Traveling vehicle system

Abstract

[Problem] To enable a traveling vehicle to smoothly pass through a merging section without requiring complicated setting work. [Solution] A traveling vehicle system comprises: a storage unit that stores a traveling cost indicating the time required for traveling through each section of a track; a calculation unit that acquires, from the storage unit, traveling costs for sections through which the traveling vehicle travels before entering the merging section from the current position, and calculates the total value of the traveling costs for the traveling vehicle; and a determination unit that determines whether the total value of the traveling costs is lower than a threshold value. The traveling vehicle transmits, to a controller, a request for permission of passage through a merging section scheduled for passage, enters the merging section scheduled for passage upon reception of a passage permission from the controller, and stops at a stop position if no passage permission is received. The controller transmits the passage permission to the traveling vehicle for which the total value of the traveling costs is determined to be lower than the threshold value.

Description

Vehicle System

[0001] The present invention relates to a traveling vehicle system.

[0002] Conventionally, a traveling vehicle system has been known in factories and the like, in which traveling vehicles traveling on tracks transport cargo. In the traveling vehicle system, at a junction where multiple tracks merge, a passage permit is granted to one of the traveling vehicles, thereby controlling the traveling vehicles passing through the junction to avoid collisions between the traveling vehicles passing through the junction. In Patent Document 1, a position on the track at which a passage permit is requested (a request point) is set to a position that varies depending on the speed of the traveling vehicles traveling on the tracks, and the distance between the junction and the request point is determined so that the time from passing the request point to reaching the junction is equal for each route.

[0003] International Publication No. 2020 / 049876

[0004] When the request points are set according to the speed of the traveling vehicle traveling on the track, the task of setting the request points may become complicated.

[0005] The present invention provides a traveling vehicle system that allows traveling vehicles to smoothly pass through a merging section without requiring complicated setting work.

[0006] In one aspect of the present invention, a traveling vehicle system includes a plurality of traveling vehicles that travel on a track having a merging section, and a controller that controls the plurality of traveling vehicles, the system including: a memory unit that stores a traveling cost indicating a time required for traveling for each section of the track divided based on the merging section; a calculation unit that acquires from the memory unit the traveling cost of each section from the current position of the traveling vehicle until it enters the merging section, and calculates a total value of the traveling cost of each section until the traveling vehicle enters the merging section; and a determination unit that determines whether the total value of the traveling cost is less than a threshold value, and the plurality of traveling vehicles are located upstream of the merging section that they are scheduled to pass through. When the vehicle passes a requested start position set at a position a fixed distance away, it transmits a request for permission to pass to the controller for the junction it is to pass through, and if permission to pass is received from the controller in response to the transmission of the request for permission to pass, it enters the junction it is to pass through, and if permission to pass is not received from the controller in response to the transmission of the request for permission to pass, it stops at a stop position set at a position closer to the junction it is to pass through than the requested start position, and the controller transmits permission to the vehicle that transmitted the request for permission to pass and whose total value of the traveling cost is determined by the determination unit to be less than a threshold value.

[0007] According to an embodiment of the vehicle system of the present invention, for each section of track divided based on merging sections, the total value of the travel costs for each section from the current position of the vehicle that sent the request for permission to pass through the merging section to entering the merging section is calculated using the travel cost indicating the time required for travel, and if the total value of the calculated travel costs is less than a threshold value, permission to pass through the merging section is sent to the vehicle, so that the vehicle can pass through the merging section smoothly without the need for complicated setting work.

[0008] Furthermore, the traveling vehicle system of the above aspect determines the route that the traveling vehicle will travel based on the travel cost of each section of the track. According to this aspect, the traveling vehicle can transport cargo more quickly.

[0009] Furthermore, the traveling vehicle system of the above aspect reduces the travel cost corresponding to the section in which the traveling vehicle is traveling, and then calculates the total travel cost using the reduced travel cost. According to this aspect, the travel cost of the section used in calculating the total travel cost becomes a more accurate value, thereby improving the accuracy of blocking control in the blocking area including the merging point.

[0010] Furthermore, the traveling vehicle system of the above aspect reduces the travel cost corresponding to the section in which the traveling vehicle is traveling based on the distance of the section in which the traveling vehicle is traveling and the remaining distance in the section in which the traveling vehicle is traveling according to its current position, and then calculates the total travel cost using the reduced travel cost. According to this aspect, the travel cost of the section used in calculating the total travel cost becomes a more accurate value, thereby improving the accuracy of blocking control in blocking areas including merging points.

[0011] Furthermore, the traveling vehicle system of the above aspect reduces the total value of the traveling costs of the traveling vehicles as the priority of the traveling vehicles increases. According to this aspect, the total value of the traveling costs of the traveling vehicles with high priority is more likely to be less than the threshold value, and therefore the traveling vehicles are more likely to be given a passage permit with priority.

[0012] Furthermore, the traveling vehicle system of the above aspect determines whether the total value of the traveling costs is less than the threshold value using a threshold value that is set higher the higher the priority of the traveling vehicle. According to this aspect, by setting a higher threshold value the higher the priority, the higher the threshold value, the more likely it is that the total value of the traveling costs of the traveling vehicles will be less than the threshold value, and therefore the more likely it is that a passage permit will be given priority to the traveling vehicle.

[0013] In the traveling vehicle system of the above aspect, the controller may include a storage unit, a calculation unit, and a determination unit. In the traveling vehicle system of the above aspect, the plurality of traveling vehicles may include a storage unit and a calculation unit, and when passing the requested start position, the traveling vehicles may acquire from the storage unit a travel cost for each section from the current position to entering the junction where the traveling vehicles are to pass through, calculate a total value of the travel costs for each section up to entering the junction, and transmit a pass permission request for the junction where the traveling vehicles are to pass through together with the calculated total value of the travel costs to the controller, and the controller may include a determination unit, and the determination unit may determine whether the total value of the travel costs for the traveling vehicles that sent the pass permission request is less than a threshold. In the traveling vehicle system of the above aspect, the plurality of traveling vehicles may include a storage unit, a calculation unit, and a determination unit, and when passing the requested start position, the traveling costs for each section from the current position to entering the junction where the traveling vehicles are to pass through may be acquired from the storage unit, calculate a total value of the travel costs for each section up to entering the junction, and transmit a pass permission request for the junction where the traveling vehicles are to pass through to the controller if the calculated total value of the travel costs is less than a threshold. According to these aspects, it is possible to suitably determine the devices that execute various processes depending on the performance of the controller and traveling vehicle introduced into the traveling vehicle system, and the specifications of the track and communication.

