Vehicle operation support system

Abstract

To provide a vehicle operation support system which can certainly grasp presence / absence of an obstacle around a towing tractor and grasp position relation between the towing tractor and a high speed vehicle.SOLUTION: A vehicle operation support system 10 comprises: a plurality of detection devices 11 provided in an airport; and a grasping device 12 provided in a towing tractor T. A detection unit 32 of the detection device 11 detects a type of an object existing on a detection passage and a position of the object within a detection range of a vehicle outside sensor 31 on the basis of a detection result of the vehicle outside sensor 31 including the detection passage in the detection range. The detection unit 32 can discriminate a high-speed vehicle as the type of the object. A detection side communication unit 33 transmits a detection result of the detection unit 32 to the grasping device 12. A grasping side communication unit 42 of the grasping device 12 receives the detection result of the detection unit 32. A grasping unit 41 of the grasping device 12 grasps a position of the high-speed vehicle in the airport from a position of the vehicle outside sensor 31 in the airport and the received detection result of the detection unit 32.SELECTED DRAWING: Figure 2

Description

Technical Field

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[0001] The present invention relates to a vehicle operation support system used at an airport.

Background Art

[0006] Furthermore, in airports where towing tractors and high-speed vehicles coexist, it is preferable to prioritize the operation of high-speed vehicles over that of towing tractors in order to ensure the on-time operation of high-speed vehicles. In order to prioritize the operation of high-speed vehicles over that of towing tractors, it is necessary to understand the relative positions of towing tractors and high-speed vehicles. [Means for solving the problem]

[0007] A vehicle operation support system for solving the above problems is a vehicle operation support system used at an airport where a towing tractor equipped with vehicle sensors and a high-speed vehicle whose speed limit is set to be faster than the speed limit of the towing tractor are in operation, comprising: a plurality of detection devices installed within the airport; and a grasping device installed on the towing tractor or a management device that manages the operation of the towing tractor, wherein the detection device includes an external sensor installed so as to include a detection passage consisting of the operation path in which the towing tractor and the high-speed vehicle operate and the roadside strips provided on both sides of the operation path, and based on the detection results of the external sensor, objects present in the detection passage The device comprises a detection unit that detects the type of body and the position of the object within the detection range of the external sensor, and a detection-side communication unit that can transmit the detection result of the detection unit to the grasping device, the grasping device comprising a grasping unit that grasps the position of the towing tractor within the airport and grasps the presence or absence of obstacles around the towing tractor based on the detection result of the vehicle sensor, and a grasping-side communication unit that can receive the detection result of the detection unit transmitted from the detection-side communication unit, the detection unit is capable of identifying the high-speed vehicle as the type of object, and the grasping unit grasps the position of the high-speed vehicle within the airport based on the position of the external sensor within the airport and the detection result of the detection unit.

[0008] According to the above configuration, each of the multiple detection devices installed within the airport has a detection unit that detects objects present in the detection path. Therefore, even if a blind spot occurs in the detection range of the vehicle sensor, the detection unit can determine the presence or absence of obstacles in the blind spot area by utilizing the detection results of the detection unit. Thus, the presence or absence of obstacles around the towing area can be reliably determined.

[0009] Furthermore, the detection unit can identify high-speed vehicles as a type of object. Therefore, the grasping unit can determine the position of high-speed vehicles within the airport based on the detection results of the detection unit. Consequently, the positional relationship between the towing tractor and high-speed vehicles within the airport can be determined.

[0010] In the above-described vehicle operation support system, a vehicle control unit is provided on the towing tractor or the management device to control the movement of the towing tractor, and the vehicle control unit may set the travel speed of the towing tractor based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the grasping unit.

[0011] For example, the vehicle control unit recognizes, based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the tracking unit, that the towing tractor is approaching a high-speed vehicle parked on the shoulder. In this case, the vehicle control unit reduces the towing tractor's speed. This reduces the risk of the towing tractor colliding with the high-speed vehicle. Furthermore, the high-speed vehicle can merge smoothly from the shoulder onto the main road. As a result, it becomes easier to achieve on-time operation for high-speed vehicles.

[0012] In the above-described vehicle operation support system, a vehicle control unit is provided on the towing tractor or the management device to control the movement of the towing tractor, and the vehicle control unit may select the driving lane for the towing tractor based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the grasping unit.

[0013] For example, the vehicle control unit recognizes from the positions of the towing tractor and the high-speed vehicle within the airport, as determined by the tracking unit, that the towing tractor is traveling in the lane closest to the shoulder and that the towing tractor is traveling in a manner approaching a high-speed vehicle parked on the shoulder. In this case, the lane control unit causes the towing tractor to change lanes by selecting a lane further away from the shoulder as the towing tractor's travel lane. This makes it easier to maintain a safe distance between the towing tractor and the high-speed vehicle. Furthermore, the high-speed vehicle can merge smoothly from the shoulder onto the traffic lane. As a result, it becomes easier to achieve on-time operation of the high-speed vehicle.

[0014] In the above-described vehicle operation support system, a sensor control unit is provided on the towing tractor or the management device for controlling the vehicle sensor, and the sensor control unit may set the detection range of the vehicle sensor based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the grasping unit.

[0015] For example, the sensor control unit recognizes, based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the tracking unit, that the towing tractor is approaching a high-speed vehicle parked on the roadside. In this case, the sensor control unit widens the detection range of the vehicle sensor. This allows the tracking unit to quickly determine the presence or absence of obstacles around the towing tractor. Furthermore, the detection range of the vehicle sensor when the towing tractor is not approaching a high-speed vehicle parked on the roadside is narrower than the detection range of the vehicle sensor when the towing tractor is approaching a high-speed vehicle parked on the roadside. In this way, by narrowing the detection range of the vehicle sensor in situations where the possibility of obstacles being present around the towing tractor is low, the processing load related to determining the presence or absence of obstacles around the towing tractor can be reduced.

[0016] In the above-described vehicle operation support system, a vehicle control unit is provided on the towing tractor or the management device and controls the movement of the towing tractor, wherein the detection unit of the detection device, whose detection range includes a pedestrian crossing, is capable of identifying a person as the type of object, the grasping unit grasps the position of the person within the airport from the position of the external sensor within the airport and the detection result of the detection unit, and the vehicle control unit may set the driving speed of the towing tractor based on the positions of the towing tractor and the person within the airport grasped by the grasping unit.

[0017] In the above configuration, the detection unit can also discriminate a person as the type of object. Therefore, the grasping unit can grasp the position of a person in the airport based on the detection result of the detection unit. Accordingly, the positional relationship between the towing tractor and the person in the airport can also be grasped.

