AU2023282238B2 - Management system and traveling state control system - Google Patents

Abstract

43237134_1 MANAGEMENT SYSTEM AND TRAVELING STATE CONTROL SYSTEM A management system configured to manage a plurality of movable bodies, including a work plan generating device configured to generate a work plan for the plurality of movable bodies based on (i) a relative positional relationship between a first movable body and a second movable body in the plurality of movable bodies and (ii) at least one of: an event estimated to occur due to traveling of the first movable body that is located at a higher position than the second movable body; and an influence of the event that the second movable body is estimated to receive when the event is assumed to occur. MANAGEMENT SYSTEM AND TRAVELING STATE CONTROL SYSTEM

Description

2/9 2/9 13 Dec 2023 2023282238 13 Dec 2023

FIG.2 20

MOVABLE BODYECU MOVABLE BODY ECU 14 14 10 10

MOVABLE BODY MOVABLE BODY GPS RECEIVER GPS RECEIVER COMMUNICATION IDENTIFICATION IDENTIFICATION

DEVICE INFORMATION 22 STORAGE PORTION DRIVE DEVICE D 2023282238

12 MOVABLE BODY INFORMATION 24 24 GENERATING PORTION BRAKE DEVICE B SURROUNDINGS INFORMATION SURROUNDINGS INFORMATION OBTAINING DEVICE (CAMERAS, LiDAR DEVICES, etc., ) TRAVELING CONTROL 26 26 STEERING DEVICE STEERING DEVICE TT V V PORTION

A A

40 40 42 42 CENTRAL ECU CENTRAL ECU CONTROL COMMUNICATION CONTROL COMMUNICATION DEVICE 50 50

WORKPLAN WORK PLANGENERATING GENERATING PORTION PORTION

SS 54 54

OCCURRENCE OCCURRENCE LEVEL OBTAINING PORTION

56 56 58 58

INFLUENCE INFLUENCE MAP INFORMATION MAP INFORMATION LEVEL OBTAINING STORAGE PORTION PORTION

52 52 CENTRAL CONTROL CENTRAL CONTROL

INFORMATION GENERATING PORTION SPECIFICATION MANAGEMENT SYSTEM AND TRAVELING STATE CONTROL SYSTEM BACKGROUND ART

Technical Field 2023282238

[0001] The following disclosure relates to a management system that manages a plurality of movable bodies and a traveling state control system that controls a traveling state of at least one of the plurality of movable bodies.

Description of Related Art

[0002] Japanese Patent Application Publication No. 2005-345152 describes a route guiding device. When information on a location where passage of a movable body is obstructed due to fall of rocks or the like is received, the rote guiding device sets a travel route that avoids the location.

SUMMARY

[0002a] It is an object of the present invention to substantially overcome, or at least ameliorate, at least one disadvantage of present arrangements.

[0003] An aspect of the present disclosure relates to an improvement in safety of a plurality of movable bodies.

[0004] According to an aspect of the present disclosure a work plan for a plurality of movable bodies is generated or a traveling state of at least one of a first movable body and a second movable body in the plurality of movable bodies is controlled based on (i) a relative positional relationship between the first movable body and the second movable body and (ii) at least one of: an event estimated to occur due to traveling (moving) of the first movable body that is located at a higher position than the second movable body; and an influence of the event that the second movable body is estimated to receive when the event is assumed to occur. This improves safety of the plurality of movable bodies.

[0004a] According to one aspect of the present disclosure, there is provided a traveling control device provided for each of a plurality of movable bodies to control each of the plurality of movable bodies, wherein each of the plurality of movable bodies includes: a movable body communication device that allows communication among the plurality of movable bodies and communication between the plurality of movable bodies and an external information transmission device; a drive device; a brake device; and a steering device, 2023282238

wherein the movable body communication device of each of the plurality of movable bodies transmits front-position information and an occurrence level of an event, wherein the front- position information is information indicative of a position of a first section located ahead of a first movable body included in the plurality of movable bodies, wherein the occurrence level of the event is an occurrence level of an event estimated to occur when it is assumed that the first movable body travels the first section, based on a road surface condition of the first section, wherein the road surface condition of the first section located ahead of the first movable body is obtained via the movable body communication device, and wherein the traveling control device controls at least one of the drive device, the brake device, and the steering device of the second movable body such that the second movable body avoids an influence of the event or the second movable body is less influenced by the event when it is determined that the second movable body is approaching a second section where the second movable body is estimated to receive the influence of the event if the event is assumed to occur, wherein the traveling control device controls the at least one of the drive device, the brake device, and the steering device of the second movable body based on a position of the second movable body and a position of the first section indicated by the front-position information transmitted from the first movable body and received by the movable body communication device.

[0004b] According to another aspect of the present disclosure, there is provided a traveling state control system configured to control a traveling state of at least one of a plurality of movable bodies, the traveling state control system including: a traveling state control device that receives control information and is configured to control a traveling state of at least one of a first movable body and a second movable body in the plurality of movable bodies based on (i) a relative positional relationship between the first movable body and the second movable body and (ii) at least one of a future event estimated to occur due to traveling of the first movable body in a first section of a travel path that is located at a higher position

than the second movable body and an influence of the event that the second movable body is estimated to receive in a second section of the travel path when the future event is estimated to occur, wherein the second section of the travel path is determined based on a position of the first section and map information, wherein the future event is estimated to occur based on a road surface condition of the first section of the travel path and movable body information associated with the first movable body, wherein the road surface condition of the 2023282238

first section of the travel path is determined based on data received from at least one road surface sensor; wherein the traveling state control device controls the traveling state of at least one of the first movable body and the second movable body based on altitude difference data between the first section and the second section before the future event is estimated to occur such that the second movable body is located outside a range where the second movable body is estimated to receive the influence of the future even .

[0004c] According to another aspect of the present disclosure, there is provided a traveling state control system configured to control a traveling state of at least one of a plurality of movable bodies including a first movable body and a second movable body, the traveling state control system including: a traveling state control device that receives control information and is configured to control the traveling state of at least one of the first movable body and the second movable body based on at least one of a future event estimated to occur due to traveling of the first movable body in a first section of a travel path that is located at a higher position than the second movable body and an influence of the future event that the second movable body is estimated to receive in a second section of the travel path when the event is estimated to occur, so as to control a relative positional relationship between the first movable body and the second movable body, wherein the second section of the travel path is determined based on a position of the first section and map information, wherein the future event is estimated to occur based on a road surface condition of the first section of the travel path and movable body information associated with the first movable body, wherein the road surface condition of the first section of the travel path is determined based on data received from at least one road surface sensor; wherein the traveling state control device controls the traveling state of at least one of the first movable body and the second movable body based on altitude difference data between the first section and the second section such that the second movable body is located outside a range where the second movable body is estimated to receive the influence of the future event. 2a

[0004d] According to a further aspect of the present disclosure, there is provided a travelling state control system for controlling a travelling state of at least one of a first movable body and a second movable body, the system including a processor configured to:

determine influence that the second movable body is estimated to receive in a second section of a travel path from a future event caused by the first movable body travelling in a first section of a travel path located at a higher position than the second movable body, 2023282238

wherein the second section of the travel path is determined based on a position of the first section and map information, the influence being determined based on the future event, a current position of the first movable body, a position of the first section of the travel path and a position of the second moveable body, wherein the future event is estimated based on a road surface condition of the first section of the travel path and movable body information associated with the first movable body, wherein the road surface condition of the first section of the travel path is determined based on data received from at least one road surface sensor;

generate a control command based on the determined influence and altitude difference data between the first section and the second section; and

control the traveling state of at least one of the first movable body and the second movable body based on the generated control command before the future event is estimated to occur such that the second movable body is located outside a range where the second movable body is estimated to receive the influence of the future event.

BRIEF DESCRIPTION OF THE DRAWINGS

[0005] The objects, features, advantages, and technical and industrial significance of the present disclosure will be better understood by reading the following detailed description of embodiments, when considered in connection with the accompanying drawings, in which:

Fig. 1 is a view conceptually illustrating a whole management system according to a first embodiment of the present disclosure, the management system being also a traveling state control system according to the first embodiment;

2b

Fig. 2 is a view conceptually illustrating a central control device, which is a constituent element of the management system, and a movable body;

Fig. 3 is a flowchart conceptually illustrating a part of a work plan generating program executed by a central ECU of the central control device;

Fig. 4 is a flowchart illustrating a central control information generating 2023282238

program executed by the central ECU;

Fig. 5 is a flowchart illustrating a remote traveling control program executed by a movable body ECU of the movable body;

Fig. 6A is a view conceptually illustrating part of a travel region where the movable body travels;

Fig. 6B is a view conceptually illustrating part of the travel region where the movable body travels;

Fig. 7 is a view conceptually illustrating part of a work plan generated by a work plan generating portion of the central ECU;

2c

Fig. 8 is a view conceptually illustrating an occurrence level obtained by Fig. 8 is a view conceptually illustrating an occurrence level obtained by

an occurrence an occurrence level level obtaining obtaining portion portion of theofwork theplan work plan generating generating portion; portion;

Fig. 99 isis aa view Fig. viewconceptually conceptually illustrating illustrating a traveling a traveling state state control control system system

according to according to aa second embodiment second embodiment of of thethe presentdisclosure; present disclosure;and and Fig. 10 Fig. 10isis aa view viewconceptually conceptually illustrating illustrating a plurality a plurality of movable of movable bodies bodies in in the traveling the travelingstate statecontrol controlsystem. system. 2023282238

DETAILEDDESCRIPTION DETAILED DESCRIPTIONOF OFTHE THEEMBODIMENTS EMBODIMENTS

[0006]

[0006] Referring to Referring to the the drawings, there will drawings, there will be described below be described belowa amanagement management systemaccording system accordingtotoananembodiment embodiment of the of the present present disclosure. disclosure. The The management management system system is is also a traveling state control system according to an embodiment of the present disclosure. also a traveling state control system according to an embodiment of the present disclosure.

[0007]

[0007]

First Embodiment First Embodiment As illustrated As illustrated ininFig. Fig.1,1, thethemanagement systemaccording management system accordingtotothe thepresent present embodiment embodiment includes includes a centralcontrol a central controldevice device S and S and oneone or more or more antennas antennas A. TheA.central The central control device control device S S is is aacontrol controldevice devicecommunicable communicable withwitha aplurality plurality ofof movable bodiesVVthat movable bodies that worksinin mountainous works mountainous regions regions such such as as mines, mines, forfor instance.TheThe instance. pluralityofofmovable plurality movable bodies bodies

V andthe V and thecentral centralcontrol controldevice device S perform S perform wireless wireless communication communication directly directly or via or thevia the

antenna A. antenna A.

[0008]

[0008] Theplurality The plurality of of movable bodiesVVincludes movable bodies includesoneoneorormore more heavy heavy machines machines

(heavy equipment) (heavy equipment)HVHV andand one one or more or more lightlight vehicles vehicles LV. LV. In theIn present the present embodiment, embodiment, the the heavymachine heavy machineHVHV and and the the light light vehicle vehicle LV LV willwill be collectively be collectively or or individually individually referred referred to to

as the as the movable bodyV Vwhere movable body where appropriate. appropriate.

[0009]

[0009] Forinstance, For instance,a atravel travelpath path R as R as a travel a travel region region is spirally is spirally formed formed by open- by open-

pit mining pit mining inin mines. mines. The The travel travel path path R includes R includes a plurality a plurality of partial of partial travelR1,paths travel paths R1, R2, R3 R2, R3

• • • etc., etc., located at different located at different height heightpositions. positions.In In other other words, words, the partial the partial travel travel pathspaths R1, R2, R1, R2,

R3 • • • constitute R3 constitute oneone continuous travel path continuous travel path R. Theplurality R. The plurality of movablebodies of movable bodiesV V travels travels

or moves or moves thethetravel travel path path R upwardand R upward anddownward. downward.