[0014] 1 is a diagram illustrating an example of a traveling vehicle system according to the first embodiment. FIG. 2 is a diagram illustrating an example of a traveling cost according to the first embodiment. FIG. 3 is a block diagram illustrating an example of the configuration of a traveling vehicle and a controller according to the first embodiment. FIG. 4 is a diagram illustrating an example of a position marker according to the first embodiment. FIG. 5 is a diagram illustrating an example of status information stored in a controller according to the first embodiment. FIG. 6 is a diagram illustrating an example of transmission and reception of status information according to the first embodiment. FIG. 7 is a diagram illustrating an example of a processing sequence of a traveling vehicle system according to the first embodiment. FIG. 8 is a flowchart illustrating an example of the processing flow of a traveling vehicle according to the first embodiment. FIG. 9 is a flowchart illustrating an example of the processing flow of a controller according to the first embodiment. FIG. 10 is a diagram illustrating an example of blocking control according to the first embodiment. FIG. 11 is a diagram illustrating a comparative example of blocking control that does not consider the total value of traveling costs. FIG. 12 is a block diagram illustrating an example of the configuration of a traveling vehicle and a controller according to the second embodiment. FIG. 13 is a flowchart illustrating an example of the processing flow of a traveling vehicle according to the second embodiment. FIG. 14 is a block diagram illustrating an example of the configuration of a traveling vehicle and a controller according to the third embodiment. FIG. 15 is a flowchart illustrating an example of the processing flow of a traveling vehicle according to the third embodiment.

[0015] The present invention will be described below through embodiments of the invention. The following embodiments do not limit the scope of the invention. In the drawings, the scale may be appropriately changed, such as by enlarging, reducing, or emphasizing parts in order to explain the embodiments.

[0016] [First Embodiment] FIG. 1 is a diagram illustrating an example of a traveling vehicle system according to a first embodiment. The traveling vehicle system 1 includes a plurality of traveling vehicles 100 traveling on a track R having a junction Cn, and a controller 200 that controls the plurality of traveling vehicles 100. The traveling vehicle system 1 is, for example, a transport system installed in a factory or the like, and causes the traveling vehicles 100 to transport cargo under the control of the controller 200. The track R includes a junction Cn, which is a point where a plurality of tracks R merge into one, and a junction Br, which is a point where one track R branches into multiple tracks. The track R may be suspended from the ceiling or the like of a building, or may be mounted on the floor or the like. A plurality of traveling vehicles 100 are provided in the traveling vehicle system 1. In the embodiment, when each traveling vehicle 100 is to be individually distinguished, it will be referred to as a "traveling vehicle 100A," a "traveling vehicle 100B," etc.

[0017] In response to a request from the controller 200, the traveling vehicles 100 transmit their own status information to the controller 200. The controller 200 generates a travel command based on the status information received from each traveling vehicle 100. The traveling vehicles 100 receive the travel command from the controller 200 and travel along the track R. The travel command includes information about a planned travel route along which the traveling vehicle 100 transporting the cargo is scheduled to travel. The travel route information is information that specifies at least a part of the travel route from the departure point of the traveling vehicle 100 (the current position of the traveling vehicle 100) to the destination.

[0018] In the traveling vehicle system 1, a blocking area BA including a junction Cn and a branching point Br is set. In the blocking area BA, entry (passage) of traveling vehicles 100 is restricted. In principle, only one traveling vehicle 100 is allowed to enter the blocking area BA. The controller 200 performs blocking control to control permission for the traveling vehicles 100 that are scheduled to travel through the junction Cn or the branching point Br to enter the junction Cn or the branching point Br. Note that in the embodiment, the blocking control at the junction Cn will be mainly described.

[0019] When the traveling route of the traveling vehicle 100A is to pass through the junction Cn on the track R, the traveling vehicle 100A transmits a request for permission to pass through the blocking area BA to the controller 200. Furthermore, when the traveling route of the traveling vehicle 100B is to pass through the junction Cn on the track R, the traveling vehicle 100B transmits a request for permission to pass through the blocking area BA to the controller 200. Each traveling vehicle 100 can transmit a request for permission to pass when it has passed a request start position on the track R that is a certain distance or more upstream from the blocking area BA. When the controller 200 receives a request for permission to pass from each traveling vehicle 100, it transmits a permission to pass to one of the traveling vehicles 100. The traveling vehicle 100 that has received the permission to pass from the controller 200 enters the blocking area BA (junction Cn).

[0020] On the other hand, if the traveling vehicle 100 has not received permission to pass from the controller 200, it travels toward the blocking area BA, stops near the stop position SP just before the blocking area BA, and does not enter the blocking area BA. In other words, the traveling vehicle 100 may travel to the vicinity of the stop position SP just before the blocking area BA and stop near the stop position SP without obtaining permission to pass through the blocking area BA. The stop position SP just before the blocking area BA is a point where the traveling vehicle 100 that has not yet obtained permission to pass through the blocking area BA waits for permission to pass.

[0021] In the above-described configuration, when the traveling vehicle 100 passes a request start position set at a position a predetermined distance upstream of the junction Cn that the traveling vehicle 100 is to pass through, the traveling vehicle 100 transmits a pass permission request for the junction Cn that the traveling vehicle 100 is to pass through to the controller 200. Then, when the traveling vehicle 100 receives pass permission from the controller 200 in response to the transmission of the pass permission request, the traveling vehicle 100 enters the junction Cn that the traveling vehicle 100 is to pass through. Furthermore, when the traveling vehicle 100 does not receive pass permission from the controller 200 in response to the transmission of the pass permission request, the traveling vehicle 100 stops at a stop position SP that is set at a position closer to the junction Cn that the traveling vehicle 100 is to pass through than the request start position. Note that, when the traveling vehicle 100 does not receive pass permission from the controller 200 in response to the transmission of the pass permission request, the traveling vehicle 100 repeatedly transmits pass permission requests until pass permission is received.

[0022] The controller 200 includes a storage unit that stores a travel cost indicating the time required for travel along each section of the track R divided based on the junction Cn. The controller 200 may also include a storage unit that stores the travel cost for each section of the track R divided based on the junction Br in addition to the junction Cn. FIG. 2 is a diagram illustrating an example of travel costs according to the first embodiment. As indicated by dashed or dashed lines in FIG. 2 , travel costs are set for each of the sections between the junction Br of the track R and another junction Br, the section between the junction Br of the track R and the junction Cn of the track R, the section between the junction Cn of the track R and another junction Cn, and the section between the junction Cn of the track R and the junction Br of the track R. The travel cost includes the time required for the traveling vehicle 100 to travel along the corresponding section. The travel cost may be a value weighted by time depending on the condition of the track R (e.g., whether or not there is an incline or a curve, how crowded the track R is, etc.). The travel cost (travel cost A) indicated by the dashed line in FIG. 2 is a travel cost A. １ , Driving cost A ２ , Driving cost A ３ ) and the dashed line travel cost (travel cost B １ , Driving cost B ２ , Driving cost B ３ ) may be different from each other. For example, the travel cost B ２ Since the track R includes a curve, the travel cost is larger than the travel cost for the same distance on a straight track R.

