Patent Application
20220289258
The present invention relates to a route control program generation device, a route control program generation method, and a program.
The present application claims priority based on Japanese Patent Application No. 2019-112838 filed Jun. 18, 2019, the contents of which are incorporated herein.
In a railway system or a new transportation system in which a plurality of moving bodies move along track routes to their destinations, the track routes are divided into sections called blocks in order to avoid collision between the moving bodies, and control is performed to permit or inhibit entrance of the moving bodies to each block.
In order for a moving body to enter a block, it is necessary to book its entrance to the block for the moving body. The block booked for the moving body is permitted to allow only the moving body to enter it.
If the booking of the block is cancelled, the block is brought into a state in which entrance of any moving bodies is inhibited. In order for a moving body to enter the block, the booking of which has been cancelled, it is necessary to book entrance again.
In order for a certain moving body to reach a destination, it is necessary to appropriately perform control such as booking of blocks for the moving body, cancellation of booking, and moving between blocks in accordance with positional relationships and block booking conditions of all moving bodies.
In a case in which the control is not appropriately performed, a state in which both a moving body that is a control target and another moving body cannot move (deadlock) may be achieved.
In order to cause a moving body to reach a destination without bringing the moving body into a deadlock state, there is a method of designing a rule of repeating control such as block booking, cancellation of the booking, and moving between blocks and controlling the moving body in accordance with the rule. The rule will be called a route control program.
As related art, Patent Document 1 discloses a method of generating a program for controlling a train route. According to the method, a route control program is generated by specifying geometric patterns of two blocks in a railway constituted by a plurality of blocks, selecting logic to be used to determine whether or not a train can enter the blocks on the basis of the specified geometric patterns, and coupling the plurality of selected logics.
In a case in which a route control program is constructed, a method of comprehensively verifying the actions of each of moving bodies such that they reach a destination without being brought into a deadlock state may be conceived. However, an increase in the numbers of blocks and moving bodies may lead to an exponential increase in calculation cost.
The present invention provides a route control program generation device, a route control program generation method, and a program capable of solving the aforementioned problem.
According to an aspect of the present invention, a route control program generation device includes: an environment model construction unit configured to construct a group of a plurality of environment models with different states by changing the sections where a first moving body and a second moving body are present and the sections booked for each of the first moving body and the second moving body by performing the booking of the sections for the first moving body and the second moving body, cancellation of the booking and moving of the first moving body and the second moving body from the booked sections to other booked sections, wherein the environment model is constituted by a track divided into a plurality of sections, the first moving body that is a control target moving on the track and the second moving body other than the control target, and wherein a state of the environment model is determined by the sections where each of the first moving body and the second moving body is present and the sections booked for each of the first moving body and the second moving body; and a search unit configured to search for an order to reach a state of an environment model that satisfies a request for moving the first moving body to a prescribed section that is a goal without bringing the first moving body into a deadlock state with respect to the second moving body while changing the state of an environment model included in the group to a state of another environment model, and the environment model construction unit constructs the group using the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition.
According to an aspect of the present invention, a route control program generation device includes: an environment model construction unit configured to construct a group of a plurality of environment models with different states by changing the sections where a first moving body and a second moving body are present and the sections booked for each of the first moving body and the second moving body by performing the booking of the sections for the first moving body and the second moving body, cancellation of the booking and moving of the first moving body and the second moving body from the booked sections to other booked sections, wherein the environment model is constituted by a track divided into a plurality of sections, the first moving body that is a control target moving on the track and the second moving body other than the control target, and wherein a state of the environment model is determined by the sections where each of the first moving body and the second moving body is present and the sections booked for each of the first moving body and the second moving body; and a search unit configured to search for an order to reach a state of an environment model that satisfies a request for moving the first moving body to a prescribed section that is a goal without bringing the first moving body into a deadlock state with respect to the second moving body while changing the state of an environment model included in the group to a state of another environment model, and the search unit performs the searching while performing the transition to the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition.
According to an aspect of the present invention, the restriction condition is that the number of the sections to be booked is equal to or less than a prescribed value for at least one of the first moving body and the second moving body.
According to an aspect of the present invention, the restriction condition is that the number of the sections that are able to be booked at the same time for one state transition is equal to or less than a prescribed value for at least one of the first moving body and the second moving body.
