Traffic control device, traffic control method, and program

Abstract

This traffic control device comprises: a determination means for determining whether or not a moving body is permitted to go around; and a control means for executing traffic control for causing a second moving body, which is different from a first moving body determined to be permitted to go around, to travel with priority over the first moving body.

Description

Traffic control device, traffic control method, and program

[0001] The present disclosure relates to a traffic control device, a traffic control method, and a program.

[0002] Patent Document 1 discloses a technology for accommodating travel routes among vehicles in consideration of vehicle priorities.

[0003] International Publication No. 2021 / 191995

[0004] When a mobile body that permits roundabout travel and a second mobile body other than the first mobile body travel on the same route, smooth traffic of the second mobile body may be hindered.

[0005] The present disclosure has been made to solve such a problem, and an object of the present disclosure is to provide a traffic control device, a traffic control method, and a program that smooth traffic of mobile bodies other than mobile bodies that permit roundabout travel.

[0006] The traffic control device according to a first aspect of the present disclosure comprises: a determination means that determines whether a mobile body has roundabout travel permission; and a control means that implements traffic control for allowing a second mobile body different from the first mobile body to pass through with priority compared to the first mobile body determined to have roundabout travel permission.

[0007] The traffic control method according to a second aspect of the present disclosure comprises: determining whether a mobile body has roundabout travel permission; and implementing traffic control for allowing a second mobile body different from the first mobile body to pass through with priority compared to the first mobile body determined to have roundabout travel permission.

[0008] The program according to a third aspect of the present disclosure causes a computer to execute: a process of determining whether a mobile body has roundabout travel permission; and a process of implementing traffic control for allowing a second mobile body different from the first mobile body to pass through with priority compared to the first mobile body determined to have roundabout travel permission.

[0009] The present disclosure provides a traffic control device, a traffic control method, and a program that smooth traffic of mobile bodies other than mobile bodies that permit roundabout travel.

[0010] This is a block diagram illustrating the traffic control device described in this disclosure. This is a flowchart illustrating the traffic control method described in this disclosure. This is a block diagram illustrating the traffic control device described in this disclosure. This is a diagram for explaining an example of traffic control described in this disclosure. This is a block diagram illustrating the traffic control device described in this disclosure. This is a diagram for explaining an example of traffic control method described in this disclosure. This is a block diagram illustrating the hardware configuration of the traffic control device described in this disclosure.

[0011] Embodiment 1 Hereinafter, this embodiment will be described with reference to the drawings. Figure 1 is a block diagram illustrating a traffic control device 10 according to the present disclosure. The traffic control device 10 may be a computer device that operates by a processor executing a program stored in memory. The traffic control device 10 may also be an information processing device, for example, a server device. Furthermore, the traffic control device 10 may be composed of multiple computer devices. In this case, the components or functions constituting the traffic control device 10 may be distributed and arranged across the multiple computer devices. The multiple computers may be connected via a network, or they may be directly connected via cables or the like.

[0012] The traffic control device 10 includes a determination unit 11 and a control unit 12. The determination unit 11 and the control unit 12 may be software or modules whose processing is performed by a processor executing a program stored in memory. Alternatively, the determination unit 11 and the control unit 12 may be hardware such as a circuit or chip.

[0013] The determination unit 11 determines whether or not a moving object is permitted to travel around. For example, the determination unit 11 may determine that a moving object is permitted to travel around if the difference between the target arrival time at which the moving object should arrive at its destination and the possible arrival time at which the moving object can arrive at its destination is greater than or equal to a predetermined value. Alternatively, the determination unit 11 may determine that a moving object that is waiting for a user is permitted to travel around.

[0014] The control unit 12 performs traffic control to prioritize the passage of a second mobile object, which is different from the first mobile object, compared to the first mobile object, which has been determined to be permissible to travel around.

[0015] Figure 2 is a flowchart illustrating the traffic control method according to this disclosure. First, the determination unit 11 determines whether or not a moving object is permitted to travel around (step S11). Next, the control unit 12 performs traffic control to allow the second moving object to pass first, which has been determined to be permitted to travel around, and a second moving object that is different from the first moving object (step S12).

