of the service server 30 shown in Figure 15.

[0219] As shown in Figure 25, the user interface screen of the display device 350 displays the position of each robot, the priority determination result, and the information used to determine the priority (for example, the public key certificate held by the robot). The user interface screen shown in Figure 25 is displayed based on or automatically by the server administrator, and the server administrator can check its contents. In addition to the above, the displayed contents may also include information necessary for the robot's movement, such as travel speed, acceleration, robot's travel status (traveling, idling, stopped, etc.), robot's external dimensions, and the presence or absence of obstacles, pedestrians, or cars around the robot. Furthermore, an error notification may also be displayed on the user interface screen if, for example, step S1104 shown in Figure 5 is determined to be No. A server administrator is an example of a monitor who remotely monitors the transportation system.

[0220] The priority determination result and the information used to determine the priority may be displayed only when a predetermined operation is performed by the server administrator (for example, clicking on the robot on the screen), or they may be displayed at all times.

[0221] (Other embodiments) The above describes one or more embodiments of traffic determination methods, etc., but this disclosure is not limited to these embodiments. Without departing from the spirit of this disclosure, various modifications to these embodiments that a person skilled in the art could conceive, or forms constructed by combining components from different embodiments, may also be included in this disclosure.

[0222] For example, in the above embodiments, the robot included in the transportation system can be anything. For example, the robot may be an autonomous vehicle, a ship system, a mobility robot such as a drone, or a robot that performs a specific service (task), such as an industrial robot or a humanoid robot.

[0223] Furthermore, the public key certificate in the above embodiments may be a digital certificate of any standard, as long as it contains the "vehicle / service use" information shown in Figure 4. Also, while the above embodiments describe an example where the public key certificate includes "vehicle / service use" information, it may instead include "priority" information. For example, the public key certificate may include information indicating priority (e.g., priority levels "S" to "B"). In this case, priority determination is not required; the priority levels included in the public key certificates may be used to determine which robot should be given priority.

[0224] Furthermore, while the above embodiments described an example of determining which robot should be given priority when two robots encounter each other, the passage determination method of this disclosure can also be applied when three or more robots encounter each other.

[0225] Furthermore, in the above embodiments, a public key certificate was used to determine which robot should be given priority, but the determination may also be made using the transport status of the object in the robots. For example, the transport status includes whether or not the transport of the object has been completed. For example, if a first robot with priority "S" and whose transport of the object has been completed meets a second robot with priority "A" and whose transport of the object is in progress, it may be determined that the second robot should be given priority over the first robot.

[0226] Furthermore, while the above embodiments described examples of robots included in the transport system being applicable to robots that travel outdoors, they may also be applicable to robots that travel indoors. Examples of such robots include, but are not limited to, serving robots and cleaning robots.

[0227] Furthermore, in the priority determination process described above, if the two robots have the same priority, the supervisor remotely monitoring the two robots may be notified, or the priority of which robot to prioritize may be determined based on pre-set rules.

[0228] Furthermore, the transportation route in the above embodiments includes not only the route taken when the object is actually being transported, but also the route taken when the vehicle is traveling to receive the object. In other words, the transportation route includes the route taken when the object is not actually being transported.

[0229] Furthermore, the robot included in the transportation system in the above embodiments may be a vehicle dedicated to at least one of the object and the service, or it may be a vehicle used for general purposes.

[0230] Furthermore, in the above embodiments, each component may be implemented by being composed of dedicated hardware or by executing a software program suitable for each component. Each component may also be implemented by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0231] Furthermore, the order in which each step in the flowchart is performed is illustrative for the purpose of specifically illustrating this disclosure, and may be in a different order. Also, some of the above steps may be performed simultaneously (in parallel) with other steps, and some of the above steps may not be performed.

[0232] Furthermore, the division of functional blocks in the block diagram is just one example; multiple functional blocks can be implemented as a single functional block, a single functional block can be divided into multiple parts, or some functions can be moved to other functional blocks. In addition, the functions of multiple functional blocks with similar functions can be processed in parallel or time-sharing by a single piece of hardware or software.