According to an aspect of the present invention, the restriction condition is that the sections in a traveling direction are able to be booked while the other sections are not able to be booked for at least one of the first moving body and the second moving body.
According to an aspect of the present invention, the restriction condition is that the sections up to a prescribed value counted from the currently present section in a traveling direction are able to be booked while the other sections are not able to be booked for at least one of the first moving body and the second moving body.
According to an aspect of the present invention, when elapse of a time corresponding to a change in state of the environment model when the first moving body or the second moving body moves to an adjacent one of the sections once is defined as one logical time period, the restriction condition is that an upper limit of the number of times of booking and cancellation of the booking that are executed in the one logical time period is provided for at least one of the first moving body and the second moving body.
According to an aspect of the present invention, in a case in which the search unit is not able to search for the order to reach the state of the environment model that satisfies the request, the group of environment models is constructed by increasing the upper limit of the number of times of the execution, and the order to reach the state of the environment model that satisfies the request is searched for.
According to an aspect of the present invention, when elapse of a time corresponding to a change in state of the environment model when the first moving body or the second moving body moves to an adjacent one of the sections once is defined as one logical time period, the restriction condition is that execution of both the booking and the cancellation of the booking for one of the sections is inhibited in the one logical time period for at least one of the first moving body and the second moving body.
According to an aspect of the present invention, when elapse of a time corresponding to a change in state of the environment model when the first moving body or the second moving body moves to an adjacent one of the sections once is defined as one logical time period, the restriction condition is that execution of both the booking and the cancellation of the booking for one of the sections is inhibited in the one logical time period.
According to an aspect of the present invention, the environment model includes a plurality of second moving bodies.
According to an aspect of the present invention, a route control program generation method includes: constructing a group of a plurality of environment models with different states by changing the sections where a first moving body and a second moving body are present and the sections booked for each of the first moving body and the second moving body by performing the booking of the sections for the first moving body and the second moving body, cancellation of the booking and moving of the first moving body and the second moving body from the booked sections to other booked sections, wherein the environment model is constituted by a track divided into a plurality of sections, the first moving body that is a control target moving on the track and the second moving body other than the control target, and wherein a state of the environment model is determined by the sections where each of the first moving body and the second moving body is present and the sections booked for each of the first moving body and the second moving body; and searching for an order to reach a state of an environment model that satisfies a request for moving the first moving body to a prescribed section that is a goal without bringing the first moving body into a deadlock state with respect to the second moving body while changing the state of an environment model included in the group to a state of another environment model, and in the constructing of the group, the group is constructed using the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition.
According to an aspect of the present invention, a route control program generation method includes: constructing a group of a plurality of environment models with different states by changing the sections where a first moving body and a second moving body are present and the sections booked for each of the first moving body and the second moving body by performing the booking of the sections for the first moving body and the second moving body, cancellation of the booking and moving of the first moving body and the second moving body from the booked sections to other booked sections, wherein the environment model is constituted by a track divided into a plurality of sections, the first moving body that is a control target moving on the track and the second moving body other than the control target, and wherein a state of the environment model is determined by the sections where each of the first moving body and the second moving body is present and the sections booked for each of the first moving body and the second moving body; and searching for an order to reach a state of an environment model that satisfies a request for moving the first moving body to a prescribed section that is a goal without bringing the first moving body into a deadlock state with respect to the second moving body while changing the state of an environment model included in the group to a state of another environment model, and in the searching of the order, the searching is performed with transition to the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition.
According to an aspect of the present invention, a program causes a computer to execute: constructing a group of a plurality of environment models with different states by changing the sections where a first moving body and a second moving body are present and the sections booked for each of the first moving body and the second moving body by performing the booking of the sections for the first moving body and the second moving body, cancellation of the booking and moving of the first moving body and the second moving body from the booked sections to other booked sections, wherein the environment model is constituted by a track divided into a plurality of sections, the first moving body that is a control target moving on the track and the second moving body other than the control target, and wherein a state of the environment model is determined by the sections where each of the first moving body and the second moving body is present and the sections booked for each of the first moving body and the second moving body; and searching for an order to reach a state of an environment model that satisfies a request for moving the first moving body to a prescribed section that is a goal without bringing the first moving body into a deadlock state with respect to the second moving body while changing the state of an environment model included in the group to a state of another environment model, and in the constructing of the group, the group is constructed using the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition.