[0023] Then, the controller 200 acquires from the storage unit the travel cost of each section from the current position of the traveling vehicle 100 that transmitted the pass permission request to the junction Cn, and calculates the total value of the travel cost of each section until the traveling vehicle 100 that transmitted the pass permission request enters the junction Cn. Next, the controller 200 determines whether the calculated total value of the travel cost is less than a threshold, and transmits a pass permission to the traveling vehicle 100 whose total value of the travel cost is determined to be less than the threshold. At this time, the controller 200 may transmit a pass permission to the traveling vehicle 100 whose total value of the travel cost is determined to be less than the threshold, on the premise that only one traveling vehicle 100 is allowed to enter one junction Cn.

[0024] 3 is a block diagram showing an example of the configuration of the traveling vehicle and controller according to the first embodiment. The traveling vehicle 100 has a traveling control unit 110, a communication control unit 120, a storage unit 130, a position sensor 140, a cargo sensor 150, and a forward sensor 160. The traveling vehicle 100 travels using a driving force supplied from a drive unit (not shown). The drive unit may supply a driving force used for loading and unloading, such as grabbing and unloading luggage.

[0025] The position sensor 140 detects the current position of the traveling vehicle 100. The position sensor 140 detects the current position of the traveling vehicle 100. For example, the position sensor 140 detects the current position of the traveling vehicle 100 on the track R by detecting a position marker at a point AP (see FIG. 4) provided on the track R. FIG. 4 is a diagram illustrating an example of a position marker according to the first embodiment. Note that in FIG. 4, the traveling direction of the traveling vehicle 100 is indicated by an arrow. As shown in FIG. 4, the point AP is a position providing point provided on the track R that can provide position information to the traveling vehicle 100. Furthermore, the current position of the traveling vehicle 100 may be determined by a travel distance based on the speed and travel time of the traveling vehicle 100 or a travel distance using an encoder, in addition to detecting the position marker. The position sensor 140 also detects a request start position that triggers the transmission of a passage permission request.

[0026] The cargo sensor 150 detects whether or not there is cargo on the traveling vehicle 100. The forward sensor 160 monitors the area ahead in the traveling direction (travel direction) of the traveling vehicle 100 and detects the presence of other traveling vehicles 100 ahead. Each traveling vehicle 100 controls its traveling speed based on the detection of the presence of other traveling vehicles 100 ahead by the forward sensor 160 to prevent a collision with the other traveling vehicles 100 ahead. Note that the traveling vehicle 100 does not need to be equipped with at least one of the position sensor 140, the cargo sensor 150, and the forward sensor 160, and may further be equipped with other sensors.

[0027] The communication control unit 120 controls the transmission and reception of various information exchanged with the controller 200. Communication between the traveling vehicle 100 and the controller 200 is realized, for example, by a wireless local area network (LAN). The communication control unit 120 stores the traveling command received from the controller 200 in the storage unit 130.

[0028] The driving control unit 110 controls each unit of the traveling vehicle 100 based on the driving commands stored in the memory unit 130. For example, the driving control unit 110 controls the drive device based on the driving route determined by the driving commands, and causes the traveling vehicle 100 to travel along the driving route. The driving control unit 110 causes various sensors (e.g., position sensor 140, etc.) mounted on the traveling vehicle 100 to perform detection, and stores the detection results in the memory unit 130.

[0029] The driving control unit 110 generates status information of the traveling vehicle 100 using the information stored in the memory unit 130. For example, the status information includes information regarding the current position, destination, driving state, luggage state, forward state, pass permission request, and release request, as well as identification information for identifying the traveling vehicle 100. The current position is information indicating the current position of the traveling vehicle 100 detected by the position sensor 140. As described above, the current position may be updated by taking into account the current position of the traveling vehicle 100 detected by the position sensor 140 and the travel distance. The destination is information that is determined in the driving command stored in the memory unit 130 and indicates the destination of the traveling vehicle 100.

[0030] The traveling state is information indicating the current speed of the traveling vehicle 100. For example, the traveling state may indicate that the traveling vehicle 100 is traveling when the speed is greater than "0" (e.g., flag "1"), and that the traveling vehicle 100 is stopped when the speed is "0" (e.g., flag "0"). The luggage state is information indicating the presence or absence of luggage detected by the cargo sensor 150 (e.g., "1" for "present" and "0" for "absent"), and information indicating the type of luggage being transported (identification information for identifying the luggage). The forward state is information indicating whether or not another traveling vehicle 100 is present ahead within the detection range of the forward sensor 160 (e.g., "1" for "present" and "0" for "absent").

[0031] The pass permission request is identification information indicating the blocking area BA for which the traveling vehicle 100 requests pass permission. Note that, when a pass permission request has not been issued by the traveling vehicle 100, the pass permission request information includes information indicating that a pass permission request has not been issued (or empty information, a NULL value, etc.). The release request is identification information indicating the blocking area BA through which the traveling vehicle 100 has passed. Note that, when a release request has not been issued by the traveling vehicle 100, the release request information includes information indicating that a release request has not been issued (or empty information, a NULL value, etc.). The release request does not need to be used if the controller 200 recognizes that the traveling vehicle 100 has passed through a blocking area BA from its current position and releases the blocking of the blocking area BA.

[0032] The traveling control unit 110 sets a traveling route based on a traveling command (e.g., the departure point and destination of the traveling vehicle 100) received from the controller 200 and map information of the trajectory R pre-stored in the storage unit 130. The storage unit 130 is, for example, a non-volatile memory, and stores various information such as map information including the trajectory R and status information. The traveling control unit 110 generates status information as appropriate and updates the status information stored in the storage unit 130 to the latest status information. In response to a request to send status information from the controller 200, the communication control unit 120 transmits the status information stored in the storage unit 130 to the controller 200 (see FIG. 5 ).

[0033] When the position sensor 140 detects the requested start position, the communication control unit 120 controls the controller 200 to transmit a pass permission request for the junction Cn through which the traveling vehicle 100 is to pass. Furthermore, the communication control unit 120 controls the reception of a pass permission from the controller 200 in response to the transmission of the pass permission request. When the communication control unit 120 receives a pass permission, the traveling control unit 110 controls the traveling of the traveling vehicle 100 to enter the junction Cn through which the traveling vehicle 100 is to pass. Furthermore, if the traveling control unit 110 does not receive a pass permission from the controller 200 in response to the transmission of the pass permission request after transmitting the pass permission request, the traveling control unit 110 continues the traveling of the traveling vehicle 100, and when the traveling vehicle 100 reaches a stop position SP set near the junction Cn through which the traveling vehicle 100 is to pass, the traveling control unit 110 controls the traveling vehicle 100 to stop at the stop position SP. The stop position SP is set to a position closer to the junction Cn through which the traveling vehicle 100 is to pass than the requested start position.