[0010]

[0010] Eachheavy Each heavymachine machine HV HV is a is a machine machine used inused in heavy heavy industries. industries. In the In the

present embodiment, present embodiment,thetheheavy heavy machine machine HV isHV is a movable a movable bodyworks body that that in works mines.in The mines. The heavymachine heavy machineHVHV is is operated operated oror moved moved based based on on a command a command from from the central the central control control device device

S. The S. Theheavy heavymachine machineHV HV is automated is an an automated traveling traveling movable movable body.body.

Eachlight Each light vehicle vehicle LV LVisisa amovable movable body body withwith a lesser a lesser weight weight thanthan the the heavymachine heavy machineHV.HV. TheThe light light vehicle vehicle LVLV usually usually travelswith travels withworkers workerson on board board or or with with loads loads

necessary for necessary for the the work loadedthereon. work loaded thereon.TheThe lightvehicle light vehicleLVLVin in thethe present present embodiment embodiment is is an automated an drivingmovable automated driving movablebody body (automated (automated traveling traveling movable movable body) body) capable capable of traveling of traveling

3 3 43237134_1 43237134_1

without aa driver’s without driver's driving drivingoperation. operation. The The light lightvehicle vehicleLV LV may be aa manual may be drivingmovable manual driving movable body capable of traveling by a driver’s driving operation. body capable of traveling by a driver's driving operation.

[0011]

[0011] As illustrated As illustrated in in Fig. Fig. 2,2, each each movable bodyV V movable body includes, includes, forfor instance,a a instance,

drive device drive device DDforfor driving driving thethe movable movablebody bodyV, V, a brake a brake device device B for B for braking braking the the movable movable

bodyV,V,aasteering body steering device deviceTTfor for steering steering steerable steerable wheels wheels ofof the the movable movablebody bodyV, V, a global a global

positioning system positioning system(GPS) (GPS) receiver receiver 10,10, a surroundings a surroundings information information obtaining obtaining devicedevice 12, a12, a

movablebody movable body communication communication device device 14, aand 14, and a movable movable body body ECU 20.ECU 20. 2023282238

[0012]

[0012] Thedrive The drive device deviceDDmay may include include an an electricmotor electric motor functioning functioning as as a drive a drive

source and source and connected connectedtotoaa plurality plurality of of drive drivewheels wheels among among aa plurality plurality ofof wheels wheels 28. Further, 28. Further,

a drive a drive circuit circuit (such (suchasasananinverter) inverter) is is provided provided sotoascorrespond SO as to correspond to the to the electric electric motor. By motor. By

controlling the controlling the drive drive circuit, circuit, the the drive force applied drive force applied totothe theplurality plurality ofofdrive drivewheels wheelsis is controlled, and the drive force applied to the movable body V is automatically controlled. controlled, and the drive force applied to the movable body V is automatically controlled.

[0013]

[0013] Thedrive The drivedevice device D may D may include include an engine an engine in addition in addition to or in to or in place of place the of the electric motor. electric motor.

[0014]

[0014] Thebrake The brakedevice deviceB Bmaymay be be configured configured to to include: include: a plurality a plurality ofof friction friction

brakes each brakes eachprovided providedforfora corresponding a corresponding one one of plurality of the the plurality of wheels of wheels 28 to28 to decrease decrease

rotation of rotation of the the wheel wheel 2828bybypressing pressingfriction friction engagement engagement members members againstagainst a brakea brake rotaryrotary

bodythat body thatisisrotatable rotatableintegrally integrally with with the the wheel wheel 28;a pressing 28; and and a pressing forceactuator force control controlfor actuator for controllinga apressing controlling pressing force force of each of each friction friction brake.brake. By controlling By controlling the pressing the pressing force control force control

actuator, the actuator, the pressing pressing force force of of the the friction frictionbrakes brakesprovided provided for for the the respective respective wheels wheels 2828 is is controlled, so controlled, SO that thatthe thebraking braking force forceapplied applied totoeach each wheel wheel 28 is controlled 28 is controlled and and thethe braking braking

force applied force applied to to the the movable movablebody body Vautomatically V is is automatically controlled. controlled. Force Force of regenerative of regenerative

braking may braking maybebeapplied appliedtotothe the wheels wheels2828bybybraking brakingofofthe theelectric electric motor of the motor of the drive drive device device

D. D.

[0015]

[0015] Thesteering The steering device device TTsteers steers the the steerable steerable wheels among wheels among thetheplurality pluralityofof wheels28.28.TheThe wheels steering steering device device T includes, T includes, for instance, for instance, a pair aofpair tie of tieconnecting rods rods connecting the rightthe right

andleft and left steerable steerablewheels, wheels, a steering a steering rodrod connecting connecting the of the pair pair tieofrods, tie rods, and aand a steering steering actuator actuator

providedforforthethesteering provided steering rod. rod. The The steering steering rod isrod is moved moved by the steering by the steering actuator actuator in in the width the width

directionofofthe direction thevehicle, vehicle,SOso that that thethe right right andand leftleft steerable steerable wheels wheels are steered are steered automatically. automatically.

[0016]

[0016] TheGPS The GPSreceiver receiver1010receives receivessignals signals from fromthethe GPS GPS(e.g., (e.g., the the GPS signals) GPS signals)

TheGPS The GPSisisone oneexample exampleof of a globalnavigation a global navigation satellite system satellite system(GNSS). (GNSS). Based Based on theon the GPS GPS

signals, the signals, the position positionof ofan anown own movable bodyV V movable body thatisisthe that themovable movable body body itselfisisobtained. itself obtained. BasedononthetheGPSGPS Based signals, signals, the the three-dimensional three-dimensional position position ofown of the themovable own movable body V body V represented by represented bythe the latitude, latitude, the the longitude, longitude, and and the the altitude altitude of of the theown movablebody own movable body V or V or

two-dimensionalposition two-dimensional positionofofthe theown own movable movable body body V represented V represented by theby the latitude latitude and the and the

longitude may longitude maybebeobtained. obtained.

4 4 43237134_1 43237134_1

Thesurroundings The surroundingsinformation informationobtaining obtainingdevice device 1212 includes includes a pluralityofof a plurality

camerasand cameras anda plurality a pluralityofoflaser laserimaging imaging detection detection and and ranging ranging (LiDAR) (LiDAR) devices. devices. The The surroundings information surroundings information obtaining obtaining device device 12 12 recognizes recognizes ananobject objectpresent presentininthethe surroundingsofofthe surroundings theown ownmovable movablebodybody that that is the is the movable movable body body V and V and obtains obtains a relative a relative

positional relationship positional relationshipbetween between the the object object andand the the own movablebody. own movable body.

[0017]

[0017] The movable The movablebody body communication communication devicedevice 14 wirelessly 14 wirelessly transmits transmits movablebody movable body information information generated generated by movable by the the movable body body ECU ECUreceives 20 and 20 andcentral receives central 2023282238

controlinformation control information that that is is information information wirelessly wirelessly transmitted transmitted from thefrom thecontrol central centraldevice control device S. S.

[0018]

[0018] Themovable The movable body body ECUECU 20 is20 is constituted constituted mainly mainly by a by a computer. computer. There There

are connected, are connected, to to the the movable movablebody body ECUECU 20,drive 20, the the drive circuit circuit of drive of the the drive device device D, D, the the pressing force pressing force control control actuator actuator of of the the brake device B, brake device B,the the steering steering actuator actuator of of the the steering steering device T, device T, the the GPS GPSreceiver receiver10,10,the thesurroundings surroundings information information obtaining obtaining device device 12, 12, and and the the

movable body movable body communication communication device device 14. 14. TheThe movable movable bodybody ECUECU2020includes includes an an identification information identification information storage storageportion portion22,22,a a movable movable body body information information generating generating portion portion

24, and 24, anda atraveling travelingcontrol control portion portion 26. 26.

[0019]

[0019] Theidentification The identification information informationstorage storageportion portion22 22 stores stores identification identification

information set information set for for the theown own movable movable bodybodyV V thatisisthe that the movable movablebody bodyV. V. Mutually Mutually different different

identification information identification information is isgiven givento tothe theheavy heavymachines machines HV HV andandthe thelight light vehicles vehicles LV. LV.

[0020]

[0020] Themovable The movable body body information information generating generating portion portion 24 generates 24 generates movable movable

bodyinformation body informationincluding includingmovable movable body body positional positional information information obtained obtained based based on on thethe GPSGPS

signals and signals representingthe and representing theposition positionofofthe theown own movable movable body body V and V and the the identification identification

information of information of the the own movablebody own movable body V.V. The The generated generated movable movable body body information information is output is output

to the to the movable bodycommunication movable body communication device device 14. movable 14. The The movable body communication body communication device device 14 14 transmits transmits the the movable bodyinformation. movable body information.

[0021]

[0021] Thetraveling The traveling control control portion portion 2626controls controlstraveling traveling ofof the the own ownmovable movable bodyVVbybycontrolling body controllingthethedrive drive device deviceD, D,the the brake brakedevice deviceB,B,and andthe thesteering steering device deviceT. T. InIn the present the present embodiment, embodiment, thethe travelingcontrol traveling controlportion portion2626 controls controls thethe drive drive device device D, D, the the

brake device brake deviceB, B,the the steering steering device deviceTTbased basedonona acontrol controlcommand command included included in thein central the central control information control received by information received by the the movable bodycommunication movable body communication device device 14 and 14 and transmitted transmitted

fromthe from thecentral centralcontrol control device device S. S.

[0022]

[0022] In aa case In wherea road case where a road surface surface sensor sensor is provided is provided fortire for the theoftireeach of each wheel wheel

28ofofthe 28 themovable movable bodybody V,road V, the the surface road surface condition condition is detected is detected by surface by the road the road surface sensors. sensors.

Theroad The roadsurface surface condition condition may may be, forbe, for instance, instance, a dry condition a dry condition of surface, of the road the roada surface, water a water contentofofthe content theroad roadsurface, surface,andand a friction a friction coefficient coefficient of road of the the road surface. surface. In awhere In a case casethe where the roadsurface road surfacesensor sensorhashas a communication a communication functionfunction or inwhere or in a case a casethewhere tire isthe tire iswith provided provided with a communication a communication devicedevicethatthat can can transmit transmit a detection a detection resultofofthe result theroad roadsurface surfacesensor, sensor,the the

55 43237134_1 43237134_1

detection result of the road surface sensor can be supplied to the vehicle body side by wireless detection result of the road surface sensor can be supplied to the vehicle body side by wireless

communication communication between between the the tiretireand andthethevehicle vehiclebody. body.TheThe movable movable bodybody ECU ECU 20 20 generates generates

the movable the movablebody body information information including including information information that represents that represents the roadthe road surface surface

conditiondetected condition detected by by the the roadroad surface surface sensors. sensors.

[0023]

[0023] Asillustrated As illustratedininFig. Fig.2,2, the the central centralcontrol controldevice device S includes S includes a central a central ECU ECU

40 constituted 40 constituted mainly mainlybybya acomputer computer andand a control a control communication communication devicedevice 42 connected 42 connected to to the central the central ECU 40.The ECU 40. The centralECU central ECU 40 includes 40 includes a work a work plan plan generating generating portion portion 50aand a 50 and 2023282238

central control central control information generatingportion information generating portion52. 52.TheThe workwork plan plan generating generating portion portion 50 50 includes an includes an occurrence occurrencelevel level obtaining obtainingportion portion54,54,ananinfluence influencelevel levelobtaining obtainingportion portion56, 56, and aa map and mapinformation informationstorage storageportion portion58. 58.