[0016] As explained above, the traffic control device 10 determines whether or not a moving object is permitted to travel around, and prioritizes a second moving object that is different from the first moving object that is determined to be permitted to travel around. This allows the traffic control device 10 to facilitate traffic for the second moving object.

[0017] Embodiment 2 Embodiment 2 is a specific example of Embodiment 1. Figure 3 is a block diagram illustrating the traffic control device 100 according to the present disclosure. The traffic control device 100 is a specific example of the traffic control device 10 described above.

[0018] The traffic control device 100 controls traffic involving multiple mobile entities, including a first mobile entity and a second mobile entity. Specifically, the mobile entities are vehicles such as bicycles, motorcycles, and automobiles, but they may also be non-vehicle mobile entities such as ships and aircraft. The following describes an example where the mobile entities are vehicles. The traffic control device 100 may be a centralized system, or it may be a distributed system in which functions are distributed among multiple vehicles that communicate with each other.

[0019] The first mobile vehicle is a vehicle that is determined to be permissible for travel by the determination unit 140, which will be described later. The first mobile vehicle is, for example, a vehicle that is waiting for a user. For example, from the time a user disembarks from the first mobile vehicle until they board it again, the first mobile vehicle may travel on the roads surrounding the facility (e.g., a store) that the user has visited. The user may also be the owner of the first mobile vehicle. The first mobile vehicle may also be a vehicle used for passenger transport, such as a taxi or a rideshare vehicle. Therefore, the roads on which the first mobile vehicle travels are not limited to the roads surrounding a predetermined facility.

[0020] The second mobile entity is any mobile entity other than the first mobile entity. The second mobile entity may be an autonomous vehicle or a manually driven vehicle operated by a passenger.

[0021] The traffic control device 100 includes a communication unit 110, a storage unit 120, an identification unit 130, a determination unit 140, a control unit 150, and a prediction unit 160.

[0022] The traffic control device 100 is connected to at least one of the first mobile body or traffic control means via a wired or wireless communication line. The communication line may include a wireless communication line used for vehicle-to-vehicle communication or vehicle-to-infrastructure communication. The communication unit 110 is a communication interface with the communication line.

[0023] Traffic control means are traffic infrastructure devices such as traffic lights, signs, markings, or vehicle-to-infrastructure communication devices on the road on which the first mobile body travels. Traffic lights, for example, show signals to the first mobile body such as permission to proceed and instructions to stop. Traffic lights also show arrow signals indicating the direction of travel to the first mobile body at intersections. The first and second mobile bodies may be configured to follow signals shown by different traffic lights. Signs and markings may be configured to allow control of the information they display. The traffic control device 100 may be able to communicate with the first mobile body via a vehicle-to-infrastructure communication device.

[0024] The storage unit 120 is an example of a storage device such as a hard disk or flash memory. The storage unit 120 stores the program 121. The program 121 is a computer program on which the processing of the traffic control method according to this disclosure is implemented. The storage unit 120 includes a volatile storage device such as RAM (Random Access Memory). The volatile storage device temporarily holds information when the identification unit 130, determination unit 140, control unit 150, and prediction unit 160 are operating. When a processor (not shown) of the traffic control device 100 executes the program 121, the processor realizes the functions of the identification unit 130, determination unit 140, control unit 150, and prediction unit 160.

[0025] The identification unit 130 identifies a mobile device that is waiting for a user from among multiple mobile devices. The identification unit 130 may, for example, acquire mode information via the communication unit 110 and identify the mobile device that is waiting for a user based on the mode information. The mode information indicates whether each mobile device is in a first mode, which is the state in which it is waiting for a user, or in a second mode other than the first mode. If the identification unit 130 is unable to acquire mode information from a mobile device, it may identify the mode of that mobile device as a second mode. If the identification unit 130 is unable to acquire mode information from a mobile device, it may request that the mobile device transmit the mode information.