[0018] Further, the vehicle control unit sets the traveling speed of the towing tractor based on the positions of the towing tractor and the person in the airport grasped by the grasping unit. For example, the vehicle control unit recognizes from the positions of the towing tractor and the person in the airport grasped by the grasping unit that a person is present on or near a crosswalk, and the towing tractor is traveling so as to approach the crosswalk. In this case, the vehicle control unit stops the towing tractor by setting the traveling speed of the towing tractor to zero. Thereby, the risk that the towing tractor contacts a person can be reduced.

Advantages of the Invention

[0019] According to the present invention, it is possible to surely grasp the presence or absence of obstacles around the towing tractor and to grasp the positional relationship between the towing tractor and the high-speed vehicle.

Brief Description of the Drawings

[0020] [Figure 1] It is a schematic diagram showing an example of a passage in the airport. [Figure 2] It is a block diagram showing the configuration of the vehicle operation support system in the embodiment. [Figure 3] It is a schematic diagram for explaining the processing of the vehicle operation support system in the embodiment. [Figure 4] It is a schematic diagram for explaining the processing of the vehicle operation support system in the embodiment. [Figure 5] It is a schematic diagram for explaining the processing of the vehicle operation support system in the embodiment. [Figure 6] It is a schematic diagram for explaining the processing of the vehicle operation support system in the embodiment. [Figure 7]It is a block diagram showing the configuration of a vehicle operation support system in a modification example. [Figure 8] It is a block diagram showing the configuration of a vehicle operation support system in a modification example.

Embodiment for Carrying out the Invention

[0021] Hereinafter, an embodiment in which a vehicle operation support system is embodied will be described according to FIGS. 1 to 6. The vehicle operation support system is used at an airport. As shown in FIG. 1, at an airport, a towing tractor T is used. The towing tractor T is a vehicle that transports a container by traveling while towing a dolly on which the container is placed. For this reason, the vehicle length of the towing tractor T tends to be long. The towing tractor T of the present embodiment is an unmanned vehicle. Also, at the airport, a bus B and a forklift (not shown) are used. The bus B is a vehicle that transports passengers of an airplane between the passenger terminal and the waiting area of the airplane. The forklift is a vehicle that transports in-flight meals. The bus B and the forklift are manned vehicles.

[0022] The airport internal passage Ra includes a vehicle passage Rv and a roadside strip Rs. The vehicle passage Rv is a passage for vehicles to pass through. The vehicle passage Rv of the present embodiment is a one-way two-lane passage having two lanes for both the inbound and outbound lanes. The roadside strip Rs is provided on both sides of the vehicle passage Rv. Also, a crosswalk C is provided on the airport internal passage Ra of the airport. A person P such as an operator crosses the vehicle passage Rv by passing through the crosswalk C.

[0023] The speed limit of vehicles on the vehicle passage Rv is determined for each airport. Also, the speed limit of vehicles on the vehicle passage Rv varies depending on the type of vehicle. For example, the speed limit of the towing tractor T is set to 15 km / h. The speed limits of the bus B and the forklift are set to 30 km / h. Therefore, the bus B and the forklift are high-speed vehicles V whose speed limits are set at speeds higher than the speed limit of the towing tractor T.

[0024] Thus, within the airport, vehicle operations are carried out with a mix of multiple types of vehicles having different travel speeds and lengths. In the following, among the vehicle lanes Rv, the lane used by both towing tractors T and high-speed vehicles V will be referred to as the operating lane Rv0. Furthermore, the operating lane Rv0 and the roadside strips Rs located on both sides of the operating lane Rv0 will be referred to as the detection lane Rd.

[0025] <Towing Tractor> As shown in Figure 2, the towing tractor T is equipped with a vehicle sensor 21, a drive unit 22, and a vehicle-side control device 23.

[0026] The vehicle sensor 21 is mounted on the towing tractor T. The vehicle sensor 21 is used to determine the presence or absence of obstacles around the towing tractor T. In this embodiment, the vehicle sensor 21 is a LIDAR (Laser Imaging Detection and Ranging). A LIDAR emits a laser into its surroundings. A LIDAR receives reflected light from the area where the laser hits. A LIDAR is a distance meter capable of recognizing the surrounding environment. The vehicle sensor 21 is a two-dimensional distance meter that emits a laser while changing the horizontal irradiation angle. In this embodiment, the vehicle sensor 21 is configured to allow changing the detection range A21 (see Figure 3).

[0027] The drive unit 22 causes the towing tractor T to perform a driving motion. The drive unit 22 rotates the wheels (not shown) of the towing tractor T and also changes the steering angle (direction of travel). For example, if the towing tractor T is an engine type, the drive unit 22 is the engine and a steering device that changes the operating angle. For example, if the towing tractor T is an EV type with an energy storage device, the drive unit 22 is an electric motor that rotates the wheels and a steering device.

[0028] The vehicle-side control device 23 comprises a processor and a memory unit. The processor may be, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a DSP (Digital Signal Processor). The memory unit includes RAM (Random Access Memory) and ROM (Read Only Memory). The memory unit stores a program for operating the towing tractor T. The memory unit can be said to store program code or commands configured to cause the processor to execute processing. The memory unit, i.e., the computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The vehicle-side control device 23 may also be composed of hardware circuits such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The processing circuit, the vehicle-side control device 23, may include one or more processors operating according to a computer program, one or more hardware circuits such as an ASIC or FPGA, or a combination thereof. The vehicle-side control device 23 is connected to the vehicle sensor 21 and the drive unit 22.

[0029] <Configuration of the vehicle operation support system> The vehicle operation support system 10 includes a plurality of detection devices 11 and a grasping device 12. The plurality of detection devices 11 are installed within the airport. The grasping device 12 in this embodiment is installed on the towing tractor T.

[0030] The detection device 11 includes an external sensor 31, a detection unit 32, and a detection-side communication unit 33. The external sensor 31 in this embodiment is a LIDAR (Laser Imaging Detection and Ranging) sensor. The external sensor 31 is a three-dimensional distance meter that emits a laser while changing the irradiation angle in both the horizontal and vertical directions. As shown in Figure 3, the detection range A31 of the external sensor 31 is wider than the detection range A21 of the vehicle sensor 21.

[0031] As shown in Figure 1, each detection device 11 is installed such that the detection path Rd is included in the detection range A31 of the external sensor 31. The detection devices 11 are installed, for example, on the roadside strip Rs of the detection path Rd. Multiple detection devices 11 are installed alternately on the roadside strip Rs located on one end of the traffic path Rv0 and on the roadside strip Rs located on the other end of the traffic path Rv0. Multiple detection devices 11 are also installed at intervals along the detection path Rd. Multiple detection devices 11 are installed such that the detection range A31 of the external sensor 31 of adjacent detection devices 11 overlaps in some parts. In addition, some of the multiple detection devices 11 are installed such that the pedestrian crossing C is included in the detection range A31 of the external sensor 31.