[0024]

[0024] Thecontrol The controlcommunication communication device device 42 wirelessly 42 wirelessly transmits transmits the central the central

control information control generatedbybythe information generated thecentral central control control information informationgenerating generatingportion portion5252and and receives the receives the movable bodyinformation movable body informationwirelessly wirelesslytransmitted transmittedfromfrom themovable the movable body body V. V.

[0025]

[0025] Thework The workplan plangenerating generating portion portion 50 50 generates generates a work a work planplan for for eacheach of of

the plurality the plurality ofofmovable bodies V. movable bodies V.TheThe work work plan plan includes includes a traveling a traveling plan plan thatthat includes includes a a

travel speed, travel speed, aa departure departure order, order,and and aatravel travelroute, route,of of each movable each movable body body V. Thework V. The workplan plan generating portion generating portion 5050 generates generatesthethework workplanplanbased basedon on thethe mapmap information information storedstored in the in the

mapinformation map informationstorage storageportion portion58,58,anan occurrence occurrence level level obtained obtained by the by the occurrence occurrence levellevel

obtainingportion obtaining portion 54,54, andand an influence an influence levellevel obtained obtained by the by the influence influence level obtaining level obtaining portion portion 56. 56.

[0026]

[0026] Theoccurrence The occurrencelevel level is is aa degree degree ofof an anevent eventestimated estimatedto tooccur occurwhen when each each

movable body V travels each of a plurality of sections of the travel path R. As illustrated in movable body V travels each of a plurality of sections of the travel path R. As illustrated in

Fig. 8, Fig. 8, the occurrence the occurrence level level is is determined determined basedbased on an on an occurrence occurrence possibility possibility of the of the event and event and

a scale a of the scale of theevent. event.TheTheevent event is anisincident an incident that occurs that occurs due to due to (traveling) moving moving (traveling) of a first of a first

movablebody movable body V1V1thatthat is isone oneofofthetheplurality plurality of of movable bodiesV.V.TheThe movable bodies event event is is an an incident incident

responsible for responsible for aa cause cause of of an an influence influence(damage) that the (damage) that the second second movable bodyV2, movable body V2,which whichis is

located at located at aa lower position than lower position than the the first first movable movable bodybodyV1,V1,is is estimated estimated to to receive. receive. The The

incidentmay incident may be,be, forfor instance, instance, a fall a fall of rocks, of rocks, a landslide, a landslide, or theor the(hereinafter like like (hereinafter referredreferred to to as “fall as "fallof ofrocks rocksor orthe thelike”). like").The Theoccurrence occurrence level level isisa agreater greater value valuewhen when the the occurrence occurrence

possibilityofofthe possibility theevent eventisishigh high than than when when the occurrence the occurrence possibility possibility of theisevent of the event is low. The low. The

occurrence level occurrence level is is a greater a greater value value when when the (severity) the scale scale (severity) of theis event of the event is great great than when than when

the scale (severity) of the event is small. the scale (severity) of the event is small.

[0027]

[0027] Theinfluence The influence level level is is a a degree degree of of thethe influence influence of the of the eventevent that that the second the second

movablebody movable bodyV2,V2, which which is located is located at aatlower a lower position position thanthan the the firstmovable first movablebodybody V1, is V1, is

estimated to estimated to receive receive when whenthetheevent eventis is assumed assumed to occur to occur due due to theto traveling the traveling of first of the the first movablebody movable bodyV1.V1. TheThe influence influence level level of of thethe event event maymay be referred be referred to as to as a damage a damage level level of of

6 6 43237134_1 43237134 1

the event. the Theremay event. There maybebea acase casewhere wheretwotwo or or more more second second movable movable bodies bodies are estimated are estimated to to receive the influence of the event. receive the influence of the event.

[0028]

[0028] Themap The mapinformation information includes includes three-dimensional three-dimensional positional positional information information

of aa work of area that work area that includes includes the the travel travelpath pathRRwhere where the the movable bodiesVVtravel. movable bodies travel. Based Basedonon the map the informationand map information andthe theposition positionofofthethe movable movablebodybody V in V in thethe horizontal horizontal direction,for direction, for instance,itit is instance, is possible toobtain possible to obtainthetheposition positionof of thethe movable movable body Vbody in theVvertical in the vertical direction, direction,

i.e., the i.e., altitude. the altitude. 2023282238

[0029]

[0029] Theoccurrence The occurrence level level is obtained is obtained for of for each each of a plurality a plurality of sections of sections A, B, A, B, C • • • of C of the the travel travelpath pathRR with with respect respect totothe theplurality plurality ofof movable movablebodies bodies V. Theplurality V. The plurality of sections of sectionsA,A,B,B,C C • • • may maybebesections sectionsof of partial partial travel travel paths paths R1, R1, R2, R2, • • •. For Forinstance, instance,the the sections A, sections A, B, B, C,C,etc., etc., constitute constitute aa partial partial travel travel path path R1, the sections R1, the sections D,D,E,E,F,F,G,G,etc., etc., constitute a partial travel path R2, • • •,, the constitute a partial travel path R2, the sections sections X,X,Y,Y,Z constitute Z constitute a partial a partial travel travel path path

Rk. Rk.

[0030]

[0030] Theoccurrence The occurrencepossibility possibilityofofthe thefall fall ofofrocks rocksororthethelike like(hereinafter (hereinafter simplyreferred simply referredto to as as “fallofofrocks" "fall rocks” or “rock or "rock fall” fall" where where appropriate) appropriate) is determined is determined based on based on

a condition a conditionofofa aroad road surface surface portion portion of of of each each the of the plurality plurality of sections of sections A, B, C A, B, C • • • of of the the travel path travel pathRRand andthethe state state of of thethe firstmovable first movablebody body V1 in V1 the in the plurality plurality of movable of movable bodies V, bodies V,

for instance. for instance.TheThe roadroad surface surface portion portion refersrefers to a portion to a portion includingincluding theofsurface the surface of the travel the travel

pathR.R.ForFor path instance, instance, the the road road surface surface portionportion refers refers to to a portion a portion that includes: that includes: the surface;the surface; andaaportion and portionwhere where the the depthdepth from from the surface the surface is not greater is not greater than a predetermined than a predetermined distance. distance.

[0031]

[0031] Thecondition The condition of of the the roadroad surface surface portion portion refers refers to condition to a dry a dry condition of the of the road surface road surface portion portionorora awet wetcondition condition (water (water content) content) of the of the roadroad surface surface portion, portion, for for instance. Though instance. Thoughthethecondition condition ofofthetheroad roadsurface surfaceportion portionmaymay be determined be determined basedbased on a on a

soil quality soil quality ofofthe thetravel travelpath pathR,R,ititmay may be be determined determined also on also based based on weather weather (represented(represented by by meteorologicalinformation). meteorological information).TheThe condition condition of the of the roadroad surface surface portion portion may may be be obtained obtained

basedononthethecondition based condition of the of the roadroad surface surface (i.e.,(i.e., the surface the surface of theof thesurface road road surface portion). portion). In aa case In where case where the the road road surface surface portion portion is inisthe in the dry condition dry condition or in or in a case a case

wherethetheroad where road surface surface portion portion has ahas a high high water water content, content, it is determined it is determined that the that fall the fall of rocks of rocks

or the or the landslide landslideisislikely likelytotooccur, occur, namely, namely, the occurrence the occurrence possibility possibility of the of the fall fall is of rocks of rocks is high. Specifically, high. Specifically, in in a a case case where where the the water water content content of the of thesurface road road surface portion portion is not greater is not greater

thanaafirst than first set set content content(i.e., (i.e., in in aa case casewhere where thethe roadroad surface surface portion portion is in is thein thecondition) dry dry condition) or in a case where the water content of the road surface portion is not less than a second set or in a case where the water content of the road surface portion is not less than a second set

contentthat content thatisisgreater greaterthan thanthethe firstsetsetcontent, first content, it it isisestimated estimated that that thethe occurrence occurrence possibility possibility

of the of the fall fall of of rocks rocksisishigher higherthan than a case a case where where the water the water contentcontent of the of the road roadportion surface surface portion is is greater greater than than the the first firstset content set contentand andless lessthan thanthe thesecond second set setcontent. content. Information that Information that

indicatesthe indicates thecondition conditionof of thethe roadroad surface surface portion portion is usually is usually input beforehand input beforehand to the central to the central

controldevice control deviceS.S.

7 7 43237134_1

[0032]

[0032] Thestate The state of of the the first firstmovable movable body body V1 V1isisindicated indicatedbybya atravel travel speed speedofof the first the firstmovable bodyV1, movable body V1,a agross grossweight weightofofthethefirst first movable movablebody bodyV1 V1 thatthat is is a sum a sum of a of a

load weight load weight andandaavehicle vehicle weight, weight,or or aa load load amount, amount,for forinstance. instance. WhenWhen thethe travelspeed travel speedof of

the first the firstmovable bodyV1V1isishigh, movable body high,the thevibration vibrationapplied appliedtoto thethe road roadsurface surfaceportion portiondueduetoto travelingofofthe traveling thefirst first movable body movable body V1larger V1 is is larger than than when when the travel the travel speed speed of of themovable the first first movable bodyV1V1 body is is low, low, resulting resulting in a in a higher higher occurrence occurrence possibility possibility of the fall of of therocks. fall of rocks. Similarly, Similarly,

whenthethegross when gross weight weight of first of the the first movable movable body V1body V1 isthe is large, large, the occurrence occurrence possibilitypossibility of the of the 2023282238

fall of fall of rocks rocks isishigher higher than than when the gross when the gross weight weightofofthe thefirst first movable movablebodybody V1 V1 is small. is small.

When When thethe load load amount amount is large, is large, the(e.g., the load load (e.g., stones,stones, earth earth and andetc.,) sand, sand,isetc.,) is more more likely to likely to

fall from fall from the the bed bed of ofthe thefirst movable first movablebody body V1 V1 than than when when thethe load load amount amountisissmall, small, resulting resulting in a higher occurrence possibility of the fall of rocks. If the load (e.g., stones, earth and sand, in a higher occurrence possibility of the fall of rocks. If the load (e.g., stones, earth and sand,

etc.,) falls, etc.,) falls,this thismay causethe may cause thefall fallofofrocks. rocks.

[0033]

[0033] Theseverity The severity(the (thescale) scale)of of thethe fallofofrocks fall rocksis is determined determined basedbased on theon the soil soil

qualityof quality ofthe theroad roadsurface surface portion portion (e.g., (e.g., easy easy to to dry,dry, easyeasy to contain to contain water, water, with with a higha content high content of large of large stones stones and rocks, with and rocks, with aa high highcontent contentofofearthearth andandsand) sand)andandthethestate stateofofthe thefirst first movablebody movable body V1, V1, forfor instance. instance.

In aa case In case where where the the road road surface surface portion portion hashasthe the soil soil quality quality with with aa high high

contentofoflarge content largerocks, rocks, it it isisdetermined determined thatthat the severity the severity is higher is higher than than the thequality soil soil quality with a with a

high content high content ofof small small stones stones or or sand. sand. InInaacasecasewhere wherethe theroad roadsurface surfaceportion portionhashasthethesoil soil qualitywith quality witha ahigh high content content of earth of earth and and and sand sandeasyand to easy containto water, contain water, a large a largeislandslide is landslide

morelikely more likelytotooccur. occur.It It is is thus thus determined determined that that the severity the severity is high, is high, as compared as compared with the with soil the soil

quality difficult to contain water. quality difficult to contain water.