[0233] Furthermore, each component of the transport system according to the above embodiment may be implemented as a single device or as a plurality of devices.

[0234] Furthermore, each component described in the above embodiments may be implemented as software, or typically as an integrated circuit (LSI). These may be individually integrated onto a single chip, or some or all of them may be integrated onto a single chip. Here, we refer to them as LSIs, but depending on the degree of integration, they may also be called ICs, system LSIs, super LSIs, or ultra LSIs. Moreover, the method of integrated circuit implementation is not limited to LSIs; it may also be implemented using dedicated circuits (general-purpose circuits that execute dedicated programs) or general-purpose processors. After LSI manufacturing, a programmable FPGA (Field Programmable Gate Array) or a reconfigurable processor that allows for the reconfiguration of the connections or settings of circuit cells inside the LSI may be used. Furthermore, if an integrated circuit implementation technology that replaces LSIs emerges due to advances in semiconductor technology or other derived technologies, it is naturally possible to integrate the components using that technology.

[0235] A system LSI is a highly functional LSI manufactured by integrating multiple processing units onto a single chip. Specifically, it is a computer system consisting of a microprocessor, ROM (Read Only Memory), RAM (Random Access Memory), and other components. The ROM stores the computer program. The system LSI achieves its function by operating according to the computer program, with the microprocessor performing its operations.

[0236] Furthermore, one aspect of this disclosure may be a computer program that causes a computer to execute characteristic steps included in the passage determination method shown in any of Figures 5, 6, 11, 12, 17, 18, 23, and 24.

[0237] Furthermore, for example, the program may be a program to be executed by a computer. Also, in one aspect of this disclosure, such a program may be recorded on a computer-readable non-temporary recording medium. For example, such a program may be recorded on a recording medium and distributed or made available. For example, by installing the distributed program on a device having another processor and having that processor execute the program, it becomes possible to have that device perform the above-mentioned processes.

[0238] (Note) Based on the above description of embodiments, the following technologies are disclosed.

[0239] (Technology 1) A traffic determination method for determining the passage between vehicles in a first vehicle and a second vehicle that transport an object to a set location, The aforementioned first vehicle is an unmanned vehicle and holds a first digital certificate corresponding to at least one of the intended use of the first vehicle and the services provided by the first vehicle. The aforementioned second vehicle holds a second digital certificate corresponding to at least one of the intended use of the second vehicle and the services provided by the second vehicle. The aforementioned method for determining passage is: An acquisition step to obtain the first digital certificate and the second digital certificate, The system includes a first determination step in which vehicle should be given priority when the first vehicle and the second vehicle are traveling along a transport route, using the acquired first digital certificate and the second digital certificate. Traffic judgment method.

[0240] (Technology 2) In the first determination step, if there is an overlapping portion between the transport route of the first vehicle and the transport route of the second vehicle, the first digital certificate and the second digital certificate are used to determine which of the first vehicle and the second vehicle should be given priority to pass through the overlapping portion. The method for determining whether a vehicle is allowed to pass, as described in Technical 1.

[0241] (Technology 3) In the first determination step described above, Based on the first digital certificate, the first priority for the first vehicle to pass through the overlapping portion is determined. Based on the second digital certificate, the second priority for the second vehicle to pass through the overlapping portion is determined. Based on the determined first and second priorities, it is determined which of the first and second vehicles should be given priority to pass. The method for determining whether a vehicle is passing, as described in Technical 2.

[0242] (Technology 4) The method further includes a second determination step of determining whether the first vehicle and the second vehicle are in close proximity in the vicinity of the overlapping portion, If it is determined in the second determination step that the first vehicle and the second vehicle are in close proximity, the acquisition step and the first determination step are executed. The method for determining whether a person is allowed to pass, as described in Technical 2 or 3.