[0032] The detection unit 32 comprises a processor and a memory unit. The processor may be, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a DSP (Digital Signal Processor). The memory unit includes RAM (Random Access Memory) and ROM (Read Only Memory). The memory unit stores a program for operating the detection device 11. The memory unit can be said to store program code or instructions configured to cause the processor to execute processing. The memory unit, i.e., the computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The detection unit 32 may also be composed of hardware circuits such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The detection unit 32, which is a processing circuit, may include one or more processors operating according to a computer program, one or more hardware circuits such as an ASIC or FPGA, or a combination thereof.

[0033] As shown in Figure 2, the detection unit 32 is connected to the external sensor 31. Based on the detection results of the external sensor 31, the detection unit 32 detects the presence or absence of an object in the detection passage Rd. If the detection unit 32 detects an object in the detection passage Rd, it detects the position of the detected object. The detection unit 32 detects the position of the object in the detection passage Rd as the position of the object within the detection range A31 of the external sensor 31. The detection unit 32 also determines the type of object detected. Specifically, the detection unit 32 stores the shapes and sizes of multiple types of objects in advance. The detection unit 32 detects the shape and size of the object in the detection passage Rd from the detection results of the external sensor 31. The detection unit 32 determines the type of object in the detection passage Rd from the stored shape and size of the object and the shape and size of the detected object. The detection unit 32 is configured to be able to identify a high-speed vehicle V as the type of object. Furthermore, in this embodiment, the detection unit 32 of the detection device 11 is configured to identify a person P as the type of object if the detection range A31 of the external sensor 31 includes a pedestrian crossing C.

[0034] The detection-side communication unit 33 is a communication device capable of communicating using any wireless communication method. Examples of wireless communication methods include wireless LAN, Zigbee®, LPWA (Low Power Wide Area), or mobile communication systems. The detection-side communication unit 33 is capable of sending and receiving wireless signals. The detection-side communication unit 33 is capable of communicating with the grasping device 12.

[0035] The detection device 11 transmits the detection result from the detection unit 32 to the comprehension device 12 via the detection-side communication unit 33. The detection result from the detection unit 32 includes the type of object and the position of the object within the detection range A31 of the external sensor 31.

[0036] The grasping device 12 includes a grasping unit 41 and a grasping-side communication unit 42. The grasping unit 41 comprises a processor and a memory unit. The processor may be, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a DSP (Digital Signal Processor). The memory unit includes RAM (Random Access Memory) and ROM (Read Only Memory). The memory unit stores a program for operating the grasping device 12. The memory unit can be said to store program code or instructions configured to cause the processor to execute processing. The memory unit, i.e., the computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The grasping unit 41 may be composed of hardware circuits such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The grasping unit 41, which is a processing circuit, may include one or more processors operating according to a computer program, one or more hardware circuits such as an ASIC or FPGA, or a combination thereof.

[0037] The grasping-side communication unit 42 is a communication unit similar to the detection-side communication unit 33. The grasping-side communication unit 42 can communicate with the detection device 11. The grasping device 12 receives the detection result of the detection unit 32 from the detection device 11 via the grasping-side communication unit 42.

[0038] The grasping unit 41 determines the presence or absence of obstacles around the towing tractor T. The grasping unit 41 is connected to the vehicle sensor 21. Based on the detection results of the vehicle sensor 21, the grasping unit 41 determines the presence or absence of obstacles around the towing tractor T. As will be described in detail later, there may be blind spots in the detection range A21 of the vehicle sensor 21. In this case, the grasping unit 41 determines the presence or absence of obstacles in the area around the towing tractor T that is a blind spot in the detection range A21 of the vehicle sensor 21 by using the detection results of the detection unit 32.

[0039] The grasping unit 41 determines the position of the towing tractor T within the airport. In this embodiment, the grasping unit 41 determines the position of the towing tractor T equipped with the grasping device 12 within the airport. The grasping unit 41 determines the position of the towing tractor T within the airport using, for example, GPS (Global Positioning System). However, the grasping unit 41 may determine the position of the towing tractor T within the airport using a method other than GPS.

[0040] The sensing unit 41 determines the position of the high-speed vehicle V within the airport based on the detection results of the detection unit 32. As described above, the detection results of the detection unit 32 include the type of object and the position of the object within the detection range A31 of the external sensor 31. Therefore, the sensing unit 41 determines that the object in the detection passage Rd is a high-speed vehicle V based on the type of object determined by the detection unit 32. The sensing unit 41 also stores the positions of the external sensors 31 of each detection device 11 within the airport. The sensing unit 41 determines the position of the high-speed vehicle V within the airport based on the positions of the external sensors 31 within the airport and the positions of the objects within the detection range A31 of the external sensors 31.

[0041] Similarly, the grasping unit 41 of this embodiment determines the location of person P within the airport based on the detection results of the detection unit 32. The grasping unit 41 determines that the object in the detection passage Rd is person P based on the type of object determined by the detection unit 32. Furthermore, the grasping unit 41 determines the location of person P within the airport based on the location of the external sensor 31 within the airport and the location of the object within the detection range A31 of the external sensor 31.

[0042] Similarly, the grasping unit 41 of this embodiment determines the location of the construction vehicle Vc within the airport based on the detection results of the detection unit 32. The grasping unit 41 determines that the object in the detection passage Rd is a construction vehicle Vc based on the type of object determined by the detection unit 32. Furthermore, the grasping unit 41 determines the location of the construction vehicle Vc within the airport based on the location of the external sensor 31 within the airport and the location of the construction vehicle Vc within the detection range A31 of the external sensor 31.

[0043] The vehicle operation support system 10 of this embodiment includes a vehicle control unit 13. In this embodiment, the vehicle control unit 13 is provided on the vehicle-side control device 23 of the towing tractor T. The vehicle control unit 13 controls the movement of the towing tractor T. Specifically, the vehicle control unit 13 sets the travel speed of the towing tractor T. The vehicle control unit 13 controls the drive unit 22 so that the towing tractor T travels at the set speed. The vehicle control unit 13 also selects the lane in which the towing tractor T travels. The vehicle control unit 13 controls the drive unit 22 so that the towing tractor T travels in the selected lane.