Theseverity The severityisishigher higher when when the travel the travel speedspeed of theof the first first movable movable body V1 body V1

is high is high than than when the travel when the travel speed speed is is slow. Theseverity slow. The severity isis higher higher when thegross when the gross weight weightofof the first the first movable body movable body V1large V1 is is large thanthan when when the weight the gross gross is weight small.isThe small. Theisseverity severity higher is higher

becausethethevibration because vibration arising arising fromfrom the traveling the traveling of theof the movable first first movable body body V1 is V1 is large. large.

[0034]

[0034] In obtaining In obtainingthethe occurrence occurrence level,level, a distribution a distribution ratio ofratio of the occurrence the occurrence

possibility of possibility of the thefall fallofofrocks rocksandandthe severity the severity maymaybebeone-to-one, one-to-one, one-to-two, one-to-two, two-to-one, two-to-one,

many-to-one,one-to-many, many-to-one, one-to-many, or or many-to-many. many-to-many. The occurrence The occurrence level islevel is represented represented by one by one

numericalvalue numerical valuedetermined determined based based on both on both the severity the severity and occurrence and the the occurrence possibility possibility or or represented by represented by aa map, map,forfor instance. instance. In In the the example exampleofofFig.Fig. 7,7, the the occurrence level when occurrence level the when the

light vehicle LV1 travels a section A of the travel path R is a1, and the occurrence level when light vehicle LV1 travels a section A of the travel path R is al, and the occurrence level when

the heavy the machineHV1 heavy machine HV1 travels travels thethe sectionA A section is isa01. a01.TheThe lightvehicle light vehicleLVLV is is usuallylighter usually lighter in weight in than the weight than the heavy heavymachine machineHV.HV. If theIf condition the condition of road of the the road surface surface portion portion is theis the same,the same, theoccurrence occurrence level level whenwhen the vehicle the light light vehicle LV the LV travels travels theAsection section is lowerA is lower than that than that

whenthe when theheavy heavymachine machine HV HV travels travels thethe section section A (a1<a01). A (al<a01).

8 8 43237134_1 43237134 1

[0035]

[0035] Theinfluence The influencelevellevelisis obtained obtainedbasedbasedonon thethemapmap information information and the and the

occurrencelevel, occurrence level, for for instance. Basedononthethemapmap instance. Based information, information, it isit is possible possible to to obtainthethe obtain

positionininthe position thehorizontal horizontal direction direction and and the altitude the altitude of ofeach of each the of the plurality plurality of sections of sections A, B A, B C • • • of C of the the travel travel path pathR.R.ForFor instance, instance, it is it is to to be be understood understood basedbased on the on mapthe map information information

that the that the section sectionBBand andthethe section section F the F of of the travel travel pathpath R areRlocated are located SO as so as arranged to be to be arranged in the in the

up-down up-down direction direction as illustrated as illustrated in Fig. in Fig. 6Athe 6A and and the section section G and theG section and theJsection J areSOlocated so are located

as to as to be arrangedininthetheup-down be arranged up-down direction direction as illustrated as illustrated in Fig.in 6B. Fig.This 6B.means, Thisformeans, for instance, instance, 2023282238

a positional a positional relationship relationshipbetween between the the sections sectionsB, B,FFinina a case casewhere wherethe thesecond secondmovable body movable body

V2located V2 located at at the the section section F below F below the section the section B may B may be be influenced influenced if the fallifofthe falloccurs rocks of rocks occurs at the at the section section B B and and aa positional positional relationship relationshipbetween between the the sections sections G, G, JJ in in aa case case where the where the

secondmovable second movable body body V2 V2 located located at the at the section section J below J below the the section section G may G may be influenced be influenced if if the fall the fall of of rocks occursatatthe rocks occurs thesection section G. G. If the If the event event occurs occurs at theatsection the section B or B or the the section section G, G, it isisdetermined it determined that that the the second second movable movable bodybody V2 V2 located located at at thethe section section F or F or thethe section section J J

mayreceive may receivethethe influence influence (damage) (damage)ofofthe theevent. event.

[0036]

[0036] Basedononthe Based themap map information, information, an altitude an altitude difference difference HbfHbf between between the the

sectionBBand section and thethe section section F, altitude F, an an altitude difference difference Hgj between Hgj between theGsection the section and the G and the section section

J, aa distance J, distance andand aa gradient gradient between between thethesection sectionBBand andthethesection sectionF,F,andanda adistance distanceandanda a

gradient between gradient between the thesection section GGandandthe thesection sectionJ Jareare obtained. obtained. InIna acase casewhere wherethethealtitude altitude difference between difference betweenthe thetwo two sections sections B, B, F between F or or between the sections the two two sections G, large, G, J is J is large, the the

potential energy potential energy ofof rocks, rocks, earth earth and and sand, sand,etc., etc., is is larger larger than than inin aa case case where where thethe altitude altitude difference is difference is small. small. This This may result in may result in aalarge largedamage damage toto the the second second movable bodyV2. movable body V2.In In a a

case where case wherethe thedistance distancebetween betweenthethetwo two sections sections B, B, F or F or between between the the two two sections sections G, JG, isJ is large, the large, the distance distanceofofmovement movement of earth of earth andetc., and sand, sand,isetc., is large, large, and the and theloss energy energy may beloss may be large. In large. In this thisinstance, instance,the thedamage damage totothe thesecond second movable bodyV2V2may movable body may be be small. small.

[0037]

[0037] In the In the example exampleofofFig. Fig.7,7,ininthethelight lightvehicle vehicleLV1LV1 thatthat is the is the second second

movablebody movable body V2,V2,thethe influence influence level level at at thethesection sectionF Fisisff1, ff1, and andthetheinfluence influencelevellevel at at the the sectionJJisis jj1. section jj1. InIn the thelight lightvehicle vehicleLV2, LV2, the the influence influence levellevel at theatsection the section F is ff2. F is ff2.

[0038]

[0038] Though Though thethe influence influence levels levels at the at the sections sections F, J F, forJthe forlight the light vehicles vehicles LV1, LV1,

LV2areare LV2 described described above,above, the influence the influence levels levels at all at all the the sections sections of thepath of the travel travel path R may be R may be

obtainedfor obtained forall allthe theplurality pluralityofofmovable movable bodies bodies V. In V. thisIninstance, this instance, the influence the influence level of level the of the light vehicle light vehicle LVLV is is relatively relatively higher higher thanthan the influence the influence level level of the of the machine heavy heavy machine HV. HV.

[0039]

[0039] Thework The workplan planisisgenerated generatedsuch such that,ififthe that, thefall fall of of rocks rocks isis assumed assumed toto

occurdue occur duetototraveling travelingof of the the movable movable body located body located at aposition, at a higher higher position, the of the influence influence the of the fall of fall of rocks rocks ononthe themovable movable bodybody located located at a lower at a lower position position is suppressed. is suppressed. In other words, In other words,

an optimum an optimum value value of of thethe travel travel speed, speed, thethe load load weight, weight, etc.,etc., of of each each movable movable body body V is V is

obtained such obtained such that that the the work work is is performed within aa predetermined performed within predetermined set set time time by by aa predetermined predetermined

workamount work amount (including (including thethe transportation transportation amount amount of earth of earth and and sand)sand) andoccurrence and the the occurrence

9 9 43237134_1

level of the event and the influence level of the event are minimum, and the work plan is thus level of the event and the influence level of the event are minimum, and the work plan is thus

generated. For generated. Forinstance, instance,thethe work workplanplanisisgenerated generatedaccording according to to a method a method widely widely usedused in in

operation management operation management in the in the logistics logistics industry. industry. The plan The work workisplan is generally generally stored instored in association with association with the the identification identificationinformation information of ofeach each of ofthe theplurality plurality ofofmovable movable bodies bodies V V

(the heavy (the machinesHVHV heavy machines andandthethe lightvehicles light vehiclesLV). LV).

[0040]

[0040] Fig. 77 illustrates Fig. illustrates part part of of one exampleofofthethe one example work work planplan generated generated as as described above. described above. 2023282238

Considera acase Consider caseininwhich whichthethe light light vehicles vehicles LV1,LV1, LV2 LV2 andheavy and the the heavy machinesHV1, machines HV1,HV2HV2 in the in the plurality plurality of of movable movable bodies bodies V depart V depart in this in this orderorder to travel to travel the the

travel path travel path R R downward. downward. In In thiscase, this case,each eachlight lightvehicle vehicle LV1, LV1,LV2 LV2is is generallylocated generally locatedatata a lower position lower position than than each each heavy heavymachine machine HV1, HV1, HV2. HV2. Thus,Thus, each heavy each heavy machine machine HV1, HV2HV1, HV2 correspondstoto the corresponds the first first movable bodyV1, movable body V1,and andeach each lightvehicle light vehicleLV1,LV1, LV2LV2 corresponds corresponds to to

the second the movablebody second movable bodyV2.V2.

[0041]

[0041] For instance, For instance, thethe work plan is work plan is generated generated eacheach for for the the first firstmovable body movable body

V1and V1 andthe thesecond secondmovable movablebody body V2 such V2 such that athat a relative relative positional positional relationship relationship (mainly, (mainly, a a

relative positional relative positionalrelationship relationship in in thethe up-down up-down direction) direction) betweenbetween the firstthe first movable movable body V1 body V1 and the and the second secondmovable movable body body V2 isV2a isrelative a relative positional positional relationship relationship in in which which the the second second

movablebody movable bodyV2 V2 is is unlikely unlikely to to bebe damaged damaged if the if the fallfall of of rocks rocks is isassumed assumed to to occur occur duedue to to

traveling of traveling of the the first firstmovable bodyV1. movable body V1.TheThe relative relative positional positional relationship relationship in in which which the the

secondmovable second movablebodybodyV2 V2 is unlikely is unlikely to to bebe damaged damaged may may be a be a relationship relationship of low of low possibility possibility

of damage of damage totothe the second secondmovable movable body body V2,V2, a relationship a relationship of of no no possibilityofofdamage possibility damage to to the the

secondmovable second movablebody body V2,V2, a relationship a relationship inin which which thethe firstmovable first movable body body V1 V1 and and the the second second

movablebody movable bodyV2V2 areare notnot located located SOso asas totobe bearranged arrangedininthe theup-down up-down direction. direction.

[0042]

[0042] For the For the heavy machineHV1HV1 heavy machine and and the the lightlight vehicle vehicle LV1LV1 at theat the sections sections B, B,

F, the F, the departure departuretime,time,thethe travel travel speed, speed, etc., etc., of of at at least least oneone of of thethe heavy heavy machine machine HV1 andHV1 the and the

light vehicle light vehicle LV1LV1 maymay be be determined determined suchsuch that that the light the light vehicle vehicle LV1 LV1 doesreach does not not reach the the section FF in section in aa time time period period during whichthe during which theheavy heavymachine machine HV1HV1 is traveling is traveling the the section section B. B.

Thisallows This allowsthetheinfluence influence level level ff01ff01 for for the the light light vehicle vehicle LV1 atLV1the at the section section F to beFlower to bethan lower than the influence the influencelevel levelff1ff1(ff01<ffl). (ff01<ff1).

[0043]

[0043] In this In this instance, thetime instance, the timewhen when the the light light vehicle vehicle LV1 LV1 is is permitted permitted to arriveto arrive at the at the section section FF isispreferably preferablydetermined determined in in consideration consideration of ofanan expected expected time time of of passage passage ofof the heavy the machineHV1 heavy machine HV1 through through the the section section B and B and a time a time for for stones stones and and earth earth andand sandsand due due to the to the fall fall of rocksoccurred of rocks occurredat at thethe section section B toBreach to reach the section the section F. The F. timeThe (ta)time (ta) for stones for stones

andearth and earthand andsand sandto to reach reach the the section section F after F after the occurrence the occurrence of the of theoffall fall of rocks rocks at the at the section section

B is B is estimated based on estimated based onthe the altitude altitude difference difference between between thethe section section BB and andthethe section section F, F, the the gradientofofslanting gradient slantingsurface surface between between the section the section B and B and the the section section F, the distance F, the distance between the between the

sectionBBand section andthethe section section F, for F, for instance. instance.