According to an aspect of the present invention, a program causes a computer to execute: constructing a group of a plurality of environment models with different states by changing the sections where a first moving body and a second moving body are present and the sections booked for each of the first moving body and the second moving body by performing the booking of the sections for the first moving body and the second moving body, cancellation of the booking and moving of the first moving body and the second moving body from the booked sections to other booked sections, wherein the environment model is constituted by a track divided into a plurality of sections, the first moving body that is a control target moving on the track and the second moving body other than the control target, and wherein a state of the environment model is determined by the sections where each of the first moving body and the second moving body is present and the sections booked for each of the first moving body and the second moving body; and searching for an order to reach a state of an environment model that satisfies a request for moving the first moving body to a prescribed section that is a goal without bringing the first moving body into a deadlock state with respect to the second moving body while changing the state of an environment model included in the group to a state of another environment model, and in the searching of the order, the searching is performed with transition to the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition.
According to the route control program generation device, the route control program generation method, and the program described above, it is possible to reduce the calculation cost for generating a route control program.
Hereinafter, a route control program generation method according to a first embodiment of the present invention will be described with reference to
The environment model construction unit 11 constructs, for each moving body or for each block, a state transition system in which a moving body position or a block booking condition discretely changes depending on actions such as booking of a block, cancellation of booking of a block, and moving between blocks. Also, in the present embodiment, the environment model construction unit 11 leaves only state transition systems indicating states or state transitions that match prescribed restriction conditions and regards remaining state transition systems as environment models, from among the constructed state transition systems. The prescribed restriction conditions are, for example, the following four conditions.
Condition 1) The number of blocks booked for one moving body is equal to or less than a predefined maximum value.
Condition 2) The maximum number of blocks booked at the same time in one state transition is equal to or less than a predefined number.
Condition 3) Only blocks in a traveling direction are booked.
Condition 4) Blocks up to a predefined number counted in the traveling direction from a block that is currently in the track can be booked.
In the present embodiment, any one or more of the aforementioned restriction conditions are selected in advance, and the environment model construction unit 11 constructs environment models only with state transition systems that satisfy the selected conditions.
Here, a state and a state transition system of an environment model will be described with reference to
The environment model is constituted by a track divided into a plurality of blocks, one moving body that is present on the track and is a control target, and zero or more moving bodies that are present on the track and are not control targets. The environment model can take various forms in accordance with the position of each moving body and a booking condition for each block, and each one of the forms is referred to as a state of the environment model.
The solid line arrows indicate entrance directions of the moving body X into the blocks B0 to B5 and the dashed line arrows indicate entrance directions of the moving body Y into the blocks B0 to B5. In regard to the block B5, for example, the moving body X can move from the block B0 to the block B5 or move from the block B4 to the block B5 while the moving body Y can move only from the block B4 to the block B5.
The environment model construction unit 11 generate all patterns, for example, of the state of the environment model defined by a combination of the track B, the positions of the moving bodies X and Y, and the block booking conditions of each of the moving bodies X and Y. Although the blocks B0, B1, and B5 have been booked for the moving body X in the state in
The request setting unit 12 sets a request in regard to moving of the moving bodies X and Y. The request is constituted by a safety condition and a goal condition. The safety condition is an inhibition condition that cannot be reached in any cases, such as a condition that “a risky result such as collision cannot be achieved regardless of movement of other moving bodies” and a condition that “deadlock that does not allow any motion cannot be achieved regardless of any control of a control target train”, for example. The goal condition is a condition that has to be satisfied at some point such as a condition that “a designated station has to be reached without causing deadlock after departure from a garage”, for example. The goal condition may be configured by a combination of a plurality of goal states such as a combination that “a certain intermediate state has to be satisfied, and another final state has to be achieved”. In the present embodiment, it is assumed that another safety system such as signal control, for example, secures a condition that only one moving body can enter a certain block. Therefore, a request for the moving body X that is a control target to reach the destination without being brought into deadlock is set without consideration of collision of the moving body X and the moving body Y.