[0026] Alternatively, the identification unit 130 detects from detection information acquired using sensors that a user of a service such as automated valet parking has disembarked from the mobile vehicle. The sensors may be installed around the parking lot where the user parks the mobile vehicle. The sensors may be installed on the doors or seats of the mobile vehicle. The sensors may be any known sensors; for example, a camera that images the mobile vehicle may be used as a sensor. The identification unit 130 may also identify the mobile vehicle from which the user has disembarked as a mobile vehicle waiting for a user. For example, based on the captured video, the identification unit 130 stores information in the storage unit 120 indicating the license plate number and external characteristics of the vehicle that is a mobile vehicle waiting for a user. The identification unit 130 may also acquire identification information of the mobile vehicle from which the user has disembarked and store it in the storage unit 120.

[0027] Alternatively, the identification unit 130 may identify a mobile body that is waiting for a user based on the movement path of each mobile body. The identification unit 130 can determine the movement path of each mobile body, for example, based on changes in the position information of each mobile body or on images captured by cameras installed around the road. For example, if a mobile body is traveling in a loop, the identification unit 130 may identify that mobile body as one that is waiting for a user. For example, if a mobile body is repeatedly traveling on a particular road, the identification unit 130 may identify that mobile body as one that is waiting for a user.

[0028] The traffic control device 100 does not necessarily have to include the identification unit 130. Embodiment 1 may also include cases where the identification result from the identification unit 130 is not used in the determination by the determination unit 140.

[0029] The determination unit 140 is a specific example of the determination unit 11 described above. The determination unit 140 determines whether or not a mobile object is capable of circulating. Specifically, a mobile object capable of circulating may be one in which the difference between the target arrival time and the possible arrival time to the destination is greater than or equal to a predetermined value. The predetermined value can be any time greater than or equal to 0. The mobile object can arrive at the destination at the target arrival time with a safety margin corresponding to the predetermined value. The determination unit 140 can calculate the expected arrival time to the destination using any known technology. The determination unit 140 may also determine whether a mobile object is capable of circulating based on the identification result by the identification unit 130. For example, if a mobile object is waiting for a user, the determination unit 140 can set the place where the user will use the mobile object as the destination (e.g., the parking lot of the facility the user visited) and the time when the user will use the mobile object as the target arrival time. The determination unit 140 may set the target arrival time based on statistical travel time according to the user's purpose of disembarking (e.g., shopping, fitness, entertainment), or it may set the target arrival time based on input from the user. Alternatively, the traffic control device 100 may work in conjunction with an information processing device installed at a facility used by the user (e.g., a store), and the determination unit 140 may set a target arrival time based on a notification received from the facility's information processing device. The notification may indicate, for example, that a user currently paying at a cash register will use the first mobile device after a predetermined time.

[0030] Furthermore, Embodiment 2 may also include a simpler embodiment in which the determination unit 140 determines a mobile body that is waiting for a user as the first mobile body, and determines mobile bodies other than the first mobile body as the second mobile body.

[0031] The control unit 150 is a specific example of the control unit 12 described above. The control unit 150 controls the first mobile body so that the second mobile body has priority over the first mobile body. The control unit 150 may transmit control signals to an electronic control device provided on the first mobile body via the communication unit 110. The electronic control device controls the automatic driving of the first mobile body. The control unit 150 may present the driver with the path that the manually driven vehicle should take via a car navigation system. The control unit 150 may transmit control signals to a signaling device via the communication unit 110. The first mobile body autonomously drives according to signals shown on traffic lights, signs, markings, etc.

[0032] The control unit 150 determines, for example, whether the degree of congestion caused by one or more mobile bodies on the travel path of the second mobile body is higher than a predetermined value. If the degree of congestion is higher than the predetermined value, the control unit 150 may guide the first mobile body to a different path from the path on which the second mobile body is traveling. The degree of congestion is set higher as the number of mobile bodies increases.

[0033] Furthermore, the control unit 150 may control the first moving object according to the type of the second moving object. For example, the control unit 150 may guide the first moving object, which is on the travel path of a high-priority second moving object such as an emergency vehicle, to a different path from the one the second moving object is traveling on. The control unit 150 may move the first moving object, which is on the travel path of a low-priority second moving object, to the shoulder or a slow lane.