[0243] (Technology 5) The aforementioned first digital certificate is issued for each type of use of the aforementioned first vehicle, The aforementioned second digital certificate is issued for each type of use of the aforementioned second vehicle. A method for determining passage, as described in any of Techniques 1-4.

[0244] (Technology 6) The aforementioned usage categories include being an emergency vehicle. The method for determining whether a vehicle is allowed to pass, as described in Technical 5.

[0245] (Technology 7) The aforementioned first digital certificate is issued for each type of service provided by the aforementioned first vehicle, The aforementioned second digital certificate is issued for each type of service provided by the aforementioned second vehicle. A method for determining passage, as described in any of Techniques 1-6.

[0246] (Technology 8) The aforementioned service types include those that have an expiration date. The method for determining whether a vehicle is allowed to pass, as described in Technical 7.

[0247] (Technology 9) The expiration date of the aforementioned service is the expiration date corresponding to the duration of the service provision. The method for determining whether a vehicle is allowed to pass, as described in Technical 7.

[0248] (Technology 10) The aforementioned object includes food and beverages, The aforementioned serving time is based on the permitted serving time for food and beverages. The method for determining whether a vehicle is allowed to pass, as described in Technical 9.

[0249] (Technology 11) The first digital certificate is issued when the first vehicle is manufactured and is pre-held in the first vehicle. A method for determining passage, as described in one of Techniques 1-10.

[0250] (Technology 12) When the first vehicle is authorized to provide the first service, the first digital certificate corresponding to the first service is transmitted from a server that is communicably connected to the first vehicle to the first vehicle. A method for determining passage, as described in any of Techniques 1-11.

[0251] (Technology 13) If the authorization to provide the service corresponding to the first digital certificate is revoked, the first digital certificate will be invalidated. If the authorization to provide the service corresponding to the aforementioned second digital certificate is revoked, the aforementioned second digital certificate will be invalidated. A method for determining passage, as described in any of Techniques 1 to 12.

[0252] (Technology 14) The first vehicle holds two or more digital certificates including the first digital certificate corresponding to the first service and the third digital certificate corresponding to the second service. In response to the switching from one of the first service and the second service to the other, the digital certificate used in the first determination step is switched from one of the first digital certificate and the third digital certificate to the other. The passing determination method according to any one of Techniques 1 to 13.

[0253] (Technique 15) The start of the provision of the first service is the first timing of loading the object onto the first vehicle. The end of the first service is the second timing of unloading the object. At the first timing or the second timing, the digital certificate is switched from one of the first digital certificate and the third digital certificate to the other. The passing determination method according to Technique 14.

[0254] (Technique 16) If it is determined in the result of the determination in the first determination step to give priority to the second vehicle to pass, the first vehicle decelerates or temporarily stops. The passing determination method according to any one of Techniques 1 to 15.

[0255] (Technique 17) The first determination step is executed by a device outside the first vehicle and the second vehicle. If it is determined in the result of the determination in the first determination step to give priority to the second vehicle to pass, the first vehicle receives an instruction to decelerate or temporarily stop from the external device. The passing determination method according to any one of Techniques 1 to 15.

[0256] (Technique 18) The determination result of the first determination step is presented to a monitor who remotely monitors a transportation system including the first vehicle and the second vehicle. The passing determination method according to any one of Technologies 1 to 17.

[0257] (Technology 19) A passing determination system for determining passing between vehicles in a first vehicle and a second vehicle that transport an object to a set location, The first vehicle is a driverless vehicle and holds a first digital certificate corresponding to at least one of the use of the first vehicle and the service of the first vehicle, The second vehicle holds a second digital certificate corresponding to at least one of the use of the second vehicle and the service of the second vehicle, The passing determination system includes: An acquisition unit that acquires the first digital certificate and the second digital certificate; A determination unit that determines which of the first vehicle and the second vehicle should be given priority to pass when each of the first vehicle and the second vehicle passes through a transport route, using the acquired first digital certificate and second digital certificate. Passing determination system.