The search unit 13 searches for action orders of the moving bodies X and Y that satisfy the request (the safety condition and the goal condition) in the environment model (state transition system). For example, the search unit 13 associates actions such as which of the blocks is to be booked, which of the blocks booking is to be cancelled for, which of the blocks the moving body X that is a control target is to be moved to with states of the environment model illustrated as an example in
The input receiving unit 14 receives a user's instruction operation.
The output unit 15 outputs a search result obtained by the search unit 13 to a monitor or the like.
The storage unit 16 stores the shape of the track, the number of blocks, the number of moving bodies, the restriction condition to be applied, and the like.
Here, an example of the search result obtained by the search unit 13 will be described with reference to
Each of
Actions such as booking of blocks, moving, and cancellation of booking are similarly repeated for the moving body Y as well to transition the state. For example, the moving body Y moves from the block B3 to the block B4 between
One state of the environment model determined by the track B divided into a plurality of blocks, the positions of the moving bodies X and Y, and blocks booked for each of the moving bodies X and Yin this manner discretely transitions to a next state in accordance with the shape of the track B, the entrance directions of the moving bodies X and Y to each block, the numbers of moving bodies X and Y and the like, the positional relationship and the destination of each moving body, and the like.
Next, another example of a state transition system will be described with reference to
As described above, the search unit 13 finds an order (solution) of state transitions until the state that satisfies a request is achieved by repeating the processing of associating a certain state of the environment model with actions such as booking and moving and causing the state of the environment model to transition. Here, if the search unit 13 searches for a solution that satisfies the safety condition and the goal condition for an infinite large number of all states of the environment model as targets, excessive calculation cost is needed. Thus, only states or state transitions that match any one or more of restriction conditions described below are regarded as a search range, and then searching is performed to generate the route control program in the present embodiment.
A track C is divided into blocks C0 to C9. The moving body X is present in the block C0, and the moving body Y is present in the block C7. The solid line arrows indicate entrance directions of the moving body X into each block, and the dashed line arrows indicate entrance directions of the moving body Y into each block. The environment model construction unit 11 can generate, as one state of an environment model, a state in which all blocks other than the block C7 where the moving body Y is present are booked, for example, for the moving body X. However, if all the blocks can be booked, the number of search patterns of the search unit 13 increases. Thus, in the present embodiment, upper limits are provided for the number of blocks that can be booked for the moving bodies X and Y.
Here, the blocks with (BOOKING 1) to (BOOKING 6) applied thereto in
The environment model illustrated in
The restriction condition 3 is a condition that only blocks in the traveling direction can be booked for each moving body. According to the restriction condition, it is not possible to book the block C0 for the moving body X in the state of the environment model illustrated in
In the restriction condition 4, an upper limit is provided for a range of blocks that can be booked with reference to the current position of the moving body. In a case in which the upper limit is three, for example, the blocks C1, C2, and C9 are a range in which booking can be made for the moving body X in the state of the environment model illustrated in
In regard to the restriction condition 4, the maximum number of the range of the blocks can be determined depending on the route of the moving body and the shape of the track. If the maximum number of the range of blocks is larger, it is easier to avoid deadlock while an increase in the search range of the search unit 13 leads to an increase in calculation cost.
First, the environment model construction unit 11 constructs a state transition system for each moving body and for each block (Step S11). The environment model construction unit 11 comprehensively generates a state in which the positions of the moving bodies X and Y and the block booking conditions discretely change depending on booking of each block, moving, and cancellation of booking for each of the moving bodies X and Y. The multiple generated states form a state transition system.
Next, the environment model construction unit 11 constructs an environment model (Step S12). Specifically, which of the restriction conditions 1 to 4 is to be applied is set in advance, and the environment model construction unit 11 leaves only states of the environment model that satisfies the restriction condition to be applied. A group of the remaining states of the environment model is regarded as an environment model. If the upper limit value of the number of bookings for the restriction condition 1 is six, for example, the environment model construction unit 11 excludes states in which seven or more blocks have been booked for any of the moving bodies X and Y among the states generated in Step S11. For example, the environment model construction unit 11 may delete the states of the environment model that do not satisfy the restriction condition 1 or may add information indicating that the states of the environment model are targets of exclusion. The same applies to the restriction condition 3 and the restriction condition 4. In regard to the restriction condition 2 regarding a state transition, the environment model construction unit 11 may add information indicating that the transition to a state 2 is to be excluded to a state 1 if the state transition from the state 1 to the state 2 does not satisfy the restriction condition 2, for example.