10 10 43237134_1 43237134_1

[0044]

[0044] Theheavy The heavymachine machine HV2HV2 andlight and the the light vehicle vehicle LV2 LV2 at theatsections the sections B, F B, F

are considered. are considered. For Forinstance, instance, oneoneofofthe theheavy heavymachine machine HV2HV2 andlight and the the light vehicle vehicle LV2 is LV2 is

temporarily stopped temporarily stoppedsuchsuchthat that the the relative relativepositional positionalrelationship relationship between betweenthe heavy the heavymachine machine

HV2 HV2 andand the the light light vehicle vehicle LV2 LV2 is is a relative a relative positional positional relationship relationship in which in thewhich the light vehicle light vehicle

LV2isisnot LV2 notdamaged damaged if if thethe fallofofrocks fall rocksisisassumed assumed to to occur occur duedue to to traveling traveling of of thethe heavy heavy

machineHV2. machine HV2. ThisThis lowers lowers the influence the influence levellevel for light for the the light vehicle vehicle LV2 LV2 at theatsection the section F F (ff02<ff2). (ff02<ff2). 2023282238

[0045]

[0045] Theheavy The heavymachine machine HV2HV2 andlight and the the light vehicle vehicle LV2 LV2 at theatsections the sections G, J G, J

are considered. are considered. For Forinstance, instance,the the light light vehicle vehicle LV2 LV2 isisevacuated evacuatedtotoananevacuation evacuation place place S. S.

Thislowers This lowers thethe influence influence level level for light for the the light vehicle vehicle LV2 atLV2 at the section the section J (jj02<jj2), J (jj02<jj2), allowing allowing

the light the light vehicle vehicleLV2 to be LV2 to less susceptible be less susceptible to tothe thedamage of the damage of the fall fallofofrocks. rocks.To To evacuate evacuate

the light the light vehicle LV2totothe vehicle LV2 theevacuation evacuation place place S corresponds S corresponds to determining to determining the relative the relative

positional relationship positional relationship between the heavy between the machineHV2 heavy machine HV2 and and the the light light vehicle vehicle LV2LV2 to the to be be the relative positional relative positional relationship relationship in in which the light which the light vehicle vehicle LV2 LV2is is lesssusceptible less susceptibleto tothethe damageofofthe damage thefall fallofof rocks rockseven evenififthe thefall fall of of rocks rocks occurs occursdue duetototraveling travelingofofthe theheavy heavy machineHV2. machine HV2. The The time time periodperiod duringduring which which the thevehicle light light vehicle LV2 is evacuated LV2 is evacuated at the at the evacuation place evacuation placeSSisis preferably preferably determined determinedininconsideration considerationofofaatimetimetbtbfor for stones, stones, rocks, rocks, earth and earth andsand sandduedue to the to the fallfall of of rocks rocks at the at the section section G to G to reach reach the section the section J. J.

[0046]

[0046] As for As for the the first firstmovable movablebodybody V1 and the V1 and the second movablebody second movable bodyV2,V2, when when

the second the movablebody second movable body V2V2 is is locatedatata asection located sectionwhere wherethe thesecond secondmovable movablebodybody V2 may V2 may

be influenced be influencedby by the the fallfall of of rocks rocks if the if the fallfall of rocks of rocks is assumed is assumed todue to occur occur due to traveling to traveling of of the first the firstmovable movable body V1, the body V1, the travel travel speed speed of of the thefirst firstmovable movablebody body V1 maybebedetermined V1 may determined to be a small value. to be a small value.

[0047]

[0047] For instance, For instance, the theheavy heavy machine machine HV1 HV1 and andthethelight light vehicle vehicle LV1 LV1atat sections G, sections G, JJ are are considered. considered. The The travelspeed travel speed when when the the heavy heavy machine machine HV1 travels HV1 travels the the section G section maybebedetermined G may determined toto bebea asmall smallvalue. value. If one If one of ofthe theheavy heavy machine HV1and machine HV1 andthethelight light vehicle vehicle LV1LV1isis temporarily temporarily stopped, the stopped, the stopping stopping time time may may bebe long long and the work and the efficiency may work efficiency may bebe considerably considerablylowered. lowered. Onthe On the other other hand, the occurrence hand, the level at occurrence level atthe thesection sectionGGfor forthe heavy the heavymachine machine HV1 HV1 isis not not so SO

high. Thus, high. Thus, the the travel travel speed speed ofof the theheavy heavy machine HV1 machine HV1 is isdetermined determined to to bebea asmall smallvalue, value,SOso that the that the occurrence occurrence level level of the of the fallfall of rocks of rocks at the at the section section G is lowered G is lowered (g001<g01) (g001<g01) and the and the influence level of the light vehicle LV1 at the section J is lowered (jj01<jj1). influence level of the light vehicle LV1 at the section J is lowered (jj01<jj1).

[0048]

[0048] In the In the traveling traveling plan, plan,the theheavy heavy machine HV1,HV2HV2 machine HV1, may may be temporarily be temporarily

stopped. stopped.

At least At least one of the one of the light light vehicles vehicles LV1, LV2,etc., LV1, LV2, etc., may maybebereplaced replacedwithwith the heavy the heavymachine machine HV HV or like or the the like (such (such as heavy as the the heavy machine machine having having a body a body with highwith high

strength against strength against impact). impact). This This is isbecause because the the damage to the damage to the heavy machineHVHV heavy machine is is smalleven small even

11 11 43237134_1 43237134 1

if it is hit by rocks due to the fall of rocks. This lowers the influence level. Further, the if it is hit by rocks due to the fall of rocks. This lowers the influence level. Further, the

departure order departure order of of the the plurality pluralityofof movable movablebodies bodies may may bebe determined determined suchsuchthat that the the influence influence

levels of levels of the thefall fall of of rocks rocksfor forthe theentirety entiretyofofplurality plurality of of movable movable bodies bodies are lowered. are lowered.

[0049]

[0049] In the In the work plan generating work plan generatingportion portion50, 50, aa work workplan plangenerating generatingprogram program representedbyby represented a flowchart a flowchart of Fig. of Fig. 3 is 3executed is executed every every time a time a predetermined predetermined set time elapses. set time elapses.

This flowchart This flowchart is is part part ofofaawork work plan plan generating generating program. program.

AtStep At Step11, 11,thetheoccurrence occurrence level level at each at each of a of a plurality plurality of sections of sections A, B, C, A, B, C, 2023282238

D • • • of D of the the travel travelpath pathR R is is obtained obtained for for the the plurality plurality of movable of movable bodies bodies V. V. (Hereinafter, (Hereinafter,

Step Step 1111will willbebeabbreviated abbreviated as “S11”. as "S11". Other Other stepsbewill steps will be similarly similarly abbreviated.) abbreviated.) At S12, theAt S12, the

influence level influence level atat each each ofof the the sections sections A, B, C, A, B, C, DD • • • is is obtained. obtained. At AtS13, S13,ananoptimum optimum solution of the travel speed, the load weight, whether or not to temporarily stop, whether or solution of the travel speed, the load weight, whether or not to temporarily stop, whether or

not to not to evacuate, evacuate, etc., etc.,isisobtained obtainedforforeach eachofofthe theplurality plurality of of movable movablebodies, bodies,and and the the work work

planisis generated. plan generated.At AtS14,S14, the generated the generated work work plan is plan is stored. stored.

[0050]

[0050] Thework The work plan plan may may be generated be generated by usingbyanusing an artificial artificial intelligence intelligence (AI). (AI).

[0051]

[0051] Thecentral The centralcontrol controlinformation information generating generating portion portion 52 generates 52 generates the the central control central informationincluding control information includinga acontrol controlcommand commandof theoftraveling the traveling state state of each of each

movablebody movable bodybased basedonon thework the work plan.TheThe plan. centralcontrol central controlinformation informationincludes, includes,for for instance, instance, the control the control command command andand thethe identificationinformation identification informationbyby which which thethe movable movable bodybody V as Va as a

controltarget control targetisisidentified. identified.

[0052]

[0052] For instance, For instance, thethe movable bodyinformation movable body informationincluding includingownown identification identification

information and information andownown positional positional information information is wirelessly is wirelessly transmitted transmitted from ofeach from each the of the

plurality of plurality ofmovable bodies VVand movable bodies andreceived receivedbybythe thecontrol control communication communication device device 42.42. Based Based

on the on the identification identification information andthe information and thepositional positionalinformation informationincluded included in in thethe received received

movablebody movable body information information and and the the workwork plan plan stored stored in association in association with with the identification the identification

information, the information, the central centralECU 40 obtains, ECU 40 obtains, for for the the movable body V Videntified movable body identified by bythe the identification information, identification information, the the travel travelspeed, speed,whether whether or or not not to to temporarily temporarily stop, stop, whether or whether or

not to not to evacuate, evacuate, included in the included in the work plan. Based work plan. Basedon on thethe traveling traveling plan plan such such as as thethe travel travel

speed, whether speed, whetherorornot nottototemporarily temporarilystop, stop,whether whetheror or notnot to to evacuate, evacuate, thethe centralcontrol central control information generating information generating portion portion 52 52 generates, generates, for for the themovable bodyVVthat movable body that has has transmitted transmitted the the movablebody movable body information, information, thethe centralcontrol central controlinformation informationincluding: including:thethecontrol controlcommand command such as such as aa deceleration deceleration command, command, an an evacuation evacuation command, command, or a temporary or a temporary stop command; stop command;

and the and the identification identification information of the information of the movable movablebody body V. V. The generated The generated central central control control

information is information is output output to to the the control control communication device42. communication device 42.TheThe control control communication communication

device 42 wirelessly transmits the central control information. device 42 wirelessly transmits the central control information.

[0053]

[0053] It is It is noted that the noted that the position position ofof the the second secondmovable movable bodybody V2bemay be V2 may

checkedbefore checked beforegenerating generatingthethecentral centralcontrol controlinformation information forfor thefirst the firstmovable movable body body V1, V1,

namely,before namely, beforeoutputting outputting the the control control command command for forthe thefirst first movable bodyV1. movable body V1.TheThe movable movable

12 12 43237134_1

bodies VVdo bodies donot notalways alwaystravel travel as as planned plannedby bythe the work workplan planbut butmay maybebe delayed delayed or or advanced. advanced.

Thus, if Thus, if the the second movablebody second movable body V2 V2 is not is not approaching approaching a range a range influenced influenced byfall by the the fall of of rocks,for rocks, forinstance, instance,the theneed needof of outputting outputting the control the control command command to the to the first first body movable movable V1 body V1 is low. is Similarly,thetheposition low. Similarly, positionof of thethe firstmovable first movablebodybody V1 mayV1be may be before checked checked before generating generating thethe central central control controlinformation information for forthe thesecond second movable bodyV2. movable body V2.

[0054]

[0054] Theinformation The informationrepresenting representingthe thegenerated generatedwork workplan planmaymaybe be supplied supplied to to

the movable the body movable body V.V. Each Each movable movable body Vbody may V may perform perform automatedautomated driving according driving according to to 2023282238

the traveling the travelingplan planincluded includedin in thethe work work plan.plan. In instance, In this this instance, the control the control of the of the traveling traveling state state

of the of the movable bodybased movable body basedon on thethe centralcontrol central controlinformation informationisisnot notessential essential oror the the control control maybebeananauxiliary may auxiliary control. control.