[0044] The vehicle control unit 13 sets the travel speed of the towing tractor T based on the presence or absence of obstacles around the towing tractor T as detected by the sensing unit 41. The vehicle control unit 13 sets the travel speed of the towing tractor T and selects the travel lane for the towing tractor T based on the positions of the towing tractor T and the high-speed vehicle V within the airport as detected by the sensing unit 41. The vehicle control unit 13 sets the travel speed of the towing tractor T based on the positions of the towing tractor T and the person P within the airport as detected by the sensing unit 41. The vehicle control unit 13 selects the travel lane for the towing tractor T based on the positions of the towing tractor T and the construction vehicle Vc within the airport as detected by the sensing unit 41.

[0045] The vehicle operation support system 10 of this embodiment includes a sensor control unit 14. In this embodiment, the sensor control unit 14 is provided on the vehicle-side control device 23 of the towing tractor T. The sensor control unit 14 performs control related to the vehicle sensor 21. Specifically, the sensor control unit 14 sets the detection range A21 of the vehicle sensor 21. The vehicle sensor 21 performs detection within the detection range A21 set by the sensor control unit 14. The sensor control unit 14 sets the detection range A21 of the vehicle sensor 21 based on the positions of the towing tractor T and the high-speed vehicle V within the airport as determined by the grasping unit 41.

[0046] <Processing by the vehicle operation support system> The processes performed by the vehicle operation support system 10 will be explained using specific examples shown in Figures 3 to 6. Note that the processes performed by the vehicle control unit 13 and the sensor control unit 14 in the following examples are just examples.

[0047] For example, as shown in Figure 3, when the towing tractor T is not transporting a container, it is located outside the detection path Rd. When the towing tractor T is transporting a container, it passes through the shoulder Rs and merges with the operation path Rv0. A parked vehicle Vs is present in the shoulder Rs near the merging point. The parked vehicle Vs creates a blind spot in the detection range A21 of the vehicle sensor 21. In Figure 3, the blind spot area of ​​the vehicle sensor 21 is indicated by dot hatching. A high-speed vehicle V, a bus B, is present in the blind spot area of ​​the vehicle sensor 21.

[0048] As described above, the grasping unit 41 determines the presence or absence of objects around the towing tractor T based on the detection results of the vehicle sensor 21. However, the grasping unit 41 cannot determine the presence or absence of obstacles in the blind spot area of ​​the towing tractor T that is the area around the towing tractor T. Therefore, the grasping unit 41 determines the presence or absence of obstacles in the blind spot area of ​​the towing tractor T that is the area around the vehicle sensor 21 by utilizing the detection results of the detection unit 32.

[0049] Bus B, which is in a blind spot of the vehicle sensor 21, is located within the detection range A31 of the external sensor 31 of the detection device 11. Therefore, the detection unit 32 of the detection device 11 detects that an object is present in the detection passage Rd. The detection unit 32 determines that the type of object is a high-speed vehicle V. The detection unit 32 also detects the position of the object within the detection range A31 of the external sensor 31. The detection device 11 transmits the detection result of the detection unit 32 to the grasping device 12 via the detection-side communication unit 33. The grasping device 12 receives the detection result of the detection unit 32 from the detection device 11 via the grasping-side communication unit 42. The grasping unit 41 determines the position of the high-speed vehicle V within the airport from the position of the external sensor 31 of the transmitting detection device 11 within the airport and the received detection result of the detection unit 32. The grasping unit 41 then determines, based on the position of the high-speed vehicle V within the airport, that there is an obstacle (high-speed vehicle V) in the area around the towing tractor T that is in the blind spot of the vehicle sensor 21.

[0050] The vehicle control unit 13 recognizes from the detection results of the detection unit 41 that there is an obstacle around the towing tractor T. In this case, the vehicle control unit 13 sets the towing tractor T's travel speed to zero, for example. That is, the vehicle control unit 13 stops the towing tractor T. If the vehicle control unit 13 recognizes from the detection results of the detection unit 41 that there is no obstacle around the towing tractor T, it sets the towing tractor T's travel speed to a speed appropriate for merging onto the operating path Rv0.

[0051] For example, as shown in Figure 4, a high-speed vehicle V, a bus B, makes a temporary stop on the shoulder Rs when passengers board or alight. The towing tractor T is traveling in a manner that approaches the bus B which is stopped on the shoulder Rs. The towing tractor T is also traveling in the first lane Rv1 of the vehicle lane Rv, which is the lane closer to the shoulder Rs.

[0052] Bus B is located within the detection range A31 of the external sensor 31 of the detection device 11. Therefore, the detection unit 32 of the detection device 11 detects that an object is present in the detection passage Rd. The detection unit 32 determines that the type of object is a high-speed vehicle V. The detection unit 32 also detects the position of the object within the detection range A31 of the external sensor 31. The detection device 11 transmits the detection result of the detection unit 32 to the grasping device 12 via the detection-side communication unit 33. The grasping device 12 receives the detection result of the detection unit 32 from the detection device 11 via the grasping-side communication unit 42. The grasping unit 41 determines the position of the high-speed vehicle V within the airport from the position of the external sensor 31 of the transmitting detection device 11 within the airport and the received detection result of the detection unit 32.

[0053] The vehicle control unit 13 and the sensor control unit 14 recognize that the high-speed vehicle V is stopped in the shoulder area Rs, based on the position of the high-speed vehicle V within the airport as determined by the sensing unit 41. Furthermore, the vehicle control unit 13 and the sensor control unit 14 recognize that the towing tractor T is traveling in a manner approaching the high-speed vehicle V, and that the towing tractor T is traveling in the first lane Rv1, based on the position of the towing tractor T within the airport as determined by the sensing unit 41. Additionally, the vehicle control unit 13 recognizes, based on the sensing results from the sensing unit 41, that there are no objects in the second lane Rv2, which is the lane further away from the shoulder area Rs.

[0054] In this case, the vehicle control unit 13 sets the travel speed of the towing tractor T to a slower speed than the current speed. That is, the vehicle control unit 13 reduces the travel speed of the towing tractor T. The vehicle control unit 13 also selects the second lane Rv2 as the travel lane for the towing tractor T. That is, the vehicle control unit 13 causes the towing tractor T to change lanes. Furthermore, the sensor control unit 14 sets the detection range A21 of the vehicle sensor 21 to a wider range than the current range shown by the dashed line in Figure 4. As a result, the vehicle sensor 21 performs detection within the detection range A21 shown by the double dashed line in Figure 4.