[0034] The controller 200 includes a command generation unit 210, a blocking control unit 220, a communication control unit 230, and a storage unit 240. The controller 200 is a computer device that includes, for example, a CPU (Central Processing Unit), a main memory, a storage device, a communication device, etc., and processes various types of information. The configuration of the computer device is arbitrary, and may be, for example, a single device or multiple devices. The communication control unit 230 controls communication with each traveling vehicle 100 via a wireless LAN or the like, requests status information from each traveling vehicle 100, and receives status information from each traveling vehicle 100. The storage unit 240 is, for example, a non-volatile memory, and stores the status information received under the control of the communication control unit 230. For example, the storage unit 240 stores the status information of each traveling vehicle 100 in association with the identification information of each traveling vehicle 100.

[0035] FIG. 5 is a diagram illustrating an example of status information stored by the controller according to the first embodiment. As illustrated in FIG. 5 , the storage unit 240 stores, as status information, information on the current location, destination, driving status, cargo status, forward status, pass permission request, and release request, in association with a traveling vehicle ID, which is identification information for identifying each traveling vehicle 100. FIG. 5 shows that a traveling vehicle 100 with a traveling vehicle ID "TB0001" and a traveling vehicle 100 with a traveling vehicle ID "TB0002" have transmitted pass permission requests for a blocking area BA with identification information "BL0001." FIG. 5 also shows that a traveling vehicle 100 with a traveling vehicle ID "TB0004" has been granted a pass permission for a blocking area BA with identification information "BL0002," and has already passed through the blocking area BA, and has therefore transmitted a release request. Also, FIG. 5 shows that a traveling vehicle 100 with a traveling vehicle ID "TB0003" is stopped at a stop position SP and has transmitted a pass permission request. The storage unit 240 also stores, in addition to the status information of each traveling vehicle 100, a travel cost indicating the time required for travel on each section of the track R divided based on the merging section Cn. The travel cost is included in advance in the map information including the track R (see FIG. 2).

[0036] The command generation unit 210 determines the traveling vehicle 100 to which a travel command corresponding to the task is to be assigned, based on information about a destination determined by a task (e.g., transporting luggage) given in advance, the status information stored in the storage unit 240, and the travel cost of each section of the track R stored in the storage unit 240. Specifically, the command generation unit 210 determines a travel route for the traveling vehicle 100 that results in the smallest total travel cost, based on the destination determined according to the task, the current position of the traveling vehicle 100 that is to be assigned to the task, and the total value of the travel cost of each section from the current position of the traveling vehicle 100 to the destination, and generates a travel command specifying the determined travel route.

[0037] The blocking control unit 220 determines whether to grant a passage permit to the traveling vehicle 100 that has transmitted the passage permit request, based on the passage permit request included in the status information stored in the storage unit 240. Furthermore, the blocking control unit 220 releases the blocking of the target blocking area BA, based on the release request included in the status information stored in the storage unit 240. Specifically, when the blocking control unit 220 releases the blocking, it deletes the target release request stored in the storage unit 240 and updates the blocking information (described later) indicating whether or not there is blocking, thereby making it possible to grant a passage permit for the target blocking area BA. The blocking control unit 220 generates (updates) blocking information when granting a passage permit or releasing blocking. The storage unit 240 further stores blocking information. The blocking information includes information about each blocking area BA. For example, the blocking information includes identification information for identifying the blocking area BA, information indicating whether the blocking area BA is blocked, and identification information for identifying the traveling vehicle 100 that transmitted the passage permission request for the blocking area BA. The information indicating whether the blocking area BA is blocked is information indicating whether the blocking area BA is blocked or not. The blocking control unit 220 updates the blocking information to the latest information when the status information stored in the memory unit 240 is updated.

[0038] The blocking control unit 220 acquires from the storage unit 240 the travel costs of each section from the current position of the traveling vehicle 100 that transmitted the pass permission request until it enters the junction Cn, and calculates the total value of the travel costs of each section until the traveling vehicle 100 that transmitted the pass permission request enters the junction Cn. The process of calculating the total value of the travel costs by the blocking control unit 220 corresponds to the process by the "calculation unit." Then, the blocking control unit 220 determines whether the calculated total value of the travel costs is less than a threshold. The process of determining whether the total value of the travel costs is less than a threshold corresponds to the process by the "determination unit." Next, the blocking control unit 220 notifies the communication control unit 230 to transmit a pass permit to the traveling vehicle 100 whose total value of the travel costs is determined to be less than the threshold. In this way, the communication control unit 230 controls the transmission of the pass permit to the corresponding traveling vehicle 100. In addition, the blocking control unit 220 may notify the communication control unit 230 to send a passage permit to a traveling vehicle 100 whose total traveling cost is determined to be less than a threshold value, assuming that only one traveling vehicle 100 can enter one merging point Cn.

[0039] Specifically, the blocking control unit 220 refers to the storage unit 240 and confirms that the identification information of the blocking area BA including the junction Cn is included in the pass permission request. The blocking control unit 220 then checks the blocking information for the target blocking area BA and determines whether pass permission can be granted. If pass permission can be granted, the blocking control unit 220 acquires from the storage unit 240 the driving costs of each section from the current location to the junction Cn for the traveling vehicle 100 that sent the pass permission request, and calculates the total value of the driving costs of each section until the traveling vehicle 100 enters the junction Cn. If the calculated total value of the driving costs is less than a threshold, the blocking control unit 220 determines to grant pass permission for the blocking area BA (junction Cn) to the traveling vehicle 100. Note that if the total value of the driving costs is equal to or greater than the threshold, the blocking control unit 220 does not respond to the traveling vehicle 100. As a result, in the traveling vehicle system 1, the traveling vehicles 100 whose total value of the traveling cost is less than the threshold value are allowed to enter the blocking area BA (merging point Cn) in order.

[0040] 6 is a diagram showing an example of transmission and reception of status information according to the first embodiment. As shown in FIG. 6, the controller 200 transmits a request for status information to each traveling vehicle 100 by periodic communication (e.g., polling communication). As a result, each traveling vehicle 100 transmits its own status information to the controller 200. The status information may also include a pass permission request or a release request. The pass permission request or the release request may be transmitted at a different timing from the transmission of the status information, but transmitting them together with the status information can reduce the communication load.