Next, the request setting unit 12 sets a request regarding moving of the moving bodies X and Y (Step S13). In the example in
Next, the user inputs an instruction for generating a route control program to the generation device 10. The input receiving unit 14 receives the input of the instruction operation and provides an instruction for generating the program to the search unit 13. The search unit 13 searches for an action order that satisfies the request for the moving body X and the moving body Y (Step S14). As described above using
Next, the user inputs whether or not to search for another action order to the generation device 10. The input receiving unit 14 receives the input of the instruction operation. In a case in which an input indicating that another action order is to be searched for is input (Step S17: Yes), the input receiving unit 14 provides an instruction for searching again to the search unit 13. The search unit 13 searches for another action order that satisfies the request for the moving body X and the moving body Y (Step S14).
In a case in which an input indicating that another action order is not to be searched for is provided (Step S17: No), the generation device 10 ends the processing of generating the route control program.
In a case in which the action order that satisfies the request is not found after searching for all patterns (Step S15: No), the search unit 13 determines that there is no solution. For example, the output unit 15 displays “no solution” on the monitor.
According to the present embodiment, it is assumed that states of the environment model are comprehensively generated, and among them, only states that match a prescribed restriction condition are regarded as targets of searching. In this manner, it is possible to generate the route control program that satisfies the request at less calculation cost than that in a case in which no restriction conditions are provided. This is advantageous to reduce calculation cost in a case in which the number of blocks and the number of moving bodies are large, in particular.
Next, processing of generating a route control program according to a second embodiment will be described with reference to
The route control program generation device 10a includes an environment model construction unit 11a, a request setting unit 12, a search unit 13a, an input receiving unit 14, an output unit 15, and a storage unit 16.
Functions of the request setting unit 12, the input receiving unit 14, the output unit 15, and the storage unit 16 are similar to those in the first embodiment.
An environment model construction unit 11a constructs a state transition system constituted by a combination of all patterns of a track, positions of a moving body that is a control target and a moving body other than the control target, and booking conditions of each block. In the second embodiment, the state transition system is defined as an environment model.
The search unit 13a searches for an action order of the moving body that satisfies the safety condition and the goal condition in the state transition system. In the second embodiment, the search unit 13a applies the condition selected in advance from among the restriction conditions 1 to 4 and limits the search range at the time of searching for the action order.
It is assumed that which of the restriction conditions 1 to 4 is to be applied is set in advance. Alternatively, it may be set along with the request in Step S13.
First, the environment model construction unit 11a constructs a state transition system in which the position of each moving body and the booking condition of each block have comprehensively changed (Step S11). Next, the request setting unit 12 sets a request regarding moving of the moving body X (Step S13).
Next, the search unit 13a searches for an action order that satisfies the request for the moving body that is the control target and other moving bodies in response to a user's instruction or the like (Step S14a). Unlike the first embodiment, the search unit 13a performs searching with the state caused transition to match the set restriction conditions 1 to 4. In a case in which the restriction condition 1 has been set, for example, the search unit 13a selects a state of a transition destination from among the states of the environment model that match the restriction condition 1 when the state in
In a case in which another action order is to be searched for (Step S17: Yes), the search unit 13a searches for another action order that satisfies the request (Step S14a). In a case in which another action order is not to be searched for (Step S17: No), the generation device 10a ends the process of generating the route control program.
In a case in which the action order that satisfies the request is not found even after all the patterns are searched for (Step S15: No), the search unit 13a determines that there is no solution.
According to the present embodiment, it is possible to generate a route control program secured to satisfy a request at less calculation cost similarly to the first embodiment.
Although the aforementioned embodiment has been described as an exemplary case in which the number of second moving bodies (moving bodies Y) other than the control target is one with respect to the first moving body (moving body X) that is the control target, the same applies to a case in which a plurality of second moving bodies are present on the track. In a case in which two moving bodies, namely a moving body Y and a moving body Z other than a control target are present on a track in addition to a moving body X that is the control target, for example, the generation device 10 searches for an action order by causing the state to transition under the restriction conditions 1 to 4 for the three moving bodies X, Y, and Z (first embodiment). The generation device 10a constructs the state transition system under the restriction conditions 1 to 4 (second embodiment). Also, although the restriction conditions 1 to 4 are applied to each of the first moving body (moving body X) and the second moving body (moving body Y) in the aforementioned embodiment, it is only necessary to apply the restriction condition 1 and the like to at least one of the first moving body and the second moving body, and in a case in which the three moving bodies X, Y, and Z (the moving body X is the first moving body, and the moving bodies Y and Z are the second moving bodies) are present on the track, for example, the searching of the action order and the construction of the state transition system may be performed by applying the restriction conditions 1 to 4 for at least one of the three moving bodies X, Y, and Z.