[0055] For example, as shown in Figure 5, a person P is present near pedestrian crossing C. The towing tractor T is traveling in a manner that approaches pedestrian crossing C. Person P is located within the detection range A31 of the external sensor 31 of the detection device 11. Therefore, the detection unit 32 of the detection device 11 detects that an object is present in the detection passage Rd. The detection unit 32 determines that the type of object is person P. The detection unit 32 also detects the position of the object within the detection range A31 of the external sensor 31. The detection device 11 transmits the detection result of the detection unit 32 to the grasping device 12 via the detection-side communication unit 33. The grasping device 12 receives the detection result of the detection unit 32 from the detection device 11 via the grasping-side communication unit 42. The grasping unit 41 determines the position of person P within the airport from the position of the external sensor 31 of the transmitting detection device 11 within the airport and the received detection result of the detection unit 32.

[0056] The vehicle control unit 13 recognizes, based on the location of person P within the airport as determined by the sensing unit 41, that person P is near the pedestrian crossing C. The vehicle control unit 13 also recognizes, based on the location of the towing tractor T within the airport as determined by the sensing unit 41, that the towing tractor T is traveling in a manner approaching the pedestrian crossing C. In this case, the vehicle control unit 13 sets the towing tractor T's speed to zero. In other words, the vehicle control unit 13 stops the towing tractor T.

[0057] For example, as shown in Figure 6, the construction vehicle Vc is stopped in the first lane Rv1 of the vehicle lane Rv, which is the lane closer to the shoulder Rs. The towing tractor T is traveling in a manner that approaches the construction vehicle Vc. The towing tractor T is also traveling in the first lane Rv1.

[0058] The construction vehicle Vc is located within the detection range A31 of the external sensor 31 of the detection device 11. Therefore, the detection unit 32 of the detection device 11 detects that an object is present in the detection passage Rd. The detection unit 32 determines that the type of object is the construction vehicle Vc. The detection unit 32 also detects the position of the object within the detection range A31 of the external sensor 31. The detection device 11 transmits the detection result of the detection unit 32 to the grasping device 12 via the detection-side communication unit 33. The grasping device 12 receives the detection result of the detection unit 32 from the detection device 11 via the grasping-side communication unit 42. The grasping unit 41 determines the position of the construction vehicle Vc within the airport from the position of the external sensor 31 of the transmitting detection device 11 within the airport and the received detection result of the detection unit 32.

[0059] The vehicle control unit 13 recognizes from the position of the construction vehicle Vc within the airport, as determined by the tracking unit 41, that the construction vehicle Vc is in the first lane Rv1. The vehicle control unit 13 also recognizes from the position of the towing tractor T within the airport, as determined by the tracking unit 41, that the towing tractor T is traveling in a manner approaching the construction vehicle Vc, and that the towing tractor T is traveling in the first lane Rv1. Furthermore, from the results of the tracking unit 41, the vehicle control unit 13 recognizes that there are no objects in the second lane Rv2, which is the lane further away from the shoulder Rs. In this case, the vehicle control unit 13 selects the second lane Rv2 as the lane for the towing tractor T to travel in. That is, the vehicle control unit 13 causes the towing tractor T to change lanes.

[0060] [Operation and Effects of This Embodiment] The operation and effects of this embodiment will now be explained. (1) The vehicle operation support system 10 comprises a plurality of detection devices 11 installed within the airport and a grasping device 12 installed on the towing tractor T. The detection device 11 has an external sensor 31, a detection unit 32, and a detection-side communication unit 33. The external sensor 31 is installed so that the detection passage Rd is included in the detection range A31. The detection unit 32 detects the type of object present in the detection passage Rd and the position of the object within the detection range A31 of the external sensor 31 based on the detection result of the external sensor 31. The detection unit 32 can identify a high-speed vehicle V as the type of object. The detection-side communication unit 33 can transmit the detection result of the detection unit 32 to the grasping device 12. The grasping device 12 has a grasping unit 41 and a grasping-side communication unit 42. The grasping unit 41 grasps the position of the towing tractor T within the airport and also grasps the presence or absence of obstacles around the towing tractor T based on the detection result of the vehicle sensor 21. The sensing-side communication unit 42 can receive the detection results from the detection unit 32 transmitted from the detection-side communication unit 33. The sensing unit 41 determines the position of the high-speed vehicle V within the airport based on the position of the external sensor 31 within the airport and the detection results from the detection unit 32.

[0061] In this configuration, each of the multiple detection devices 11 installed within the airport has a detection unit 32 that detects objects present in the detection passage Rd. Therefore, even if a blind spot occurs in the detection range A21 of the vehicle sensor 21, the grasping unit 41 can determine the presence or absence of obstacles in the blind spot area by utilizing the detection results of the detection unit 32. Thus, the presence or absence of obstacles around the towing tractor T can be reliably determined.

[0062] Furthermore, the detection unit 32 can identify the high-speed vehicle V as the type of object. Therefore, the grasping unit 41 can determine the position of the high-speed vehicle V within the airport based on the detection result of the detection unit 32. Thus, the positional relationship between the towing tractor T and the high-speed vehicle V within the airport can be determined.

[0063] (2) The vehicle operation support system 10 includes a vehicle control unit 13 that controls the movement of the towing tractor T. The vehicle control unit 13 sets the travel speed of the towing tractor T based on the positions of the towing tractor T and the high-speed vehicle V within the airport as determined by the sensing unit 41. For example, the vehicle control unit 13 recognizes from the positions of the towing tractor T and the high-speed vehicle V within the airport as determined by the sensing unit 41 that the towing tractor T is traveling in a manner that approaches the high-speed vehicle V parked on the shoulder Rs. In this case, the vehicle control unit 13 reduces the travel speed of the towing tractor T. This reduces the risk of the towing tractor T coming into contact with the high-speed vehicle V. In addition, the high-speed vehicle V can merge smoothly from the shoulder Rs onto the operating lane Rv0. As a result, it becomes easier to achieve on-time operation of the high-speed vehicle V.

[0064] (3) The vehicle operation support system 10 includes a vehicle control unit 13 that controls the movement of the towing tractor T. The vehicle control unit 13 selects a lane for the towing tractor T based on the positions of the towing tractor T and the high-speed vehicle V within the airport as determined by the sensing unit 41. For example, the vehicle control unit 13 recognizes from the positions of the towing tractor T and the high-speed vehicle V within the airport as determined by the sensing unit 41 that the towing tractor T is traveling in the first lane Rv1, which is the lane closer to the shoulder Rs, and that the towing tractor T is traveling in a manner that approaches the high-speed vehicle V parked on the shoulder Rs. In this case, the vehicle control unit 13 causes the towing tractor T to change lanes by selecting the second lane Rv2, which is the lane further away from the shoulder Rs, as the lane for the towing tractor T to travel in. This makes it easier to maintain a safe distance between the towing tractor T and the high-speed vehicle V. In addition, the high-speed vehicle V can smoothly merge from the shoulder Rs onto the operating lane Rv0. As a result, it becomes easier to achieve on-time operation for high-speed train V.