[0034] Figure 4 is a diagram illustrating an example of a traffic control method according to the present disclosure. The second mobile body 22 travels in the direction indicated by the solid arrow. The control unit 150 causes the first mobile body 21 to turn left at an intersection and guides the first mobile body 21 to a different path from the path traveled by the second mobile body 22. It is also conceivable to guide the first mobile body 21 to the shoulder or the slowest lane to prioritize the second mobile body 22, but there remains the possibility that the first mobile body 21 may obstruct the travel of the second mobile body 22. Embodiment 2 takes into account that the first mobile body 21 has the ability to travel around, and makes the travel of the second mobile body 22 smoother.

[0035] Referring to Figure 3, the prediction unit 160 predicts the travel time required for a moving object to travel along a predetermined path, based on the number of one or more moving objects present along the predetermined path. The prediction unit 160 predicts that the more moving objects present along the path, the longer the travel time will be. The prediction unit 160 distinguishes between the influence of a first moving object included in the one or more moving objects present along the predetermined path on the travel time and the influence of a second moving object included in the one or more moving objects on the travel time, and predicts the travel time. For example, the prediction unit 160 may use the sum of a value obtained by multiplying the number of first moving objects by a first predetermined time and a value obtained by multiplying the number of second moving objects by a second predetermined time as the travel time. In this case, the first predetermined time represents the influence of the first moving object, and the second predetermined time represents the influence of the second moving object. The first predetermined time may be smaller than the second predetermined time. The first predetermined time can be any time greater than or equal to 0.

[0036] For example, since the control unit 150 guides the first moving object off the path, the prediction unit 160 may assume that there are no first moving objects on the path and predict a shorter travel time for the second moving object to pass through the path. The prediction unit 160 may also predict the travel time of the path based on the number or proportion of first moving objects on the path. For example, the prediction unit 160 may multiply the travel time predicted based on the total number of moving objects on the path by a value obtained by subtracting the proportion of first moving objects from 1. The prediction unit 160 may also subtract a value obtained by multiplying the number of first moving objects by a predetermined time from the travel time predicted based on the total number of moving objects on the path. The prediction unit 160 can improve the prediction accuracy of the travel time of the second moving object.

[0037] Embodiment 2 enables smooth traffic flow for the second mobile object by having the first mobile object, which has the ability to travel around, yield its route to the second mobile object.

[0038] Embodiment 3 Embodiment 3 is a specific example of Embodiment 2. Descriptions that overlap with Embodiment 2 are omitted.

[0039] Figure 5 is a block diagram illustrating the configuration of the traffic control device 100a according to this disclosure. The traffic control device 100a is a specific example of the traffic control device 100 described above. Comparing Figure 3 and Figure 5, the traffic control device 100a further includes a calculation unit 170. The control unit 150 is replaced by a control unit 150a. Program 121 is replaced by program 121a. A processor (not shown) of the traffic control device 100a may execute program 121a, thereby realizing the functions of the control unit 150a and the calculation unit 170.

[0040] The calculation unit 170 calculates the range within which the first moving object can reach the destination by the target arrival time, based on the above-mentioned conditions regarding the destination and target arrival time. The conditions regarding the destination and target arrival time may be entered by the user. The calculation unit 170 can use any known technique to calculate the time required for the moving object to arrive at the destination from each point, and can calculate the above range based on that time.

[0041] The calculation unit 170 further classifies the first moving object into a third moving object or a fourth moving object. The third moving object is located within the range calculated by the calculation unit 170. The fourth moving object is located outside the range calculated by the calculation unit 170.

[0042] The control unit 150 prioritizes the second moving object over the first moving object under the constraint that the first moving object is located within the range calculated by the calculation unit 170. Specifically, when controlling the controlled objects included in the first moving object in such a way that the second moving object is prioritized, the control unit 150a sets the third moving object as a controlled object and does not set the fourth moving object as a controlled object. Alternatively, the control unit 150a sets both the third and fourth moving objects as controlled objects and moves the fourth moving object toward the range calculated by the calculation unit 170. In other words, the control unit 150a restricts the direction of movement of the fourth moving object toward the range calculated by the calculation unit 170.