[0041] FIG. 7 is a diagram showing an example of a processing sequence of the traveling vehicle system according to the first embodiment. Note that traveling vehicle A and traveling vehicle B shown in FIG. 7 correspond to traveling vehicle 100A and traveling vehicle 100B shown in FIG. 1 and elsewhere, respectively. As shown in FIG. 7, traveling vehicle 100B passes through a request start position (step S101). Thereafter, controller 200 periodically communicates with traveling vehicle 100B to request the traveling vehicle 100B to transmit status information (step S102). Upon receiving the status information transmission request from controller 200, traveling vehicle 100B transmits status information including a request for passage permission for blocking area BA including junction Cn to controller 200 (step S103). The controller 200 receives the status information including the pass permission request, but does not respond to traveling vehicle 100B because it cannot grant passage permission to traveling vehicle 100B (step S104).

[0042] The traveling vehicle 100A also passes the requested start position (step S105). Thereafter, the controller 200 periodically communicates with the traveling vehicle 100A to request that the traveling vehicle 100A transmit status information (step S106). Upon receiving the request to transmit status information from the controller 200, the traveling vehicle 100A transmits status information to the controller 200, including a request for permission to pass through the blocking area BA that includes the junction Cn (step S107). The controller 200 receives the status information including the request for permission to pass and is able to grant permission to the traveling vehicle 100A (step S108), and therefore transmits permission to pass through the blocking area BA that includes the junction Cn to the traveling vehicle 100A (step S109). The traveling vehicle 100A receives permission to pass from the controller 200 and enters the junction Cn (step S110).

[0043] 8 and 9 are flowcharts showing an example of the flow of processing by the traveling vehicle according to the first embodiment. As shown in FIGS. 8 and 9, the traveling vehicle 100 determines whether it has passed the requested start position on the track R (step S201). If the traveling vehicle 100 has not passed the requested start position (step S201: NO), it repeats the processing of step S201 until it passes the requested start position. On the other hand, if the traveling vehicle 100 has passed the requested start position (step S201: YES), it determines whether it is time to transmit status information (step S202). That is, the traveling vehicle 100 determines whether it has received a request to transmit status information from the controller 200. If it is not time to transmit status information (step S202: NO), the traveling vehicle 100 repeats the processing of step S202 until it is time to transmit status information. On the other hand, if it is time to transmit status information (step S202: YES), the traveling vehicle 100 transmits status information including a request for permission to pass through the blocking area BA including the merging point Cn to the controller 200 (step S203).

[0044] If the traveling vehicle 100 receives a passage permission from the controller 200 (step S204: YES), the traveling vehicle 100 enters the blocking area BA including the merging point Cn (step S205). On the other hand, if the traveling vehicle 100 does not receive a passage permission from the controller 200 (step S204: NO), the traveling vehicle 100 determines whether it is time to transmit status information (step S206). At this time, if it is time to transmit status information (step S206: YES), the traveling vehicle 100 transmits status information including a request for passage permission for the blocking area BA including the merging point Cn to the controller 200 (step S207). If the traveling vehicle 100 receives a passage permission from the controller 200 (step S208: YES), the traveling vehicle 100 enters the blocking area BA including the merging point Cn (step S205).

[0045] On the other hand, if it is not the timing to transmit the status information (step S206: NO) or if the traveling vehicle 100 has not received a pass permission from the controller 200 (step S208: NO), the traveling vehicle 100 determines whether it has reached the stop position SP (whether it has already reached the stop position SP) (step S209). Here, if the traveling vehicle 100 has not reached the stop position SP (step S209: NO), it determines whether it is the timing to transmit the status information (step S206). Also, if the traveling vehicle 100 has reached the stop position SP (has already reached the stop position SP) (step S209: YES), it stops at the stop position SP (continues to stop at the stop position SP) (step S210) and determines again whether it is the timing to transmit the status information (step S206). The traveling vehicle 100 stopped at the stop position SP repeatedly transmits the status information including the pass permission request until it receives a pass permission.

[0046] FIG. 10 is a flowchart illustrating an example of the flow of processing by the controller according to the first embodiment. Note that FIG. 10 illustrates an example in which only one traveling vehicle 100 is allowed to enter one junction Cn. As illustrated in FIG. 10 , the controller 200 determines whether status information including a pass permission request has been received from the traveling vehicle 100 (step S301). At this time, if the controller 200 has not received status information including a pass permission request (step S301: NO), the controller 200 enters a state of waiting for reception of a pass permission request. On the other hand, if the controller 200 has received status information including a pass permission request from the traveling vehicle 100 (step S301: YES), the controller 200 determines whether a pass permission can be granted for the blocking area BA including the junction Cn that is the target of the pass permission request (step S302). At this time, if a pass permission has been granted to any traveling vehicle 100 for the target blocking area BA, the controller 200 determines that a pass permission cannot be granted (step S302: NO) and executes the processing of step S301.

[0047] On the other hand, if no passing permit has been granted to any of the traveling vehicles 100 for the target blocking area BA, the controller 200 determines that a passing permit can be granted (step S302: YES). Then, for the traveling vehicle 100 that transmitted the passing permit request, the controller 200 acquires from the storage unit 240 the traveling costs corresponding to each section up to the merging point Cn, and calculates the total of the acquired traveling costs (step S303). The controller 200 then determines whether the calculated total traveling costs are less than a threshold (step S304: NO). At this time, if the total traveling costs are equal to or greater than the threshold (step S304: NO), the controller 200 executes the process of step S301 without granting a passing permit to the traveling vehicle 100. On the other hand, if the total traveling costs are less than the threshold (step S304: YES), the controller 200 transmits a passing permit to the traveling vehicle 100 (step S305).

[0048] FIG. 11 is a diagram illustrating an example of blocking control according to the first embodiment. For example, the requested start positions are set at positions where the distance to the blocking area BA including the merging point Cn is 11 meters. The traveling vehicle 100A has reached the requested start position on the straight track R side, and the traveling vehicle 100B has reached the requested start position on the curved track R side. When the traveling vehicle 100A and the traveling vehicle 100B transmit a passage permission request, the total value of the traveling cost of the traveling vehicle 100A (traveling cost A １ + Driving cost A ２ + Driving cost A ３ ) is the total value of the travel cost of the traveling vehicle 100B that is scheduled to travel on the track R that includes the curve (travel cost B １ + Driving cost B ２ + Driving cost B ３) The controller 200, which has received a passage permission request from the traveling vehicles 100A and 100B, transmits a passage permission to the traveling vehicle 100A whose total value of the traveling cost is less than the threshold value, and does not transmit a passage permission to the traveling vehicle 100B whose total value of the traveling cost is equal to or greater than the threshold value. As a result, the traveling vehicle 100A enters the blocking area BA before the traveling vehicle 100B, and the traveling vehicle 100B enters the blocking area BA after the traveling vehicle 100A exits the blocking area BA.