[0065] (4) The vehicle operation support system 10 includes a sensor control unit 14 that controls the vehicle sensor 21. The sensor control unit 14 sets the detection range A21 of the vehicle sensor 21 based on the positions of the towing tractor T and the high-speed vehicle V within the airport as determined by the sensing unit 41. For example, the sensor control unit 14 recognizes from the positions of the towing tractor T and the high-speed vehicle V within the airport as determined by the sensing unit 41 that the towing tractor T is approaching the high-speed vehicle V parked on the roadside Rs. In this case, the sensor control unit 14 widens the detection range A21 of the vehicle sensor 21. This allows the sensing unit 41 to quickly determine the presence or absence of objects around the towing tractor T. Also, the detection range A21 of the vehicle sensor 21 when the towing tractor T is not approaching the high-speed vehicle V parked on the roadside Rs is narrower than the detection range A21 of the vehicle sensor 21 when the towing tractor T is approaching the high-speed vehicle V parked on the roadside Rs. Thus, in situations where the likelihood of obstacles being present around the towing tractor T is low, narrowing the detection range A21 of the vehicle sensor 21 reduces the processing load related to determining the presence or absence of obstacles around the towing tractor T.

[0066] (5) The vehicle operation support system 10 includes a vehicle control unit 13 that controls the movement of the towing tractor T. The detection unit 32 of the detection device 11, which has a detection range A31 of the external sensor 31 that includes the pedestrian crossing C, can identify a person P as the type of object. The grasping unit 41 determines the position of person P within the airport from the position of the external sensor 31 within the airport and the detection result of the detection unit 32. The vehicle control unit 13 sets the travel speed of the towing tractor T based on the positions of the towing tractor T and person P within the airport as determined by the grasping unit 41.

[0067] With this configuration, the detection unit 32 can also identify a person P as a type of object. Therefore, the grasping unit 41 can determine the position of person P within the airport based on the detection result of the detection unit 32. Consequently, the positional relationship between the towing tractor T and person P within the airport can also be determined.

[0068] Furthermore, the vehicle control unit 13 sets the travel speed of the towing tractor T based on the positions of the towing tractor T and person P within the airport as determined by the sensing unit 41. For example, the vehicle control unit 13 recognizes from the positions of the towing tractor T and person P within the airport as determined by the sensing unit 41 that person P is at or near a pedestrian crossing C, and that the towing tractor T is traveling in a manner approaching the pedestrian crossing C. In this case, the vehicle control unit 13 stops the towing tractor T by setting its travel speed to zero. This reduces the risk of the towing tractor T coming into contact with person P.

[0069] (6) The vehicle operation support system 10 includes a vehicle control unit 13 that controls the movement of the towing tractor T. The detection unit 32 can identify a construction vehicle Vc as the type of object. The grasping unit 41 determines the position of the construction vehicle Vc within the airport from the position of the external sensor 31 within the airport and the detection result of the detection unit 32. The vehicle control unit 13 selects a lane for the towing tractor T to travel in based on the positions of the towing tractor T and the construction vehicle Vc within the airport as determined by the grasping unit 41.

[0070] With this configuration, the detection unit 32 can also identify construction vehicle Vc as an object type. Therefore, the grasping unit 41 can determine the position of construction vehicle Vc within the airport based on the detection result of the detection unit 32. Consequently, the positional relationship between the towing tractor T and construction vehicle Vc within the airport can also be determined.

[0071] Furthermore, the vehicle control unit 13 selects a lane for the towing tractor T based on the positions of the towing tractor T and the construction vehicle Vc within the airport as determined by the tracking unit 41. For example, the vehicle control unit 13 recognizes from the positions of the towing tractor T and the construction vehicle Vc within the airport as determined by the tracking unit 41 that the towing tractor T is traveling in the first lane Rv1, which is the lane closer to the shoulder Rs, and that the towing tractor T is traveling in a manner that approaches the construction vehicle Vc located in the first lane Rv1. In this case, the vehicle control unit 13 causes the towing tractor T to change lanes by selecting the second lane Rv2, which is the lane further away from the shoulder Rs, as the lane for the towing tractor T to travel in. This allows the towing tractor T to travel while avoiding the construction vehicle Vc. As a result, smooth operation of the towing tractor T becomes possible.

[0072] (7) The external sensors 31 of each detection device 11 are sensors capable of detection over a wider area than the vehicle sensors 21 of each towing tractor T. As a result, when there are many towing tractors T in use, the cost of determining the presence or absence of obstacles around the towing tractor T can be reduced compared to when the vehicle sensors 21 of each towing tractor T are sensors capable of detection over a wider area.

[0073] (8) Multiple detection devices 11 are installed such that the detection ranges A31 of adjacent detection devices 11 overlap in part. This helps to suppress the failure to detect objects in the detection passage Rd.

[0074] [Example of changes] The above embodiment can be implemented with the following modifications. The above embodiment and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0075] ○ The vehicle operation support system 10 does not necessarily have to include a vehicle control unit 13. ○ The vehicle operation support system 10 does not necessarily have to include a sensor control unit 14. ○ The towing tractor T may be operated by a driver riding on the towing tractor T. In this case, the towing tractor T may have the following configuration:

[0076] As shown in Figure 7, the towing tractor T is equipped with a display 24. The display 24 is positioned so that it can be seen by the driver of the towing tractor T. The vehicle-side control device 23 has a display control unit 15 that controls the display on the display 24. The display control unit 15 is part of the vehicle operation support system 10.

[0077] The display control unit 15 displays obstacles around the towing tractor T, as detected by the grasping unit 41, on the display 24. This makes it easier for the driver of the towing tractor T to recognize obstacles around the towing tractor T by checking the display 24. This is particularly effective when blind spots exist for the driver of the towing tractor T due to parked vehicles Vs or structures.

[0078] Furthermore, the display control unit 15 may use the positions of the towing tractor T and the high-speed vehicle V within the airport, as determined by the tracking unit 41, to superimpose the positions of the vehicle itself and the high-speed vehicle V onto a map of the airport. The display control unit 15 may then display the airport map with the positions of the vehicle itself and the high-speed vehicle V superimposed on it on the display 24. This makes it easier for the driver of the towing tractor T to understand the positional relationship between their vehicle and the high-speed vehicle V by checking the display 24. Consequently, it becomes easier for the driver of the towing tractor T to operate the vehicle in a way that does not interfere with the operation of the high-speed vehicle V.