[0043] FIG. 6 is a diagram for explaining an example of the traffic control method according to the present disclosure. For example, the control unit 150a does not set a fourth moving object located outside the range 31 as a control target, and sets the third moving object 23 located inside the range 31 as a control target. The range 31 is a range in which the third moving object 23 can arrive at the meeting place 32 at the target arrival time. The meeting place 32 corresponds to the destination. The control unit 150a prohibits the third moving object 23 from moving outside the range 31, and allows the third moving object 23 to move within the range 31. The broken hollow arrows indicate prohibited movement directions. The solid hollow arrows indicate allowed movement directions.

[0044] Embodiment 3 can prevent the arrival of the first moving object from being delayed while giving priority to the second moving object.

[0045] FIG. 7 is a block diagram showing an example of the hardware configuration of the traffic control device 10 and the like, that is, the traffic control devices 10, 100, and 100a. Referring to FIG. 7, the traffic control device 100 and the like include a network interface 1001, a processor 1002, and a memory 1003. The network interface 1001 is used for communicating with other network node devices constituting the communication system. The network interface 1001 may be used for performing wireless communication. For example, the network interface 1001 may be used for performing wireless LAN communication defined in the IEEE 802.11 series, or mobile communication defined in 3GPP (registered trademark) (3rd Generation Partnership Project). Alternatively, the network interface 1001 may include, for example, a network interface card (NIC) compliant with the IEEE 802.3 series.

[0046] The processor 1002 reads software (a computer program) from the memory 1003 and executes the software to perform the processes of steps S11 to S12 in FIG. 2. The processor 1002 may be, for example, a microprocessor, an MPU, or a CPU. The processor 1002 may include a plurality of processors.

[0047] The memory 1003 is constituted by a combination of a volatile memory and a non-volatile memory. The memory 1003 may include a storage disposed remotely from the processor 1002. In this case, the processor 1002 may access the memory 1003 via an I / O (Input / Output) interface not shown in the figures.

[0048] In the example of FIG. 7, the memory 1003 is used to store a group of software modules. The processor 1002 reads out these groups of software modules from the memory 1003 and executes them, thereby performing the processes of steps S11 to S12.

[0049] As described with reference to FIG. 7, each of the processors included in the traffic control apparatus 100 and the like in the above-described embodiments executes one or a plurality of programs including a set of instructions for causing a computer to perform the algorithm described with reference to the drawings.

[0050] In the above example, when loaded into a computer, the program includes a set of instructions (or software code) for causing the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disc storage or other magnetic storage devices. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0051] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure can be made as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0052] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments, rather than being associated with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps described in any of the drawings may be changed as appropriate.

[0053] Some or all of the embodiments described above may also be described as follows, but are not limited to the following: Some or all of the elements (e.g., configurations and functions) described in Appendices 2 to 7 that are dependent on Appendice 1 may also be dependent on Appendices 8 and 10 in the same way as in Appendices 2 to 7. Some or all of the elements described in any appendice may be applied to various hardware, software, recording means, systems, and methods for recording software.

[0054] (Note 1) A traffic control device comprising: determination means for determining whether or not a moving object is permissible to travel around; and control means for implementing traffic control to give priority to the passage of a second moving object that is different from the first moving object, compared to a first moving object that has been determined to be permissible to travel around. (Note 2) The traffic control device according to Note 1, wherein the determination means determines that a moving object is permissible to travel around if the difference between the target arrival time, which is the time the moving object should arrive at its destination, and the possible arrival time, which is the time the moving object can arrive at its destination, is greater than or equal to a predetermined value. (Note 3) The traffic control device according to Note 2, further comprising identification means for identifying a moving object that is waiting for a user, wherein the determination means determines whether or not a moving object is permissible to travel around, with the target arrival time being the time the user will use the moving object and the destination being the place where the user will use the moving object. (Note 4) The traffic control device according to Note 2 or 3, further comprising calculation means for calculating the range within which the first mobile body can reach the destination at the target arrival time, and the control means performing the traffic control under the constraint that the first mobile body is located within the range. (Note 5) The traffic control device according to Note 2 or 3, wherein the control means performs the traffic control on the first mobile body using at least one of a control target included in the first mobile body or a traffic control means on a road on which the first mobile body travels. (Note 6) The traffic control device according to Note 3, wherein the identification means identifies a mobile body that is in a state of waiting for a user by at least one of mode information obtained from each mobile body indicating whether or not it is in a state of waiting for a user, or detection information obtained using a sensor provided around a predetermined facility indicating that the user has disembarked from the mobile body. (Note 7) A traffic control device according to Note 1 or 2, further comprising a prediction means for predicting the time required for a moving object to pass through a predetermined route, based on the number of one or more moving objects present along the predetermined route, wherein the prediction means distinguishes between the influence of the first moving object included in the one or more moving objects on the time and the influence of the second moving object included in the one or more moving objects on the time, and predicts the time.(Note 8) A traffic control method that determines whether a moving object is permissible to travel around, and implements traffic control to allow the second moving object to pass preferentially with respect to a first moving object that has been determined to be permissible to travel around and a second moving object that is different from the first moving object. (Note 9) The traffic control method according to Note 8, wherein the determination means determines that a moving object is permissible to travel around if the difference between the target arrival time, which is the time the moving object should arrive at its destination, and the possible arrival time, which is the time the moving object can arrive at its destination, is greater than or equal to a predetermined value. (Note 10) A program that causes a computer to execute a process for determining whether a moving object is permissible to travel around and a process for implementing traffic control to allow the second moving object to pass preferentially with respect to a first moving object that has been determined to be permissible to travel around and a second moving object that is different from the first moving object.

