Automatic traveling vehicle system, control method and program
First Claim
1. An automatic traveling vehicle system comprising:
- a plurality of traveling vehicles each having a controller which automatically controls traveling of a respective one of the traveling vehicles based on respective traveling information, the traveling information indicating at least a distance between a current position and a forward vehicle;
a traveling path including a junction provided with a limited section to avoid a collision between traveling vehicles; and
a limited section controller which exercises control to determine whether to permit at least one of the traveling vehicles to pass by monitoring delay conditions of the at least one of the traveling vehicles at least near the junction in the limited section, whereinthe limited section controller comprisesa traffic information update unit configured to update delay information of the at least one of the traveling vehicles near the junction,a determination unit configured to determine whether to permit the at least one of the traveling vehicles to pass based on whether there is another traveling vehicle in the limited section obtained from the updated delay information,a standby position setting unit configured to set a standby position of each of a limited number or less of traveling vehicles present in a standby section before the limited section, when the limited section is not passable,a traveling restart setting unit configured to determine an approach direction into the limited section for which traveling is restarted and causes a traveling vehicle on standby in the standby section in the approach direction to restart to travel, when the limited section is passable, anda reallocation unit configured to partially interchange at least one of a destination, a route and a leaving direction of traveling vehicles on standby such that a time needed to finish passing through the limited section is minimized, using stored information of each of the traveling vehicles including the destination, the route, and the leaving direction of the limited section.
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Accused Products
Abstract
According to one embodiment, a limited section controller includes a traffic information update unit, a determination unit, a standby position setting unit, and a traveling restart setting unit. The traffic information update unit updates delay information of the traveling vehicle near the junction. The determination unit determines whether to permit the traveling vehicle to pass based on whether there is the traveling vehicle in the limited section. The standby position setting unit sets a standby position of each of the traveling vehicles of a limited number or less present in a standby section. The traveling restart setting unit determines an approach direction into the limited section.
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Citations
6 Claims
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1. An automatic traveling vehicle system comprising:
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a plurality of traveling vehicles each having a controller which automatically controls traveling of a respective one of the traveling vehicles based on respective traveling information, the traveling information indicating at least a distance between a current position and a forward vehicle; a traveling path including a junction provided with a limited section to avoid a collision between traveling vehicles; and a limited section controller which exercises control to determine whether to permit at least one of the traveling vehicles to pass by monitoring delay conditions of the at least one of the traveling vehicles at least near the junction in the limited section, wherein the limited section controller comprises a traffic information update unit configured to update delay information of the at least one of the traveling vehicles near the junction, a determination unit configured to determine whether to permit the at least one of the traveling vehicles to pass based on whether there is another traveling vehicle in the limited section obtained from the updated delay information, a standby position setting unit configured to set a standby position of each of a limited number or less of traveling vehicles present in a standby section before the limited section, when the limited section is not passable, a traveling restart setting unit configured to determine an approach direction into the limited section for which traveling is restarted and causes a traveling vehicle on standby in the standby section in the approach direction to restart to travel, when the limited section is passable, and a reallocation unit configured to partially interchange at least one of a destination, a route and a leaving direction of traveling vehicles on standby such that a time needed to finish passing through the limited section is minimized, using stored information of each of the traveling vehicles including the destination, the route, and the leaving direction of the limited section. - View Dependent Claims (2, 3, 4)
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5. A control method of an automatic traveling vehicle system comprising a limited section controller which exercises control to determine whether to permit a traveling vehicle to pass by monitoring delay conditions of a plurality of traveling vehicles at least near a junction in a limited section to avoid a collision between traveling vehicles, the method comprising using the limited section controller to:
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update delay information of at least one of the traveling vehicles near the junction, determine whether to permit the at least one of the traveling vehicles to pass based on whether there is another traveling vehicle in the limited section obtained from the updated delay information, set a standby position of each of a limited number or less of traveling vehicles of the traveling vehicles present in a standby section before the limited section, when the limited section is not passable, determine an approach direction into the limited section for which traveling is restarted and instruct at least one of the traveling vehicles on standby in the standby section in the approach direction to restart to travel, when the limited section is passable, and partially interchange at least one of a destination, a route, and a leaving direction of traveling vehicles on standby such that a time needed to finish passing through the limited section is minimized, using stored information on the traveling vehicles including the destination, the route, and the leaving direction of the limited section.
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6. A non-transitory computer readable medium having stored thereon a computer program which is executed by a limited section controller, wherein the limited section controller exercises control to determine whether to permit a traveling vehicle to pass by monitoring delay conditions of a plurality of traveling vehicles, at least one of which is near a junction in a limited section, to avoid a collision between traveling vehicles, the computer program controlling the limited section controller to execute functions of:
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updating delay information of a traveling vehicle near a junction, determining whether to permit at least one of the traveling vehicles to pass based on whether there is another traveling vehicle in the limited section obtained from the updated delay information, setting a standby position of each of a limited number or less of traveling vehicles of the traveling vehicles present in a standby section before the limited section, when the limited section is not passable, determining an approach direction into the limited section for which traveling is restarted and instructing a traveling vehicle on standby in the standby section in the approach direction to restart to travel, when the limited section is passable, and partially interchanging at least one of a destination, a route, and a leaving direction of traveling vehicles on standby such that a time needed to finish passing through the limited section is minimized, using stored information of the traveling vehicles including the route, and the leaving direction of the limited section.
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Specification