[0049] FIG. 12 is a diagram illustrating a comparative example of blocking control that does not take into account the total value of travel costs. In the comparative example, in the situation of FIG. 11 , if the controller 200 receives a pass permission request from the traveling vehicle 100B before the traveling vehicle 100A, the controller 200 transmits a pass permission to the traveling vehicle 100B and does not transmit a pass permission request to the traveling vehicle 100A. As a result, the traveling vehicle 100B is able to enter the blocking area BA before the traveling vehicle 100A. However, because the total value of the travel costs of the traveling vehicle 100A is smaller than the total value of the travel costs of the traveling vehicle 100B, the traveling vehicle 100A approaches the junction Cn before the traveling vehicle 100B. Therefore, while the traveling vehicle 100B continues traveling toward the junction Cn, the traveling vehicle 100A reaches the stop position SP and stops. That is, even if the traveling vehicle 100A would normally be able to pass through the junction Cn before the traveling vehicle 100B without stopping the traveling vehicle 100A or 100B, there is a possibility that the traveling vehicle 100B may be granted a passage permit first, causing the traveling vehicle 100A to stop. In this embodiment, blocking control is implemented taking into account the travel cost (total value of the travel cost) to prevent this from happening, allowing the traveling vehicles 100A and 100B to pass through the junction Cn smoothly. Furthermore, in this embodiment, blocking control taking into account the travel cost can be realized without requiring the cumbersome task of setting the requested start position at a position that takes into account the travel cost.

[0050] In the above embodiment, a case has been described in which a total value of the travel costs for each section up to the merging point Cn is calculated by using a preset travel cost for the section including the current position of the target traveling vehicle 100, without considering the progress of the traveling vehicle 100 in that section. The method for calculating the total value of the travel costs is not limited to this. The controller 200 may reduce the travel cost corresponding to the section in which the traveling vehicle 100 is traveling, and then calculate the total value of the travel costs for each section including the section in which the traveling vehicle 100 is traveling. Specifically, the controller 200 may reduce the travel cost for the section in which the traveling vehicle 100 that sent the passage permission request is traveling by half or one-third, or by a certain amount, and then calculate the total value of the reduced travel cost and the travel costs for each of the other sections.

[0051] In addition, the controller 200 may reduce the travel cost for the section in which the traveling vehicle 100 is traveling based on the total distance of the section in which the traveling vehicle 100 is traveling and the remaining distance in the section in which the traveling vehicle 100 is traveling according to the current position of the traveling vehicle 100, and then calculate the total travel cost for each section including the section in which the traveling vehicle 100 is traveling. Specifically, the controller 200 may identify the current position of the traveling vehicle 100 using a point AP including a position marker, and may determine the reduced travel cost by multiplying the travel cost for the section in which the traveling vehicle 100 is traveling by the ratio of the remaining distance according to the current position to the distance of the section in which the traveling vehicle 100 is traveling (the total distance of the section). The controller 200 may then calculate the total of the reduced travel cost and the travel costs for each of the other sections. In this way, by calculating the total travel cost of the traveling vehicle 100 traveling in the middle of a certain section with higher accuracy, the accuracy of blocking control for the blocking area BA including the merging point Cn can also be improved.

[0052] In addition, the controller 200 may reduce the total value of the travel costs of the traveling vehicles 100 as the priority of the traveling vehicles 100 increases. Specifically, the controller 200 may reduce the total value of the travel costs of the traveling vehicles 100 as the priority increases, based on a priority according to the importance of the cargo transported by each traveling vehicle 100 (for example, a priority indicating whether the cargo should be transported to the destination in the shortest time possible). In other words, the lower the total value of the travel costs, the more likely it is that the total value will be less than the threshold, and therefore the more likely it is that a passage permit will be given priority to the traveling vehicle 100.

[0053] In the above embodiment, a case has been described in which a passage permit is granted if the calculated total value of the travel costs is less than a threshold value. The threshold value that serves as a condition for granting a passage permit is not limited to this. The controller 200 may determine whether the total value of the travel costs is less than the threshold value using a threshold value that is set higher the higher the priority of the traveling vehicle 100. Specifically, the controller 200 determines whether the total value of the travel costs is less than the threshold value using a threshold value that is set higher the higher the priority, based on a priority according to the importance of the cargo transported by each traveling vehicle 100 (e.g., a priority indicating whether the cargo should be transported to the destination in the shortest time possible). In other words, the higher the threshold value, the more likely it is that the total value of the travel costs will be less than the threshold value, and therefore the more likely it is that a passage permit will be preferentially granted to the corresponding traveling vehicle 100.

[0054] Second Embodiment In the first embodiment, the case where the total value of the travel cost is calculated by the controller 200 is described. In the second embodiment, the case where the total value of the travel cost is calculated by the travelling vehicle 100a is described. In the second embodiment, the same components as those in the above embodiment are denoted by the same reference numerals, and detailed description thereof may be omitted.

[0055] 13 is a block diagram showing an example of the configuration of a traveling vehicle and a controller according to the second embodiment. The traveling vehicle system 1a includes a plurality of traveling vehicles 100a traveling on a track R having a merging section Cn, and a controller 200a that controls the plurality of traveling vehicles 100a. The traveling vehicles 100a include a traveling control unit 110a, a communication control unit 120, a memory unit 130a, a position sensor 140, a cargo sensor 150, and a forward sensor 160. The controller 200a includes a command generation unit 210, a blocking control unit 220a, a communication control unit 230, and a memory unit 240.

[0056] The storage unit 130a stores a travel cost indicating the time required for travel for each section of the track R divided based on the merging points Cn. The travel cost is included in advance in map information including the track R (see FIG. 2).

[0057] When the vehicle passes a requested start position set at a predetermined distance upstream of the junction Cn to be passed, the driving control unit 110a acquires from the storage unit 130a the driving costs of each section from the current position to the junction Cn to be passed. The driving control unit 110a then calculates the total value of the driving costs for each acquired section. The process of calculating the total value of the driving costs by the driving control unit 110a corresponds to the process performed by the "calculation unit." The communication control unit 120 then transmits a request for permission to pass the junction Cn to the controller 200a, along with the total value of the driving costs calculated by the driving control unit 110a.

[0058] The blocking control unit 220a determines whether the total value of the travel costs of the traveling vehicles 100a that have transmitted the pass permission requests is less than a threshold. The process of determining whether the total value of the travel costs is less than the threshold by the blocking control unit 220a corresponds to the process performed by the "determination unit." The blocking control unit 220a then notifies the communication control unit 230 to transmit a pass permission to the traveling vehicles 100a whose total value of the travel costs is determined to be less than the threshold. In response, the communication control unit 230 controls the transmission of the pass permission to the corresponding traveling vehicles 100a. Note that the blocking control unit 220a may notify the communication control unit 230 to transmit a pass permission to the traveling vehicles 100a whose total value of the travel costs is determined to be less than the threshold, assuming that only one traveling vehicle 100a can enter one merging point Cn. The storage unit 240 according to the second embodiment does not need to store the travel cost, which indicates the time required for travel, for each section of the track R divided based on the merging points Cn.