The fact that a plurality of second moving bodies may be present and that the restriction conditions may be applied to at least one of the first moving body and the second moving body are similarly applied to the following third embodiment and fourth embodiment.
Next, processing of generating a route control program according to a third embodiment will be described with reference to
In a case in which no restrictions are provided in regard to booking of blocks and cancelation of booking that can be executed in one logical time period, the searching for actions (Step S14 in
Processing and configurations that are similar to those in the first embodiment will be briefly described.
A route control program generation device 10b includes an environment model construction unit 11b, a request setting unit 12, a search unit 13b, an input receiving unit 14, an output unit 15, and a storage unit 16. Functions of the request setting unit 12, the input receiving unit 14, the output unit 15, and the storage unit 16 are similar to those in the first embodiment.
The environment model construction unit 11b constructs a state transition system constituted by a combination of all patterns of a track, positions of a moving body that is a control target and a moving body other than the control target, and booking conditions of each block. Further, the environment model construction unit 11b has a function of constructing an environment model by selecting a state that satisfies a restriction condition α in the constructed state transition system.
The search unit 13b searches for an action order of the moving bodies that satisfy a safety condition and a goal condition for the environment model constructed by the environment model construction unit 11b. Moreover, the search unit 13b has a function of searching for an action order in a limited search range, to which the restriction condition α is applied when the action order is searched for, as a target.
Next, the restriction condition α will be described with reference to
In
Although the upper limit may be set in advance for the total number of times of booking and cancellation of booking, the upper limit may be defined as follows. In other words, although it is necessary for a designer to appropriately set the upper limit of the total number of times depending on how complicated the route is, such as the number of continuous branched blocks, it is difficult for a person to appropriately set a specific number of times under an environment condition under which it is possible to perform control including an enormous number of combination patterns. Thus, in a case in which the upper limit value of the total number of times is one first and there is no solution for the route control program, the upper limit value of the total number of times is incremented by a prescribed value (one, for example) until the solution is obtained. It is possible to obtain a solution (action procedure) that satisfies the safety condition and the goal condition and minimizes unnecessary actions at the minimum upper limit value with which a solution can be obtained by setting an upper limit value in this manner.
First, the environment model construction unit 11 constructs a state transition system in which the position of each moving body and the booking conditions of each block are comprehensively changed (Step S11). The environment model construction unit 11 records the entire constructed state transition system in the storage unit 16. Next, the environment model construction unit 11 constructs an environment model (Step S12). When a time during which a state of an environment model transitions once through one-time movement or waiting is defined as one logical time period in the state transition system constructed in Step S11, the environment model construction unit 11 leaves only the state of the environment model that satisfies a request for actions that can be executed in one logical time period for at least one of the moving bodies X and Y. The request for actions that can be executed in one logical time period is booking of blocks within the upper limit value, cancellation of booking, and one-time movement or waiting. In regard to one-time movement or waiting, it is possible to perform booking or cancellation of booking the number of times that is less than the upper limit value before the movement or the waiting, but booking and cancellation of booking cannot be executed after the one-time movement or waiting. A group of remaining states of the environment model is defined as an environment model. In a case in which the upper limit value of the total number of times of booking and cancellation of booking is one, for example, it is not possible to take an action to reach any node ahead from the nodes P1 and P2 in
Next, the request setting unit 12 sets a request in regard to movement of the moving bodies X and Y (Step S13). Next, the search unit 13b searches for an action order that satisfies the request for the moving body X that is a control target and another moving body Y (Step S14). Next, the search unit 13b determines whether or not an action order that satisfies the request is present (Step S15). In a case in which an action order that satisfies the request is present (Step S15: Yes), the output unit 15 outputs the action order searched for by the search unit 13b to the monitor (Step S16). In a case in which another action order is to be searched for (Step S17: Yes), the search unit 13b searches for another action order that satisfies the request (Step S14). In a case in which another action order is not to be searched for (Step S17: No), the generation device 10b ends the processing of generating the route control program.