[0055]

[0055] In the In the central central control control information informationgenerating generating portion portion 52, 52, the the central central

controlinformation control information generating generating program program represented represented by a flowchart by a flowchart of Fig. 4 of is Fig. 4 is every executed executed every time aa predetermined time predetermined set set time time elapses. elapses. At S21, At S21, itit is is determined determined whether whether the the movable movable body bodyinformation informationisis received. When received. When an affirmative an affirmative determination determination (YES)(YES) is made,is made, information information processing processing isis executedatatS22S22 executed to obtain to obtain the identification the identification information, information, the positional the positional information, information, etc. At etc. At S23, the S23, the movable movablebody body V is V is identifiedbased identified basedonon theidentification the identificationinformation informationtotoobtain obtainthe the position of position of the the movable movable body bodyV.V. At S24, At S24, the the control control command command is generated is generated based onbased the on the

workplan, work plan,andandthethecentral centralcontrol control information information including including the control the control command command and the and the

identificationinformation identification information is generated is generated at S25. at S25.

[0056]

[0056] In each In eachofofthetheplurality pluralityofofmovable movable bodies bodies V, a traveling V, a traveling control control program program

represented by a flowchart of Fig. 5 is executed every time a predetermined set time elapses. represented by a flowchart of Fig. 5 is executed every time a predetermined set time elapses.

At S31, At S31,ititisisdetermined determined whether whether the central the central controlcontrol information information is is received. When received. Whenananaffirmative affirmativedetermination determination(YES)(YES)is is made, made, it it isisdetermined determinedatatS32 S32whether whether the identification the identification information information coincides with the coincides with the identification identification information information included included inin the the central control central control information. information. When Whenanan affirmativedetermination affirmative determination (YES) (YES) is made, is made, the the details details

of the of the control control command command are areobtained. obtained. At S33, At S33, itit is is determined determined whether whether the the control control command command isisthe thestop stop command.At At command. S34, S34, it it is isdetermined determinedwhether whetherthe thecontrol control command command is is thethe deceleration deceleration command. command. At At S35, S35, it it isisdetermined determinedwhether whether thethecontrol controlcommand command is the is the evacuation evacuation command. command.

When When an an affirmative affirmative determination determination (YES) (YES) is is made made at at stop S33, the S33,control the stopis control executed is atexecuted S36. at S36. Themovable The movable body body V isVstopped is stopped by controlling by controlling the brake the brake device device B. anWhen B. When an affirmative affirmative

determination(YES) determination (YES)isismade madeatatS34, S34,the thedeceleration decelerationcontrol controlisis executed executedat at S37. S37. The Thetravel travel speed of speed of the the movable bodyV Visisslowed movable body sloweddown downby by controlling controlling thethe brake brake device device B and B and thethe drive drive

device D. device D. When When an affirmative an affirmative determination determination (YES) (YES) is made is made at the at S35, S35,route the route is changed is changed

and the and the movable movablebody body V evacuated V is is evacuated to the to the evacuation evacuation place place S at SS38 at by S38controlling by controlling the the steering device T. steering device T.

13 13 43237134_1

[0057]

[0057] In the In the present present embodiment, embodiment, an an optimum optimum solution solution of theoftravel the travel speed,speed,

whetheroror not whether not to to temporarily stop, whether temporarily stop, whether oror not not to to evacuate, evacuate, the the load load amount, the loading amount, the loading

weight,etc., weight, etc.,of ofeach eachofofthe theplurality pluralityofofmovable movable bodies bodies V is obtained V is obtained such such that thethat the occurrence occurrence

level and level andthe theinfluence influence level level areare minimized minimized while preventing while preventing a reduction a reduction in work efficiency, in work efficiency,

and the and the work planis work plan is generated generated andand stored. stored. Further, Further, the the traveling travelingstate state ofofeach eachmovable movable body body

is controlled is controlled based based on the work on the plan. Consequently, work plan. Consequently, thethe safetyofofthe safety theplurality pluralityofof movable movable bodies is bodies is improved whilepreventing improved while preventinga areduction reductionininwork workefficiency. efficiency. 2023282238

[0058]

[0058] In the In the present present embodiment, embodiment, a aworkwork plan plan generating generating device device is is constituted constituted

by aa portion by portion ofof the the central central ECU ECU 4040ofofthe the central central control control device device SS that that stores stores the thework work plan plan

generating program generating programandand a portion a portion of theof central the central ECU 40ECUthat40 that executes executes the work the planwork plan

generating program, for instance. A traveling state control device is constituted by a portion generating program, for instance. A traveling state control device is constituted by a portion

of the of the central centralECU 40 that ECU 40 that stores storesS25, S25,S26S26 of of the thecentral central information informationgenerating generatingprogram program and and

a portion a portion ofof the thecentral centralECU 40 that ECU 40 that executes executes S25, S25, S26 S26 of of the the central central information information generating generating

program,for program, for instance. instance. AnAnoccurrence occurrence levelobtaining level obtaining portionisisconstituted portion constitutedbybya aportion portionofof the central the central ECU ECU 4040that that stores stores S11 S11 ofof the the work plan generating work plan generating program programand anda a portionofofthe portion the central ECU central ECU 4040 thatexecutes that executesS11S11 of of thethe work work planplan generating generating program, program, for instance. for instance. An An influencelevel influence levelobtaining obtaining portion portion is constituted is constituted by a by a portion portion of the of the central central ECU 40 ECU 40 that stores that stores

S12 S12 ofof the the work workplan plangenerating generatingprogram program andand a portion a portion of of thecentral the centralECU ECU 40 40 thatthat executes executes

S12 ofof the S12 the work workplan plangenerating generating program, program, for for instance. instance. TheThe traveling traveling state state control control device device

mayinclude may includeaa portion portion ofof the the movable bodyECU movable body ECU 20 20 thatstores that storesS33-38 S33-38ofofthe thetraveling traveling control control programand program anda aportion portionofofthe themovable movable bodybody ECU ECU 20 that20 executes that executes S33-38S33-38 of the of the traveling traveling

control program, for instance. control program, for instance.

[0059]

[0059] In aa case In case where where the the movable movable bodybodyVVincludes includesthetheroad roadsurface surfacesensors, sensors, the the information information representing representing the detection the detection results results of theof thesurface road road surface sensors sensors may betosupplied to may be supplied

the central the central control control device device S.S. InInthis this case, case, the the condition condition of of the the road roadsurface surfaceportion portioninput input beforehandmay beforehand maybebe modified modified in in thecentral the centralcontrol controldevice deviceS Sbased basedononthethedetection detectionvalues valuesofof the road the roadsurface surfacesensors. sensors. ThisThis enables enables the condition the condition of the of the road roadportion surface surfaceto portion be finelyto be finely

obtained, SO obtained, so that that the the occurrence occurrencelevellevelisisobtained obtained more more accurately. accurately. BasedBased on the on thusthe thus accurately obtained accurately obtainedoccurrence occurrencelevel, level,thethework workplanplan is suitably is suitably modified modified to control to control the the

traveling state traveling stateofofeach eachmovable movable body body V.V.

[0060]

[0060] Thoughthe Though thefirst first movable movable bodybody isisthe theheavy heavymachine machine HV HV and second and the the second movablebody movable body is is thelight the lightvehicle vehicleLVLV in the in the embodiment embodiment illustrated illustrated above, above, both both the first the first

movablebody movable bodyandand thethe second second movable movable body body may may be the be the vehicle light light vehicle or mayorbemay the be the heavy heavy machine, for instance. machine, for instance.

[0061]

[0061] Themethod The method of of generating generating the the workwork plan plan is limited is not not limited to method to the the method described in described in the the embodiment illustrated above. embodiment illustrated above.

14 14 43237134_1 43237134 1

For instance, a case is considered in which the occurrence level for the For instance, a case is considered in which the occurrence level for the

first movable first movable bodybodyV1 atV1a at a section section is higher is higher than athan firsta set firstlevel set level as a setas level a set Inlevel this. case, In this case, if the if the second movable second movable bodybody V2travel V2 will will travel another another section section of thepath of the travel travel path where thewhere second the second

movablebody movable bodyV2V2 maymay be influenced be influenced whenwhen the fall the fall of of rocks rocks is is assumed assumed to to occur occur at at thesection the section wherethetheoccurrence where occurrence levellevel is higher is higher than than the the set first firstlevel, set level, the travel the travel speed, speed, whether whether or not or not to temporarily to stop,whether temporarily stop, whether or not or not to evacuate, to evacuate, etc., etc., may bemay be determined determined such thatsuch thatone at least at least one of the of the occurrence occurrence level level andand the the influence influence level level is notishigher not higher than thethan theset first first set level. level. 2023282238

[0062]

[0062] Forinstance, For instance,a acase caseis is considered considered in which in which the occurrence the occurrence level is level higheris higher

thanaasecond than second setset level level as as a set a set level. level. In this In this case,case, the work the work plan plan may be may be generated, generated, in other in other

words,the words, thetraveling traveling state state is is controlled, controlled, suchsuch that that the relative the relative positional positional relationship relationship betweenbetween

the first the firstmovable movable body V1 and body V1 andthe thesecond secondmovable movablebody body V2 V2 is aisrelative a relativepositional positional relationship in relationship inwhich which the the second second movable bodyisisoutside movable body outsideaarange rangewhere wherethe thesecond secondmovable movable bodymay body maybebe influenced influenced when when the the fallfall of of rocks rocks is is assumed assumed to occur to occur due due to traveling to traveling of the of the

first movable first movable body V1.Further, body V1. Further,a acase caseisisconsidered consideredininwhich whichthe theoccurrence occurrence possibilityofof possibility

the fall of rocks is higher than a third set level as a set level and the severity is lower than a the fall of rocks is higher than a third set level as a set level and the severity is lower than a

fourthset fourth set level levelasasaaset setlevel. level. InInthis thiscase, case,thethe travel travel speed speed of the of the firstfirst movable movable body body may be may be

determinedtotobebeaasmall determined smallvalue valuewhenwhen thethe second second movable movable body body V2 is V2 is located located in thein the range range

wherethe where the second secondmovable movable body body V2 V2may may be influenced be influenced by thebyfall the fall of rocks. of rocks.

[0063]

[0063] Thetraveling The travelingplanplan maymay be generated be generated sucha that such that work a work time timeplurality of the of the plurality of movable of movable bodies, bodies, namely, namely, a time a time required required from the from the departure departure of the of the first one first one of the of the movable movable

bodiestotoarrival bodies arrivalofofall allthe theplurality pluralityofofmovable movable bodies bodies to thetotarget the target position, position, does does not not exceed exceed

a set time. a set time.

[0064]

[0064] In the In the embodiment embodiment illustratedabove, illustrated above,thethe management management systemsystem and theand the

traveling state traveling statecontrol controlsystem system are are used used inin the themine mine work. work. TheThemanagement management system system and the and the

traveling state traveling state control control system systemareareapplicable applicable to to notnot onlyonly the mine the mine work work but alsobutthealso the

management management of of a plurality a plurality of of movable movable bodies bodies that that travel travel in mountainous in mountainous regions regions and theand the controlofofthe control thetraveling traveling state state of least of at at least one one of a of a plurality plurality of movable of movable bodies bodies that travelthat in travel in

mountainousregions. mountainous regions.

[0065]

[0065]

Second Embodiment Second Embodiment Thepresent The presentdisclosure disclosure is applicable is applicable to ato a case case where where a plurality a plurality of movable of movable

bodies Vc travels a travel path R in mountainous regions, as illustrated in Figs. 9, 10. bodies Vc travels a travel path R in mountainous regions, as illustrated in Figs. 9, 10.