[0059] FIG. 14 is a flowchart showing an example of the flow of processing by the traveling vehicle according to the second embodiment. As shown in FIG. 14, when it is time to transmit status information (step S202: YES or step S206: YES), the traveling vehicle 100a acquires the travel costs of each section up to the merging point Cn from the storage unit 130a (step S401). The traveling vehicle 100a then calculates the total value of the travel costs of each acquired section (step S402). Next, the traveling vehicle 100a transmits status information including a passage permission request together with the calculated total value of the travel costs to the controller 200a (step S403). After that, the traveling vehicle 100a executes the processing of step S204 or step S208.

[0060] FIG. 15 is a flowchart illustrating an example of the flow of processing by the controller according to the second embodiment. Note that FIG. 15 illustrates an example in which only one traveling vehicle 100a is allowed to enter one junction Cn. As illustrated in FIG. 15 , the controller 200a determines whether the total value of the travel costs and status information including a pass permission request have been received from the traveling vehicle 100a (step S301). At this time, if the controller 200a has not received the total value of the travel costs and status information including a pass permission request (step S301: NO), the controller 200a enters a state of waiting for the reception of the total value of the travel costs and status information including a pass permission request. On the other hand, if the controller 200a has received the total value of the travel costs and status information including a pass permission request from the traveling vehicle 100a (step S301: YES), the controller 200a determines whether a pass permission can be granted for the blocking area BA including the junction Cn for which the pass permission request is made (step S302). At this time, if a passage permit has been granted to any of the traveling vehicles 100a for the target blocking area BA, the controller 200a determines that a passage permit cannot be granted (step S302: NO) and executes the processing of step S301.

[0061] On the other hand, if no passing permit has been granted to any of the traveling vehicles 100a for the target blocking area BA, the controller 200a determines that a passing permit can be granted (step S302: YES) and determines whether the total value of the traveling costs of the traveling vehicles 100a that transmitted the passing permit request is less than a threshold value (step S304). The controller 200a uses the total value of the traveling costs transmitted by the traveling vehicles 100a. At this time, if the total value of the traveling costs is equal to or greater than the threshold value (step S304: NO), the controller 200a executes the processing of step S301 without granting a passing permit to the corresponding traveling vehicle 100a. On the other hand, if the total value of the traveling costs is less than the threshold value (step S304: YES), the controller 200a transmits a passing permit to the corresponding traveling vehicle 100a (step S305).

[0062] Note that, for the travel cost of the section including the current position of the traveling vehicle 100a, the travel cost corresponding to the section currently traveling may be reduced, and then the total value of the travel costs of each section including the section currently traveling may be calculated. Alternatively, the travel cost corresponding to the section currently traveling by the traveling vehicle 100a may be reduced based on the total distance of the section currently traveling by the traveling vehicle 100a and the remaining distance in the section according to the current position of the traveling vehicle 100a, and then the total value of the travel costs of each section including the section currently traveling may be calculated. Alternatively, the higher the priority of the traveling vehicle 100a, the more the total value of the travel cost of the traveling vehicle 100a may be reduced, and it may be determined whether the reduced total value of the travel cost is less than a threshold. Alternatively, a threshold may be set higher as the priority of the traveling vehicle 100a is higher.

[0063] [Third embodiment] In the first embodiment, a case was described in which the controller 200 calculates the total value of the travel costs and determines whether the total value of the travel costs is less than a threshold value. In the second embodiment, a case was described in which the travelling vehicle 100a calculates the total value of the travel costs. In the third embodiment, a case was described in which the travelling vehicle 100b calculates the total value of the travel costs and determines whether the total value of the travel costs is less than a threshold value. In the third embodiment, the same components as those in the above embodiments are denoted by the same reference numerals, and detailed description thereof may be omitted.

[0064] 16 is a block diagram showing an example of the configuration of a traveling vehicle and a controller according to the third embodiment. The traveling vehicle system 1b includes a plurality of traveling vehicles 100b traveling on a track R having a merging section Cn, and a controller 200b that controls the plurality of traveling vehicles 100b. The traveling vehicles 100b include a traveling control section 110b, a communication control section 120, a memory section 130b, a position sensor 140, a cargo sensor 150, and a forward sensor 160. The controller 200b includes a command generation section 210, a blocking control section 220b, a communication control section 230, and a memory section 240.

[0065] The storage unit 130b stores a travel cost indicating the time required for travel for each section of the track R divided based on the merging points Cn. The travel cost is included in advance in map information including the track R (see FIG. 2).

[0066] When the driving control unit 110b passes a requested start position set at a predetermined distance upstream of the junction Cn to be passed, the driving control unit 110b acquires from the storage unit 130b the driving costs of each section from the current position to the junction Cn to be passed. The driving control unit 110b then calculates the total value of the driving costs for each acquired section. The process of calculating the total value of the driving costs by the driving control unit 110b corresponds to the process performed by the "calculation unit." The driving control unit 110b then determines whether the calculated total value of the driving costs is less than a threshold value. The process of determining whether the calculated total value of the driving costs is less than a threshold value corresponds to the process performed by the "determination unit." If the calculated total value of the driving costs is less than the threshold value, the driving control unit 110b then notifies the communication control unit 120 to transmit a request for permission to pass through the blocking area BA including the junction Cn to the controller 200b. As a result, the communication control unit 120 transmits a request for passage permission for the blocking area BA that includes the junction Cn through which the vehicle is scheduled to pass, to the controller 200b.

[0067] The blocking control unit 220b notifies the communication control unit 230 to transmit a pass permit to the traveling vehicle 100b that transmitted the pass permit request. In response, the communication control unit 230 controls the transmission of the pass permit to the corresponding traveling vehicle 100b. Note that the blocking control unit 220b may notify the communication control unit 230 to transmit a pass permit to the traveling vehicle 100b that transmitted the pass permit request, on the premise that only one traveling vehicle 100b is allowed to enter one merging section Cn. The storage unit 240 according to the third embodiment does not need to store a travel cost indicating the time required for travel for each section of the track R divided based on the merging sections Cn.