In a case in which an action order that satisfies the request is not found even after all the patterns are searched for (Step S15: No), the search unit 13b determines that there is no solution. In the case of no solution, the generation device 10b (for example, the environment model construction unit 11b) adds one to the upper limit value of the total number of times of booking and cancellation of booking. Then, the processing in and after Step S12 is repeated again. For example, the environment model construction unit 11b reads a state transition system saved in the storage unit 16, deletes states of the environment including a state in which the upper limit value of the total number of times of booking and cancellation of booking exceeds the value after the addition, and construct an environment model in Step S12. Then, the generation device 10b executes the processing in and after Step S13.
According to the present embodiment, occurrence of booking of each block and cancellation of booking in one logical time period is counted, and in a case in which the total number reaches a specific number of times (upper limit value), any more occurrence of booking or cancellation of booking is inhibited in the same logical time period. It is thus possible to prevent occurrence of a search pattern in which booking and cancellation of booking are infinitely and unlimitedly repeated for the same block, for example. It is possible to prevent occurrence of an unnecessary search pattern in which all the blocks are booked by the moving body X and the moving body Y cannot move, for example, by providing the upper limit of the total number of times of booking and cancellation of booking. According to the present embodiment, the search space is reduced, and it is thus possible to shorten the calculation time in this manner.
The third embodiment can be combined with the first embodiment. In other words, the environment model construction unit 11b may leave only states that satisfy any or all of the restriction conditions 1 to 4 described in the first embodiment in addition to the restriction condition α and construct an environment model in Step S12 in the flowchart in
The third embodiment can be combined with the second embodiment. Processing in the case of the combination with the second embodiment is illustrated in
First, the environment model construction unit 11b constructs a state transition system in which the position of each moving body and the booking conditions of each block are comprehensively changed (Step S11). Next, the request setting unit 12 sets a request in regard to movement of the moving body X (Step S13).
Next, the search unit 13b searches for an action order that satisfies the request for the moving body that is a control target and other moving bodies (Step S14a). The search unit 13b performs the searching by causing the state to transition to match the restriction condition α or the restriction condition α and any of and the restriction conditions 1 to 4. Next, the search unit 13b determines whether or not an action order that satisfies the request is present (Step S15). In a case in which an action order that satisfies the request is present (Step S15: Yes), the output unit 15 outputs the action order searched for by the search unit 13b to the monitor (Step S16). In a case in which another action order is to be searched for (Step S17: Yes), the search unit 13b searches for another action order that satisfies the request (Step S14a). In a case in which another action order is not to be searched for (Step S17: No), the generation device 10a ends the processing of generating the route control program. In a case in which the action order that satisfies the request is not found even after all the patterns are searched for (Step S15: No), the search unit 13a determines that there is no solution. The search unit 13b determines that there is no solution. In the case of no solution, the environment model construction unit 11b adds one to the upper limit value of the total number of times of booking and cancellation of booking. Then, the generation device 10b repeats the processing in and after Step S14a again. It is thus possible to limit the search space and to shorten the calculation time.
Next, processing of generating a route control program according to a fourth embodiment will be described with reference to
Processing and configurations similar to those in the first embodiment will be briefly described.
The route control program generation device 10c includes an environment model construction unit 11c, a request setting unit 12, a search unit 13c, an input receiving unit 14, an output unit 15, and a storage unit 16. Functions of the request setting unit 12, the input receiving unit 14, the output unit 15, and the storage unit 16 are similar to those in the first embodiment.
The environment model construction unit 11c constructs a state transition system constituted by a combination of all patterns of a track, positions of a moving body that is a control target and a moving body other than the control target, and booking conditions of each block. Moreover, the environment model construction unit 11c has a function of constructing an environment model by selecting a state that satisfies a restriction condition β, which will be described later, in the constructed state transition system.
The search unit 13c searches for an action order of the moving body that satisfies a safety condition and a goal condition for the environment model constructed by the environment model construction unit 11c. Moreover, the search unit 13c has a function of searching for an action order in a limited search range, to which the restriction condition β is applied, as a target at the time of searching for the action order.