As illustrated As illustrated inin Fig. Fig. 9, 9, each eachofofthe theplurality pluralityofofmovable movable bodies bodies Vc Vc

includes, for includes, for instance instance aa drive drive device Dc, aabrake device Dc, brakedevice deviceBc,Bc,a steering a steeringdevice deviceTc,Tc, a GPS a GPS

receiver 10c, receiver 10c, aa surroundings surroundings information information obtaining obtaining device device12c,12c,a movable a movablebody body communication communication device device 14c, 14c, road road surface surface sensors sensors 70c, 70c, a travelingstate a traveling statedetecting detectingdevice device71c, 71c, and aa movable and movable body bodyECU ECU 20c.TheThe 20c. movable movable bodybody ECUincludes ECU 20c 20c includes an identification an identification

15 15 43237134_1 43237134 1

information storage information storageportion portion22c, 22c,a amovable movable bodybody information information generating generating portionportion 24c, a 24c, a traveling control traveling control portion portion26c,26c,anan occurrence occurrence level level obtaining obtaining portionportion 72c, and72c,a map and a map information storage information storageportion portion58c. 58c.TheThe drive drive device device Dc, Dc, the the brakebrake device device Bc, theBc,steering the steering device Tc, device Tc, the the GPS GPSreceiver receiver 10c, 10c, the the movable movablebody bodycommunication communication device device 14c,14c, the the surroundings surroundings information information obtaining obtaining devicedevice 12c, 12c, the the identification identification information information storage portion storage portion

22c, the 22c, the movable movable bodybodyinformation informationgenerating generatingportion portion24c, 24c,the thetraveling traveling control control portion portion 26c, 26c,

and the and the map mapinformation informationstorage storageportion portion58c58carearethethesame same as as those those in in thethefirst firstembodiment embodiment 2023282238

illustrated above, illustrated above,a adetailed detailed description description of which of which is dispensed is dispensed with. with.

[0066]

[0066] Eachroad Each road surface surface sensor sensor 70cprovided 70c is is provided for aoftire for a tire of a corresponding a corresponding one one of the of the wheels wheels2828 of of a plurality a plurality of of movable movable bodies bodies Vc for Vc for detecting detecting the road the roadcondition. surface surface condition. The road surface condition detected by the road surface sensor 70c includes, for instance, the The road surface condition detected by the road surface sensor 70c includes, for instance, the

dry condition dry condition ofof the the road roadsurface, surface,the thewater watercontent contentofofthetheroadroad surface,andand surface, thethe friction friction

coefficient of coefficient of the theroad road surface. surface. The road surface The road surface sensor sensor 70c70chashasaa communication communication function function

or is or is connected to aa communication connected to communication device device provided provided for for the the tire.Thus, tire. Thus, firstroad-surface- first road-surface- conditioninformation condition information indicative indicative of a of a first first road road surface surface condition, condition, which is which is a condition a condition of the of the road surface road surface detected detected bybythe theroad roadsurface surfacesensor sensor70c, 70c,is istransmitted transmittedtotothethemovable movablebodybody

communication communication device device 14c14c on on thethe vehicle vehicle body body side. side.

[0067]

[0067] Thetraveling The traveling state state detecting detecting device 71c includes device 71c includes vehicle vehicleheight heightsensors sensors each for each for detecting detecting aa vehicle vehicle height height forfor aa corresponding corresponding one oneofofthe the wheels wheelsofofeach eachmovable movable bodyVc. body Vc.Based Based on differences on differences in the in the vehicle vehicle height height detected detected for for eacheach of the of the plurality plurality of of

wheels, for wheels, for instance, instance, the the unevenness unevennesscondition conditionofofthetheroad roadsurface surface on on which which the the movable movable

bodyVc body Vchas hastraveled traveledisis obtained. obtained. The Theunevenness unevenness condition condition of of thetheroad roadsurface surfacedetected detectedbyby the traveling state detecting device 71c will be referred to as a second road surface condition. the traveling state detecting device 71c will be referred to as a second road surface condition.

Hereinafter, the Hereinafter, the first firstroad roadsurface surfacecondition conditionand and the thesecond second road road surface surface

conditiondetected condition detectedin in each each movable movable body body Vc are Vc are together together referred referred to as a detected to as a detected road surface road surface

condition. Information condition. Informationindicative indicativeofofthe the detected detectedroad roadsurface surfacecondition conditionand andthe thepositional positional information ofof the information themovable movable body body Vc included Vc are are included in theinmovable the movable body information body information and and transmitted. transmitted.

[0068]

[0068] The detected The detected road road surface surface condition condition maymayinclude includethetheroad roadsurface surface condition ahead condition aheadofofthetheownown movable movable body body V detected V detected by the surroundings by the surroundings informationinformation obtaining device obtaining device 12c 12cof of the the own ownmovable movable body body V. road V. The The road surface surface condition condition aheadahead of theof the

ownmovable own movable body body V detected V detected by the by the surroundings surroundings information information obtaining obtaining device device 12c 12c of theof the ownmovable own movable body body V may V may be utilized be utilized as the as the detected detected road road surface surface condition. condition.

[0069]

[0069] Theoccurrence The occurrencelevel levelobtaining obtainingportion portion 72c 72cobtains obtains an an occurrence occurrencelevel level at at whichthe which thefall fall of of rocks rocks isisestimated estimated to tooccur occurwhen the own when the movable own movable body body Vc Vc is assumed is assumed to to

travel aa section travel section ofof the the travel travel path path R R where themovable where the movable body body Vc that Vc that has has transmitted transmitted the the

movable body movable bodyinformation informationisislocated, located, based based ononthe thedetected detectedroad roadsurface surfacecondition condition

16 16 43237134_1 43237134 1

information included information includedin in the the movable movablebody bodyinformation information thatisisreceived that receivedbybythe themovable movable body body

communication communication device device 14c14c andand thethe stateofofthe state theown own movable movable bodybody Vc. Vc.

[0070]

[0070] As illustrated As illustrated in in Fig. Fig. 10, 10, for forinstance, instance,a amovable bodyVcy movable body Vcyobtains obtainsthethe road surface road surface condition condition of of aa section section P located ahead P located aheadof of the the movable movablebody bodyVcyVcybasedbased on the on the

movable body movable bodyinformation information transmitted transmitted fromfrom aa movable movable body bodyVcx Vcxandand receivedbyby received thethe movablebody movable bodyVcyVcy itself.Based itself. Basedon on thethe obtained obtained road road surface surface condition condition of of thethe sectionP Pand section and the state the state of of the the own movable own movable bodybody Vcy,Vcy, the occurrence the occurrence level level offall of the the of fallrocks of rocks that that is is 2023282238

estimated to estimated to occur occurifif the the own ownmovable movablebodybody Vcy travels Vcy travels the section the section P is obtained. The P is obtained. The occurrencelevel occurrence level is is included included in in the the movable movablebody body information information together together withwith the the positional positional

information of information of the the movable movable bodybodyVcyVcy and and thethe positionalinformation positional informationofofthe thesection section P,P, and the and the

movablebody movable body information information including including thethe occurrence occurrence level level is istransmitted. transmitted.The The movable movable bodybody

Vcymay Vcy maybebe decelerated decelerated by by controlling controlling thebrake the brake device device Bc Bc of of thethe ownown movable movable body body Vcy, Vcy, etc., based on the occurrence level. etc., based on the occurrence level.

[0071]

[0071] Themovable The movable body body information information may may be transmitted be transmitted when when the occurrence the occurrence

level of level of the thefall fall of of rocks rocksisishigher higher than than an eleventh an eleventh set level set level as alevel. as a set set level. The speed The travel travel speed of the of the movable movable bodybodyVcy Vcymaymay be slowed be slowed down down suchthe such that thatoccurrence the occurrence level level is lowered is lowered to to a twelfth a twelfthsetsetlevel. level.

[0072]

[0072] Whenthethemovable When movable bodybody information information transmitted transmitted by thebymovable the movable body body Vcyisis received Vcy received byby aa movable bodyVcz, movable body Vcz, themovable the movable body body Vcz Vcz determines determines whether whether the own the own

movable body movable bodyVcz Vczisisapproaching approaching aa section section where where thethe own movablebody own movable bodyVczVcz may may be be influenced if influenced if the the fall fallofofrocks is is rocks assumed assumedtotooccur occurdue duetoto traveling travelingof of thethe movable movablebody bodyVcy Vcy

in the in the section section P, P, based on the based on the position position of of the the own ownmovable movable body body Vcz,Vcz, the position the position of of the the movablebody movable body Vcy, Vcy, the the position position of the of the section section P, andP, and the information. the map map information. When it When is it is determined that determined that the the own own movable movable bodybodyVcz Vczisisapproaching approachingthe the section section where the own where the own movablebody movable bodyVczVczmaymay be be influenced influenced by by thethe fallofofrocks, fall rocks, the the own movable own movable body body VczVcz obtains, obtains,

based ononthe based thevalue valueofofthetheoccurrence occurrence level, level, etc.,the etc., thelevel levelofofthe theinfluence influencethat thatthetheownown movablebody movable body Vcz Vcz maymay receive receive if the if the fallofofrocks fall rocksis is assumed assumed to tooccur. occur. When Whenthe the influence influence

level is level is higher higher than than aa thirteenth thirteenth set set level levelasasaaset setlevel, level,thetheown own movable bodyVczVcz movable body maymay

temporarily stop temporarily stop or or evacuate evacuate toto an an evacuation place. The evacuation place. Themovable movable body body VczVcz may may transmit transmit a a deceleration command deceleration command or or a temporary a temporary stopstop command command to theto movable the movable body Vcy. body Vcy.

[0073]

[0073] In the In the present present embodiment, embodiment, inin eachmovable each movablebodybody Vc, road Vc, the the road surface surface

condition is condition is obtained, obtained, and the occurrence and the level of occurrence level of each each own ownmovable movable body body Vcobtained, Vc is is obtained, through communication through amongthe communication among the movable movablebodies. bodies. When Whenthe themovable movablebody bodyinformation information including the including the occurrence level is occurrence level is transmitted transmitted from from the the movable body,another movable body, anothermovable movable body body

located at located at aa lower position than lower position than the the movable movablebody body that that hashas transmitted transmitted thethe movable movable body body

information determines information determineswhether whether it may it may be influenced be influenced by thebyfall the offall of rocks. rocks. When itWhen it is is

determined that determined that the the movable movable body maybebeinfluenced, body may influenced, the the movable movable body bodyevacuates evacuatesoror

17 17 43237134_1 43237134_1

temporarily stops, temporarily stops, for for instance, instance, so SO that thatthe themovable bodyisis unlikely movable body unlikely to to be be damaged. damaged.ThisThis configuration enhances the safety of the plurality of movable bodies. configuration enhances the safety of the plurality of movable bodies.

[0074]

[0074] In the In the present presentembodiment, embodiment, the the movable bodycommunication movable body communication devices devices 14c,14c,

the traveling the traveling control control portions portions 26c, 26c, the the movable bodyinformation movable body information generating generating portions portions 24c, 24c,

the map the informationstorage map information storageportions portions58c, 58c,the theoccurrence occurrence levelobtaining level obtaining portions portions 72c, 72c, thethe

road surface road surface sensors sensors 70c, 70c, etc., etc., of of the the plurality pluralityofofmovable movable bodies bodies VcVcconstitute constitute aa traveling traveling controldevice control deviceororconstitute constitute a traveling a traveling control control system. system. 2023282238

Themovable The movable body body Vcy Vcy corresponds corresponds tofirst to the the first movable movable body, body, and the and the

movablebody movable bodyVczVcz corresponds corresponds to the to the second second movable movable body.body.