[0258] (Technology 20) Further includes a display unit that displays the determination result of the determination unit on a screen. The passing determination system according to Technology 19.

Industrial Applicability

[0259] The present disclosure is useful for a transport system or the like that transports an object using a vehicle capable of autonomous driving.

Explanation of Signs

[0260] 10, 110, 210, 310 Robot (first vehicle) 11, 111, 211, 311 Robot (second vehicle) 30, 31, 32, 33 Service server (server) 40, 340 Certification authority 120, 320 Roadside unit 350 Display device 1000, 2000, 10100, 20100 Transportation Systems 1101 External Communications Department 1102 Route Management Department 1103, 2402 Certificate Management Department 1104, 1203 Priority judgment section 1105, 1204 Driving instruction unit 1106 Input Section 1107, 2304 Display section 1108 User Authentication Department 1109 Locking and Unlocking Management Department 1110 Baggage Management Department 1111 Monitoring Department 1112 Drive Unit 1113 Certificate Switching Section 1201, 2301, 2401 Communications Department 1202 Proximity Surveillance Unit 2302 Service Configuration Section 2303 Vehicle Management Department 2403 Certificate Issuance Department 3205 CRL judgment section 3403 CRL Management Department 3405 CRL Publishing Department

Claims

1. A traffic determination method for determining traffic between a first vehicle and a second vehicle that transport an object to a set location, The aforementioned first vehicle is an unmanned vehicle and holds a first digital certificate corresponding to at least one of the intended use of the first vehicle and the services provided by the first vehicle. The aforementioned second vehicle holds a second digital certificate corresponding to at least one of the intended use of the second vehicle and the services provided by the second vehicle. The aforementioned method for determining passage is: An acquisition step to obtain the first digital certificate and the second digital certificate, The process includes a first determination step in which, when the first vehicle and the second vehicle are traveling along the transport route, the acquired first digital certificate and the second digital certificate are used to determine which vehicle should be given priority. The first vehicle holds two or more digital certificates, including the first digital certificate corresponding to the first service and the third digital certificate corresponding to the second service. In response to switching from one of the first service and the second service to the other, the digital certificate used in the first determination step is switched from one of the first digital certificate and the third digital certificate to the other. Traffic judgment method.

2. In the first determination step, if there is an overlapping portion between the transport route of the first vehicle and the transport route of the second vehicle, the first digital certificate and the second digital certificate are used to determine which of the first vehicle and the second vehicle should be given priority to pass through the overlapping portion. The method for determining whether a vehicle is passing, as described in claim 1.

3. In the first determination step described above, Based on the first digital certificate, the first priority for the first vehicle to pass through the overlapping portion is determined. Based on the second digital certificate, the second priority for the second vehicle to pass through the overlapping portion is determined. Based on the determined first and second priorities, it is determined which of the first and second vehicles should be given priority to pass. The method for determining whether a vehicle is passing, as described in claim 2.

4. The method further includes a second determination step of determining whether the first vehicle and the second vehicle are in close proximity in the vicinity of the overlapping portion, If it is determined in the second determination step that the first vehicle and the second vehicle are in close proximity, the acquisition step and the first determination step are executed. The method for determining whether a person is passing, according to claim 2 or 3.

5. The aforementioned first digital certificate is issued for each type of use of the aforementioned first vehicle, The aforementioned second digital certificate is issued for each type of use of the aforementioned second vehicle. The method for determining passage according to any one of claims 1 to 3.

6. The aforementioned usage categories include being an emergency vehicle. The method for determining whether a person is allowed to pass according to claim 5.

7. The aforementioned first digital certificate is issued for each type of service provided by the aforementioned first vehicle, The aforementioned second digital certificate is issued for each type of service provided by the aforementioned second vehicle. The method for determining passage according to any one of claims 1 to 3.