[0055] 10, 100, 100a Traffic control device 11, 140 Determination unit 12, 150, 150a Control unit 110 Communication unit 120 Storage unit 130 Identification unit 121, 121a Program 160 Prediction unit 170 Calculation unit 21 First mobile body 22 Second mobile body 23 Third mobile body 1001 Network interface 1002 Processor 1003 Memory

Claims

1. A traffic control device comprising: determination means for determining whether or not a moving object is permissible to travel around; and control means for implementing traffic control to give priority to a second moving object, which is different from the first moving object, compared to a first moving object that has been determined to be permissible to travel around.

2. The traffic control device according to claim 1, wherein the determination means determines that a moving object is a moving object that is permitted to travel around if the difference between the target arrival time, which is the time the moving object should arrive at the destination, and the possible arrival time, which is the time the moving object can arrive at the destination, is greater than or equal to a predetermined value.

3. The traffic control device according to claim 2, further comprising identification means for identifying a mobile body that is waiting for a user, wherein the determination means determines whether or not the mobile body is permissible for travel, with the time at which the user will use the mobile body being the target arrival time and the place where the user will use the mobile body being the destination.

4. The traffic control device according to claim 2 or 3, further comprising calculation means for calculating a range within which the first moving body can reach the destination at the target arrival time, wherein the control means performs the traffic control under the constraint that the first moving body is located within the range.

5. The traffic control device according to claim 2 or 3, wherein the control means performs the traffic control on the first mobile body using at least one of the control object included in the first mobile body or traffic control means on the road on which the first mobile body travels.

6. The traffic control device according to claim 3, wherein the identification means identifies a mobile body that is in a state of waiting for a user, based on at least one of the following: mode information obtained from each mobile body indicating whether or not it is in a state of waiting for a user, or detection information obtained using a sensor installed around a predetermined facility indicating that the user has disembarked from the mobile body.

7. A traffic control device according to claim 1 or 2, further comprising a prediction means for predicting the time required for a moving object to pass through a predetermined route, based on the number of one or more moving objects present along the predetermined route, wherein the prediction means distinguishes between the influence of a first moving object included in the one or more moving objects on the time and the influence of a second moving object included in the one or more moving objects on the time, and predicts the time.

8. A traffic control method that determines whether a moving object is permissible to travel around, and implements traffic control to give priority to the passage of a second moving object that is different from the first moving object, with respect to a first moving object that is determined to be permissible to travel around.

9. The traffic control method according to claim 8, wherein a moving object is determined to be a moving object that is permissible to travel around if the difference between the target arrival time, which is the time the moving object should arrive at the destination, and the possible arrival time, which is the time the moving object can arrive at the destination, is greater than or equal to a predetermined value.

10. A program that causes a computer to perform the following: a process to determine whether or not a moving object is permissible to travel around; and a process to implement traffic control to allow the second moving object, which is different from the first moving object, to pass first, with respect to the first moving object which has been determined to be permissible to travel around.

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