[0079] Alternatively, the driver may operate the towing tractor T remotely from the control room without being on board. In this case, the display 24 and the display control unit 15 are located in the control room.

[0080] ○ As shown in Figure 8, the management device 50 may comprehensively manage multiple towing tractors T. The management device 50 is equipped with a higher-level control device 51. The higher-level control device 51 is a device similar to the vehicle-side control device 23. The grasping device 12 is provided in the management device 50. The grasping-side communication unit 42 can communicate with the detection device 11 as well as the vehicle-side communication unit 25 provided on the towing tractor T. In addition, the vehicle control unit 13 and the sensor control unit 14 are provided in the higher-level control device 51.

[0081] In this case, the tracking unit 41 determines the positions of multiple towing tractors T managed by the control device 50, which are the positions of the towing tractors T within the airport. The towing tractor T transmits the detection results of the vehicle sensor 21 to the management device 50 via the vehicle-side communication unit 25. The management device 50 receives the detection results of the vehicle sensor 21 from the towing tractor T via the grasping-side communication unit 42. The grasping unit 41 determines the presence or absence of obstacles around the towing tractor T based on the received detection results of the vehicle sensor 21.

[0082] The vehicle control unit 13 controls the movement of the towing tractor T based on the sensing results of the sensing unit 41. The vehicle control unit 13 may, for example, set the travel speed of the towing tractor T or select the travel lane for the towing tractor T based on the positions of multiple towing tractor T grasped by the sensing unit 41. Similarly, the sensor control unit 14 controls the vehicle sensor 21 based on the sensing results of the sensing unit 41. The sensor control unit 14 may, for example, set the detection range A21 of the vehicle sensor 21 based on the positions of multiple towing tractor T grasped by the sensing unit 41.

[0083] The control device 50 transmits the towing tractor T's travel speed, set by the vehicle control unit 13, to the towing tractor T via the sensing-side communication unit 42. The towing tractor T receives the towing tractor T's travel speed set by the vehicle control unit 13 via the vehicle-side communication unit 25. The vehicle-side control device 23 controls the drive unit 22 so that the towing tractor T's travel speed becomes the set speed.

[0084] The control device 50 transmits the towing tractor T's selected lane via the sensing-side communication unit 42 to the towing tractor T. The towing tractor T receives the selected lane via the vehicle-side communication unit 25. The vehicle-side control device 23 controls the drive unit 22 so that the towing tractor T's lane becomes the selected lane.

[0085] The control device 50 transmits the detection range A21 of the vehicle sensor 21, set by the sensor control unit 14, to the towing tractor T via the grasping-side communication unit 42. The towing tractor T receives the detection range A21 of the vehicle sensor 21 set by the sensor control unit 14 via the vehicle-side communication unit 25. The vehicle-side control device 23 controls the vehicle sensor 21 so that the detection range A21 of the vehicle sensor 21 is within the set range.

[0086] The vehicle control unit 13 may be located in the vehicle-side control unit 23 instead of the higher-level control unit 51. Similarly, the sensor control unit 14 may be located in the vehicle-side control unit 23 instead of the higher-level control unit 51. In this case, the grasping device 12 transmits the grasping result of the grasping unit 41 to the towing tractor T via the grasping-side communication unit 42. The towing tractor T receives the grasping result of the grasping unit 41 via the vehicle-side communication unit 25. The vehicle control unit 13 controls the movement of the towing tractor T based on the received grasping result of the grasping unit 41. The sensor control unit 14 controls the vehicle sensor 21 based on the received grasping result of the grasping unit 41.

[0087] ○ The detection unit 32 does not need to be able to distinguish between people P and construction vehicles Vc, as long as it can distinguish between high-speed vehicles V as an object type. ○ The detection unit 32 may be capable of distinguishing objects other than high-speed vehicles V, people P, and construction vehicles Vc.

[0088] ○ The detection unit 32 may detect the weather inside the airport based on the detection result of the external sensor 31. The detection-side communication unit 33 transmits the weather inside the airport as a result of the detection unit 32 to the weather sensing device 12. The weather sensing unit 41 understands the weather inside the airport when the weather sensing-side communication unit 42 receives the detection result of the detection unit 32. The vehicle control unit 13 may decide whether or not to operate the towing tractor T according to the weather inside the airport understood by the weather sensing unit 41. For example, if the weather inside the airport understood by the weather sensing unit 41 is bad weather such as snow or heavy rain, the vehicle control unit 13 may interrupt the operation of the towing tractor T.

[0089] ○ The vehicle control unit 13 does not need to set the travel speed of the towing tractor T based on the positions of the towing tractor T and the high-speed vehicle V grasped by the grasping unit 41. ○ The vehicle control unit 13 does not need to set the travel speed of the towing tractor T based on the positions of the towing tractor T and person P grasped by the grasping unit 41.

[0090] ○ The vehicle control unit 13 does not need to select a travel lane for the towing tractor T based on the positions of the towing tractor T and the high-speed vehicle V as determined by the grasping unit 41. ○ The vehicle control unit 13 does not need to select a travel lane for the towing tractor T based on the positions of the towing tractor T and the construction vehicle Vc as determined by the grasping unit 41.

[0091] ○ The sensor control unit 14 does not need to set the detection range A21 of the vehicle sensor 21 based on the positions of the towing tractor T and the high-speed vehicle V grasped by the grasping unit 41. ○ The vehicle sensor 21 is not limited to LIDAR. The vehicle sensor 21 may be of any other type as long as the grasping unit 41 can determine the presence or absence of obstacles around the towing tractor T based on the detection results of the vehicle sensor 21. The vehicle sensor 21 may be, for example, a camera.

[0092] ○ The external sensor 31 is not limited to LIDAR. The external sensor 31 may be of any other type, as long as the detection unit 32 can determine the type of object in the airport corridor Ra based on the detection results of the external sensor 31. The external sensor 31 may be, for example, a camera.

[0093] ○ Multiple detection devices 11 do not necessarily have to be arranged so that the detection ranges A31 of the external sensors 31 of adjacent detection devices 11 overlap. ○ The detection device 11 may also be installed in passages other than the detection passage Rd.