8. The aforementioned service types include those that have an expiration date. The method for determining whether a vehicle is allowed to pass according to claim 7.

9. The expiration date of the aforementioned service is the expiration date corresponding to the duration of the service provision. The method for determining whether a vehicle is allowed to pass according to claim 7.

10. The aforementioned object includes food and beverages, The aforementioned serving time is based on the permitted serving time for food and beverages. The method for determining whether a person is allowed to pass, as described in claim 9.

11. The first digital certificate is issued when the first vehicle is manufactured and is pre-held in the first vehicle. The method for determining passage according to any one of claims 1 to 3.

12. When the first vehicle is authorized to provide the first service, the first digital certificate corresponding to the first service is transmitted to the first vehicle from a server that is communicatively connected to the first vehicle. The method for determining passage according to any one of claims 1 to 3.

13. If the authorization to provide the service corresponding to the first digital certificate is revoked, the first digital certificate will be invalidated. If the authorization to provide the service corresponding to the second digital certificate is revoked, the second digital certificate will be invalidated. The method for determining passage according to any one of claims 1 to 3.

14. The commencement of the first service refers to the first timing of placing the object onto the first vehicle. The termination of the first service refers to the second timing when the object is lowered. At the first timing or the second timing, one of the first digital certificate and the third digital certificate is switched to the other. The method for determining whether a vehicle is passing, as described in claim 1.

15. If, as a result of the determination in the first determination step, it is determined that the second vehicle should be given priority, the first vehicle will slow down or come to a complete stop. The method for determining passage according to any one of claims 1 to 3.

16. The first determination step is performed by external devices of the first vehicle and the second vehicle. If the determination in the first determination step determines that the second vehicle should be given priority, the first vehicle receives an instruction from the external device to slow down or stop. The method for determining passage according to any one of claims 1 to 3.

17. The determination result of the first determination step is presented to a monitor who remotely monitors the transportation system including the first vehicle and the second vehicle. The method for determining passage according to any one of claims 1 to 3.

18. The method for determining passage further includes: Steps to obtain a certificate revocation list containing digital certificate revocation information, The procedure includes the step of verifying whether the first digital certificate and the second digital certificate are included in the certificate revocation list, The first determination step is performed if the first digital certificate and the second digital certificate are not included in the certificate revocation list. The method for determining whether a vehicle is passing, as described in claim 1.

19. The method for determining passage further includes: The process includes a display step in which the determination result of the first determination step, the location information of the first and second vehicles, and the information contained in the digital certificates held by the first and second vehicles used in the determination of the first determination step are displayed on the monitor's device. The display step involves displaying the locations of the first vehicle and the second vehicle on the map information using their respective icons, and changing the appearance of the icon for the vehicle that is determined to have a lower priority based on the determination result. The method for determining whether a vehicle is passing, as described in claim 1.

20. A traffic determination system that determines the passage between vehicles in a first vehicle and a second vehicle that transport an object to a set location, The aforementioned first vehicle is an unmanned vehicle and holds a first digital certificate corresponding to at least one of the intended use of the first vehicle and the services provided by the first vehicle. The aforementioned second vehicle holds a second digital certificate corresponding to at least one of the intended use of the second vehicle and the services provided by the second vehicle. The aforementioned traffic determination system is An acquisition unit that acquires the first digital certificate and the second digital certificate, The system includes a determination unit that, when the first vehicle and the second vehicle are traveling along a transport route, uses the acquired first digital certificate and the second digital certificate to determine which of the two vehicles should be given priority in passing. The first vehicle holds two or more digital certificates, including the first digital certificate corresponding to the first service and the third digital certificate corresponding to the second service. In response to switching from one of the first service and the second service to the other, the digital certificate used in the determination by the determination unit is switched from one of the first digital certificate and the third digital certificate to the other. Traffic detection system.

21. Furthermore, it includes a display unit that displays the determination result of the determination unit on a screen. The traffic determination system according to claim 20.

Images