Next, the restriction condition will be described with reference to
In the fourth embodiment, the following restriction is added to booking and cancellation of booking that can be executed for at least one of the moving bodies X and Yin one logical time period in
(β1) Occurrence of booking of a certain block is up to once in one logical time period.
(β2) The number of occurrences of cancelation of booking of a certain block is one or less in one logical time period.
(β3) In a case in which booking or cancellation of booking of a certain block occurs, the other action does not occur in the same logical time period.
In the fourth embodiment, the actions that can be selected for one moving body in one logical time period is one-time movement or waiting, one-time booking of a block for each block (β1), or one-time cancellation of booking for each block (β2), and it is not possible to select booking of the same block and cancellation of booking right after the booking, or cancellation of booking and booking right after the cancellation of the same block (β3). (Although it is possible to perform any of one-time booking and cancellation of booking of each block before one-time movement or waiting, actions after the one-time movement or waiting cannot be performed.) These β1 to β3 are included in the restriction condition β. For example, the moving body X cannot book the block B5 and cancel the booking of the block B5 right after the booking in one logical time period (β3).
According to the restriction condition β, it is possible to reduce the search space and to shorten the calculation time required for the searching without setting an appropriate upper limit value. Although it is not possible to exclude an action of repeating booking and cancellation of booking of the same block within a range that does not exceed the upper limit value in the third embodiment, it is possible to completely exclude the unnecessary action by the restriction condition β.
A flow of the processing of generating a route control program according to the fourth embodiment is similar to that described in
Moreover, it is possible to combine the fourth embodiment with the first embodiment and the third embodiment. In other words, the environment model construction unit 11c may construct the environment model with only a state that satisfies the restriction conditions 1 to 4 described in the first embodiment and a part or an entirety of the restriction condition α described in the third embodiment in addition to the restriction condition β left in Step S12 in the flowchart in
The fourth embodiment can be combined with the second embodiment and the third embodiment. In other words, the search unit 13c can perform the searching by causing the state to transition to satisfy the restriction conditions 1 to 4 described in the first embodiment and a part or an entirety of the restriction condition α described in the third embodiment in addition to the restriction condition β in Step S14a in the flowchart in
Note that in relation to the fourth embodiment, a restriction condition that execution of both booking and cancellation of booking on one block in one logical time period is inhibited may be applied to one or more arbitrary blocks.
A computer 900 is, for example, a personal computer (PC), a server terminal device, or the like including a CPU 901, a main storage device 902, an auxiliary storage device 903, an input/output interface 904, and a communication interface 905. The aforementioned route control program generation devices 10, 10a, 10b, and 10c are mounted in the computer 900. Also, the aforementioned operations of each processing unit are stored in the form of a program in the auxiliary storage device 903. The CPU 901 reads the program from the auxiliary storage device 903, develops the program in the main storage device 902, and executes the aforementioned processing in accordance with the program. The CPU 901 secures a storage region corresponding to the storage unit 16 in the main storage device 902 in accordance with the program. The CPU 901 secures a storage region for securing data during processing in the auxiliary storage device 903 in accordance with the program.
In at least one embodiment, the auxiliary storage device 903 is an example of a non-transitory tangible medium. Other examples of the non-transitory tangible medium include a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like connected via the input/output interface 904. In a case in which the program is distributed to the computer 900 through a communication line, the computer 900 that has received the distribution may develop the program in the main storage device 902 and execute the aforementioned processing. The program may be for realizing some of the aforementioned functions. Moreover, the program may be one for realizing the aforementioned functions in combination with another program that has already been stored in the auxiliary storage device 903, that is, a differential file (differential program).
In addition, it is possible to replace the components in the aforementioned embodiments with known components as needed without departing from the gist of the present invention. The technical scope of the present invention is not limited to the aforementioned embodiments, and various modifications can be added without departing from the gist of the present invention.
The moving body X is an example of the first moving body while the moving body Y is an example of the second moving body. The blocks B0 to B5, the block C0 to C9, and the blocks D0 to D4 are examples of the sections.
According to the route control program generation device, the route control program generation method, and the program described above, it is possible to reduce the calculation cost for generating a route control program.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-112838 | Jun 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/010012 | 3/9/2020 | WO |