[0068] FIG. 17 is a flowchart showing an example of the flow of processing by the traveling vehicle according to the third embodiment. As shown in FIG. 17 , when it is time to transmit status information (step S202: YES or step S206: YES), the traveling vehicle 100b acquires the travel costs of each section up to the merging point Cn from the storage unit 103b (step S501). The traveling vehicle 100b then calculates the total value of the acquired travel costs for each section (step S502). Next, the traveling vehicle 100b determines whether the calculated total value of the travel costs is less than a threshold value (step S503). At this time, if the calculated total value of the travel costs is equal to or greater than the threshold value (step S503: NO), the traveling vehicle 100b executes the processing of step S202 or step S206. On the other hand, if the calculated total value of the travel costs is less than the threshold value (step S503: YES), the traveling vehicle 100b transmits status information including a passage permission request to the controller 200b (step S504). Thereafter, the traveling vehicle 100b executes the process of step S204 or the process of step S208.

[0069] FIG. 18 is a flowchart illustrating an example of the flow of processing by the controller according to the third embodiment. Note that FIG. 18 illustrates an example in which only one traveling vehicle 100b is allowed to enter one junction Cn. As illustrated in FIG. 18 , the controller 200b determines whether status information including a pass permission request has been received from the traveling vehicle 100b (step S301). At this time, if the controller 200b has not received status information including a pass permission request (step S301: NO), the controller 200b enters a state of waiting for reception of status information including a pass permission request. On the other hand, if the controller 200b has received status information including a pass permission request from the traveling vehicle 100b (step S301: YES), the controller 200b determines whether a pass permission can be granted for the blocking area BA including the junction Cn that is the target of the pass permission request (step S302). At this time, if a passage permit has been granted to any of the traveling vehicles 100b for the target blocking area BA, the controller 200b determines that a passage permit cannot be granted (step S302: NO) and executes the process of step S301. On the other hand, if a passage permit has not been granted to any of the traveling vehicles 100b for the target blocking area BA, the controller 200b determines that a passage permit can be granted (step S302: YES) and transmits a passage permit to the relevant traveling vehicle 100b (step S305).

[0070] Note that, for the travel cost of the section including the current position of the traveling vehicle 100b, the travel cost corresponding to the section currently being traveled may be reduced, and then the total value of the travel costs of each section including the section currently being traveled may be calculated. Alternatively, the travel cost corresponding to the section currently being traveled by the traveling vehicle 100b may be reduced based on the total distance of the section currently being traveled by the traveling vehicle 100b and the remaining distance in the section according to the current position of the traveling vehicle 100b, and then the total value of the travel costs of each section including the section currently being traveled may be calculated. Alternatively, the higher the priority of the traveling vehicle 100b, the more the total value of the travel cost of the traveling vehicle 100b may be reduced, and it may be determined whether the reduced total value of the travel cost is less than a threshold. Alternatively, a threshold may be set higher as the priority of the traveling vehicle 100b is higher.

[0071] Although the embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. Furthermore, forms incorporating such modifications or improvements are also included within the technical scope of the present invention. One or more of the requirements described in the above embodiments may be omitted. Furthermore, the requirements described in the above embodiments may be combined as appropriate. Furthermore, the execution order of each process shown in this embodiment can be implemented in any order, as long as the output of a previous process is not used in a subsequent process. Furthermore, even if the operations in the above embodiments are described using terms such as "first," "next," and "continuously" for convenience, this order is not required. Furthermore, to the extent permitted by law, the disclosures of Japanese Patent Application No. 2024-007464 and all documents cited in the above embodiments are incorporated herein by reference.

[0072] BA: Blocking area Br: Branching section Cn: Merging section R: Track SP: Stop position 1: Traveling vehicle system 100: Traveling vehicle 110: Traveling control section 120: Communication control section 130: Storage section 140: Position sensor 150: Load sensor 160: Forward sensor 200: Controller 210: Command generation section 220: Blocking control section 230: Communication control section 240: Storage section

Claims

1. A vehicle running system comprising a plurality of running vehicles that run on a track having a merging section, and a controller that controls the plurality of running vehicles, - a storage unit that stores a running cost indicating the time required for running for each section of the track divided based on the merging section; - a calculation unit that acquires from the storage unit the running cost of each section from the current position of the running vehicle to entering the merging section, and calculates a total value of the running costs of the sections until the running vehicle enters the merging section; - a determination unit that determines whether the total value of the running costs is less than a threshold value, - wherein the plurality of running vehicles, - when passing through a request start position set at a position separated by a predetermined distance upstream from a merging section to be passed, transmit a passing permission request for the merging section to be passed to the controller; - when receiving a passing permission from the controller in response to the transmission of the passing permission request, enter the merging section to be passed; - when not receiving a passing permission from the controller in response to the transmission of the passing permission request, stop at a stop position set at a position closer to the merging section to be passed than the request start position, - and the controller transmits the passing permission to the running vehicle that has transmitted the passing permission request and for which the determination unit has determined that the total value of the running costs is less than the threshold value. Vehicle running system.

2. The vehicle running system according to claim 1, wherein the running vehicle or the controller determines a route along which the running vehicle runs based on the running costs of the respective sections of the track stored in the storage unit.

3. The vehicle running system according to claim 1, wherein the calculation unit calculates the total value of the running costs using the reduced running cost after reducing the running cost corresponding to the section in which the running vehicle is running.

4. The vehicle running system according to claim 3, wherein the calculation unit reduces the running cost corresponding to the section in which the running vehicle is running based on the distance of the section in which the running vehicle is running and the remaining distance according to the current position of the running vehicle in the section in which the running vehicle is running, and then calculates the total value of the running costs using the reduced running cost.

5. The vehicle running system according to claim 1, wherein the calculation unit reduces the total value of the running costs of the running vehicle as the priority of the running vehicle is higher.

6. The traveling vehicle system according to claim 1, wherein the determination unit determines whether the total value of the traveling costs is less than the threshold value using the threshold value that is set higher as the priority of the traveling vehicle is higher.

7. The traveling vehicle system according to claim 1, wherein the controller includes the storage unit, the calculation unit, and the determination unit.

8. The plurality of traveling vehicles include the storage unit and the calculation unit. When passing through the request start position, the traveling costs of each section from the current position to the confluence section to be passed through are acquired from the storage unit, the total value of the traveling costs of each section until entering the confluence section is calculated, and a passing permission request for the confluence section to be passed through is transmitted to the controller together with the calculated total value of the traveling costs. The controller includes the determination unit, and the determination unit determines whether the total value of the traveling costs of the traveling vehicle that has transmitted the passing permission request is less than the threshold value. The traveling vehicle system according to claim 1.

9. The plurality of traveling vehicles include the storage unit, the calculation unit, and the determination unit. When passing through the request start position, the traveling costs of each section from the current position to the confluence section to be passed through are acquired from the storage unit, the total value of the traveling costs of each section until entering the confluence section is calculated, and if the calculated total value of the traveling costs is less than the threshold value, a passing permission request for the confluence section to be passed through is transmitted to the controller. The traveling vehicle system according to claim 1.

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