[0094] [Note] The technical concepts that can be understood from each of the above embodiments and their modifications are described below. [1] A vehicle operation support system used in an airport where a towing tractor equipped with vehicle sensors and a high-speed vehicle whose speed limit is set to be faster than the speed limit of the towing tractor are in operation, comprising: a plurality of detection devices installed within the airport; and a grasping device installed on the towing tractor or a management device that manages the operation of the towing tractor, wherein the detection device includes an external sensor installed so as to include a detection passage consisting of the operation passage on which the towing tractor and the high-speed vehicle operate and the roadside strips provided on both sides of the operation passage in its detection range; and the type of object present in the detection passage and the detection of the external sensor based on the detection result of the external sensor. A vehicle operation support system comprising: a detection unit for detecting the position of an object within a range; a detection-side communication unit capable of transmitting the detection result of the detection unit to the grasping device, wherein the grasping device comprises: a grasping unit for determining the position of the towing tractor within the airport and determining the presence or absence of obstacles around the towing tractor based on the detection result of the vehicle sensor; and a grasping-side communication unit capable of receiving the detection result of the detection unit transmitted from the detection-side communication unit, wherein the detection unit is capable of identifying the high-speed vehicle as the type of object, and the grasping unit determines the position of the high-speed vehicle within the airport from the position of the external sensor within the airport and the detection result of the detection unit.

[0095] [2] The operation support system according to [1], comprising a vehicle control unit provided on the towing tractor or the management device for controlling the movement of the towing tractor, wherein the vehicle control unit sets the travel speed of the towing tractor based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the grasping unit.

[0096] [3] A vehicle operation support system according to [1] or [2], comprising a vehicle control unit provided on the towing tractor or the management device for controlling the movement of the towing tractor, wherein the vehicle control unit selects a driving lane for the towing tractor based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the grasping unit.

[0097] [4] A vehicle operation support system according to any one of [1] to [3], comprising a sensor control unit provided on the towing tractor or the management device for controlling the vehicle sensor, wherein the sensor control unit sets the detection range of the vehicle sensor based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the grasping unit.

[0098] [5] A vehicle operation support system according to any one of [1] to [4], comprising a vehicle control unit provided on the towing tractor or the management device for controlling the movement of the towing tractor, wherein the detection unit of the detection device, the detection range of the external sensor includes a pedestrian crossing, is capable of identifying a person as the type of object, the grasping unit grasps the position of the person within the airport from the position of the external sensor within the airport and the detection result of the detection unit, and the vehicle control unit sets the driving speed of the towing tractor based on the positions of the towing tractor and the person within the airport grasped by the grasping unit. [Explanation of Symbols]

[0099] 10...Vehicle operation support system, 11...Detection device, 12...Grasping device, 13...Vehicle control unit, 14...Sensor control unit, 21...Vehicle sensor, 31...External sensor, 32...Detection unit, 33...Detection-side communication unit, 41...Grasping unit, 42...Grasping-side communication unit, 50...Management device, A21...Detection range (of vehicle sensor), A31...Detection range (of external sensor), C...Pedestrian crossing, P...Pedestrian, Rd...Detection path, Rs...Roadside strip, Rv0...Operation path, T...Towing tractor, V...High-speed vehicle.

Claims

1. A vehicle operation support system used at an airport where a towing tractor equipped with vehicle sensors and a high-speed vehicle whose speed limit is set to be faster than the speed limit of the towing tractor are in operation, Multiple detection devices installed within the airport, The towing tractor or the control device for managing the operation of the towing tractor is equipped with a grasping device, The detection device is An external sensor is installed so as to include in its detection range the detection path consisting of the traffic path on which the towing tractor and the high-speed vehicle operate and the roadside strips provided on both sides of the traffic path. A detection unit that detects the type of object present in the detection passage and the position of the object within the detection range of the external sensor based on the detection results of the external sensor, A detection-side communication unit capable of transmitting the detection result of the detection unit to the grasping device, It has, The grasping device is, A grasping unit that grasps the position of the towing tractor within the airport and determines the presence or absence of obstacles around the towing tractor based on the detection results of the vehicle sensor, The system includes a grasping-side communication unit capable of receiving the detection result transmitted from the detection-side communication unit, The detection unit is capable of identifying the high-speed vehicle as the type of object, The towing tractor or the control device is equipped with a vehicle control unit that controls the movement of the towing tractor, A vehicle operation support system characterized in that, even if no obstacles are detected around the towing tractor by the vehicle sensor, the detection result of the detection unit is transmitted to the grasping device via the detection-side communication unit, and if the grasping device determines, based on the position of the external sensor of the transmitting detection device within the airport and the received detection result of the detection unit, that the high-speed vehicle is present around the towing tractor, the grasping device controls the movement of the towing tractor to prioritize the movement of the high-speed vehicle over the movement of the towing tractor based on the positions of the towing tractor and the high-speed vehicle within the airport determined by the grasping device.

2. The vehicle operation support system according to Claim 1, wherein the vehicle control unit sets the travel speed of the towing tractor based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the grasping unit.

3. The vehicle operation support system according to Claim 1, wherein the vehicle control unit selects the driving lane for the towing tractor based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the grasping unit.

4. The detection unit of the detection device, in which the detection range of the external sensor includes a pedestrian crossing, is capable of identifying a person as the type of object, The grasping unit determines the location of the person within the airport based on the location of the external sensor within the airport and the detection result of the detection unit. The vehicle operation support system according to claim 1, wherein the vehicle control unit sets the travel speed of the towing tractor based on the positions of the towing tractor and the person within the airport as determined by the grasping unit.

5. A vehicle operation support system used at an airport where a towing tractor equipped with vehicle sensors and a high-speed vehicle whose speed limit is set to be faster than the speed limit of the towing tractor are in operation, Multiple detection devices installed within the airport, The towing tractor or the control device for managing the operation of the towing tractor is equipped with a grasping device, The detection device is An external sensor is installed so as to include in its detection range the detection path consisting of the traffic path on which the towing tractor and the high-speed vehicle operate and the roadside strips provided on both sides of the traffic path. A detection unit that detects the type of object present in the detection passage and the position of the object within the detection range of the external sensor based on the detection results of the external sensor, A detection-side communication unit capable of transmitting the detection result of the detection unit to the grasping device, It has, The grasping device is, A grasping unit that grasps the position of the towing tractor within the airport and determines the presence or absence of obstacles around the towing tractor based on the detection results of the vehicle sensor, The system includes a grasping-side communication unit capable of receiving the detection result transmitted from the detection-side communication unit, The detection unit is capable of identifying the high-speed vehicle as the type of object, The grasping unit determines the position of the high-speed vehicle within the airport based on the position of the external sensor within the airport and the detection result of the detection unit. The towing tractor or the management device is equipped with a sensor control unit that controls the vehicle sensor, The vehicle operation support system is characterized in that the sensor control unit sets the detection range of the vehicle sensor based on the positions of the towing tractor and the high-speed vehicle within the airport as determined by the grasping unit.

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