[0075]

[0075] Thecondition The conditionofofthe theroad roadsurface surfaceportion portionofofthethetravel travelpath pathR R maymay be be

supplied from supplied fromananexternal externalinformation informationtransmission transmissiondevice device (notillustrated). (not illustrated). The Thecondition condition of the of the road road surface surface portion portion of of each each section section of of the the travel travelpath pathRRisisobtained obtainedinineach eachmovable movable

bodythrough body throughcommunication communication between between the the external external information information transmission transmission device device and and eacheach

movablebody movable body Vc. Vc. Further, Further, based based on the on the condition condition of the of the road road surface surface portion portion andand thethe state state

of the of the own movablebody, own movable body, each each movable movable bodybody Vc obtains Vc obtains the occurrence the occurrence level level of fall of the the fall of of rocks that rocks that isisestimated estimated to tooccur occurwhen the own when the movable own movable body body travels travels a a sectionlocated section locatedahead ahead of itself, of itself, and and the the movable bodyinformation movable body information including including thethe position position of of thethe section section andand thethe

occurrencelevel occurrence level isis generated generatedandandtransmitted. transmitted.WhenWhen the movable the movable body information body information in in question is question is received received by by the the movable bodylocated movable body locatedatat aa lower lowerposition position than than the the movable body movable body

that has that transmittedthethemovable has transmitted movable bodybody information, information, it is possible it is possible for thefor the movable movable body located body located

at aa lower at lower position position to to obtain obtain the the occurrence occurrence level level of of the the fall fallofofrocks rocksthat may that mayoccur occur above above

the own the movable own movable body. body. This This enables enables thethe ownown movable movable body body to evacuate, to evacuate, for instance. for instance.

[0076]

[0076] Theexternal The external information informationtransmission transmissiondevice devicemaymay transmit transmit notnot only only the the

condition of condition of the the road road surface surface portion portion but but also also meteorological meteorologicalinformation. information.Each Each movable movable

body Vc body Vcaccurately accurately obtains obtains the the condition condition of of the the road road surface surface portion portion based based on on the the meteorologicalinformation. meteorological information.

[0077]

[0077] Further,the Further, theroad roadsurface surface condition condition suchsuch as presence as the the presence or absence or absence of sand,of sand,

stones, and stones, rocks in and rocks in the the road surface portion road surface portion may maybebeobtained obtainedbyby thethe cameras, cameras, thethe LiDAR LiDAR

devices,etc., devices, etc., of of the thesurroundings surroundings information information obtaining obtaining device 12c. device 12c.

Basedononthethesurroundings Based surroundings information information obtained obtained by thebysurroundings the surroundings information obtaining information obtaining device device 12c, 12c, the the road road surface surface condition condition ahead ahead of of the the own movablebody own movable body maybebeobtained may obtainedwithout without obtaining obtaining thethe movable movable bodybody information information frommovable from the the movable body body that isistraveling that travelingahead aheadofofthe own the ownmovable body. movable body.

[0078]

[0078] It is It is to to be be understood that the understood that the present present disclosure disclosure may beembodied may be embodied with with

variouschanges various changesand and modifications, modifications, which which may may occur occurskilled to those to those skilled in the art. in the art.

[0079]

[0079]

ClaimableInvention Claimable Invention

18 18 43237134_1

There will be hereinafter described forms of a claimable invention. There will be hereinafter described forms of a claimable invention.

[0080]

[0080] (1) AAmanagement (1) management system system configured configured to manage to manage a plurality a plurality of movable of movable

bodies, comprising bodies, comprising aa workworkplanplangenerating generatingdevice deviceconfigured configuredtotogenerate generatea awork work plan plan for for

the plurality the pluralityofofmovable movable bodies bodies basedbased on (i)on (i) a relative a relative positional positional relationship relationship between abetween first a first movablebody movable body and and a second a second movable movable bodybody in the in the plurality plurality of of movable movable bodies bodies and and (ii)(ii) at at

least one least of:ananevent one of: eventestimated estimated to occur to occur due due to to traveling traveling of the of the movable first first movable body thatbody is that is located at located at aahigher higherposition positionthanthanthe thesecond secondmovable body; and movable body; andan aninfluence influenceof of the the event event 2023282238

that the that the second second movable movable bodybodyisisestimated estimatedtotoreceive receive when whenthe theevent eventisis assumed assumedtotooccur. occur.

[0081]

[0081] Thework The workplanplan is generated, is generated, for instance, for instance, SO as so to as to suppress suppress at leastatone least of:one of:

the event the event estimated estimated to to occur occur due to traveling due to traveling ofofthethefirst firstmovable movablebody;body; and and the thedamage that damage that

is the influence of the event that the second movable body is estimated to receive. is the influence of the event that the second movable body is estimated to receive.

[0082]

[0082] Suppressingthe Suppressing theevent eventincludes includesatatleast least one oneofofreducing reducingthe thescale scaleofofthe the event and event and reducing reducingthe the occurrence occurrencepossibility possibility of of the the event. event. Suppressing Suppressing thethe influence influence of of the the eventincludes event includesatatleast leastoneoneofof reducing reducing the the degree degree ofinfluence of the the influence and reducing and reducing the possibility the possibility

that the that the second second movable movable body bodymay maybe be influenced influenced by by thethe event.ForFor event. instance,suppressing instance, suppressing thethe

influenceofofthe influence theevent event is is attained attained by suppressing by suppressing the or the event event or attained attained by the by causing causing second the second

movablebody movable bodytotobebe locatedoutside located outsidea arange rangewhere wherethethe second second movable movable bodybody is estimated is estimated to to

receivethe receive theinfluence influence of of thethe event. event.

[0083]

[0083] Therange The rangewhere wherethethe second second movable movable body body is estimated is estimated to receive to receive the the influenceofofthe influence theevent event corresponds corresponds to a to a range range where where fallen fallen rocks rocks and and collapsed collapsed earth and sand earth and sand

passwhen pass when a fall a fall of of rocks, rocks, a landslide a landslide orlike or the the occurs like occurs as the as the The event. event. placeThe place outside theoutside the

range where range wherethe thesecond second movable movable body body is estimated is estimated to receive to receive the influence the influence of theofevent the event correspondstoto an corresponds an evacuation evacuationplace, place,aaplace placeless less likely likely toto be be influenced influenced by by the the event event due to due to

travelingofofthe traveling thefirst first movable movable body, body, etc. etc.

[0084]

[0084] Therange The rangetotowhich whichthetheinfluence influence of of thethe event event extends extends maymay be wide be wide or or narrow. InInaacase narrow. casewhere wherethetherange rangetotowhich whichthethe influence influence of of thetheevent event extends extends is is wide, wide, the the

number number of of thethe second second movable movable bodies bodies that is estimated that is estimated to receivetothereceive the is influence influence large. Inisa large. In a

case where case wherethe the range rangeisis narrow, narrow,thethe number numberofofthe thesecond second movable movable bodies bodies thatthat is estimated is estimated

to receive to receivethetheinfluence influence is is small. small.

[0085]

[0085] There may There maybebea acase casewhere where thethe firstmovable first movable body body is is travelingthe traveling thetravel travel region and region and thethe second secondmovable movable body body is traveling is traveling thethe travelregion travel regionor or is is inina astopped stoppedstate. state. The travel region where the first movable body travels and the travel region where the second The travel region where the first movable body travels and the travel region where the second

movablebody movable bodyisislocated locatedmaymaybebethe thesame same continuous continuous travel travel pathorordifferent path differentnon-continuous non-continuous travel paths. travel paths.

[0086]

[0086] It isisconsidered It considered that thatthe thework work plan plan generating generating device generates the device generates the work work

plan SO plan so as as to to suppress suppress thethe influence influence ofof the the event event that thatthe thesecond second movable bodyisisestimated movable body estimated to receive. to receive.

19 19 43237134_1

[0087]

[0087] (2) Themanagement (2) The management system system according according to the to the formform (1),(1), wherein wherein the the work work plan generating plan device generates generating device generates the the work plan such work plan suchthat that the the second movablebody second movable bodyisislocated located outside aa range outside wherethe range where the second secondmovable movable body body is estimated is estimated to to receive receive thethe influence influence of ofthethe event. event.

[0088]

[0088] Forinstance, For instance,thethetraveling traveling plan plan of the of the first first movable movable body body and the and secondthe second movablebody movable bodyis isgenerated, generated,ininother otherwords, words,the thetravel travelspeed, speed,etc., etc., may bedetermined, may be determined,such such that the that relative positional the relative positional relationship relationship between between the thefirst first movable movablebody bodyand and the second the second 2023282238

movablebody movable bodyisisa arelative relative positional positional relationship relationship in inwhich which the the second movablebody second movable body is isless less likely to likely to receive receivethe theinfluence influence of the of the event event that that is estimated is estimated to due to occur occur due to traveling to traveling of the of the first movable first movable body. body.

[0089]

[0089] Therange The rangewhere where thethe second second movable movable body body is estimated is estimated to receive to receive the the influenceofofthe influence theevent event maymay be the be the section section F or F orsection the the section J (arranged J (arranged in the in the up-down up-down direction direction

with respect with respect to to the the section section B or the B or the section section G) G) inin aa case case where wherethethefirst first movable movable bodybodyV1 V1

travels the travels thesection sectionB Bor or thethe section section G,illustrated G, as as illustrated in Figs. in Figs. 6A,for 6A, 6B, 6B, for instance. instance. The range The range

maybebea arange may range including including the the section section F or Fa or a range range including including the section the section J. The J. The range range including including

the section the section F F may may bebeaa range rangeof of the the section section F or may F or may bebeaarange rangeincluding includingthe thesection section FFand and the vicinity the vicinitythereof. thereof.Similarly, Similarly, thethe range range including including the section the section J may J bemay be aofrange a range of the section the section

J or J maybebea range or may a range including including the section the section J and Jthe and the vicinity vicinity thereof. thereof.

[0090]

[0090] (3) The (3) Themanagement management system system according according to thetoform the form (1) or(1) or (2), (2), wherein, wherein,

whenthe when thesecond second movable movable bodybody is located is located in a in a range range wherewhere the second the second movablemovable body is body is

estimatedtotoreceive estimated receivethethe influence influence of the of the event, event, the work the work plan generating plan generating device generates device generates the the work plan such that a level of the influence that the second movable body receives is reduced. work plan such that a level of the influence that the second movable body receives is reduced.

[0091]

[0091] For instance, For instance, the the influence influence (damage) (damage)thatthatthethesecond second movable movable body body is is estimated to estimated to receive receive isisreduced reducedbybyemploying, employing, asas the thesecond second movable body,the movable body, the movable movablebody body withhigh with highrigidity rigidity(with (with high high strength strength against against impact) impact) or by slowing or by slowing down the down travel the speedtravel of speed of the first the firstmovable movable body. body.

[0092]

[0092] (4) (4) The The management system management system according according to toanyany oneone of of theforms the forms (1)(1)through through (3), (3),

whereinthe wherein thework workplan plan generating generating device device includes includes an occurrence an occurrence levellevel obtaining obtaining

portionconfigured portion configured to obtain, to obtain, for each for each of a plurality of a plurality of sections of sections of a region of a travel travelwhere regionthewhere the

plurality of plurality of movable movable bodies bodies travels, travels, an occurrence an occurrence levelisthat level that is a degree a degree of the of theestimated event event estimated to occur, and to occur, and

whereinthe wherein thework workplan plan generating generating device device generates generates the the workwork plan based plan based on the on the

occurrencelevel occurrence level inin each eachofofthe theplurality plurality ofof sections sections ofofthe thetravel travel region regionobtained obtainedbybythethe occurrence occurrence level level obtaining obtaining portion. portion.

[0093]

[0093] Thetravel The travelregion regionis is divided divided (partitioned) (partitioned) into into a plurality a plurality of sections, of sections, and and the occurrence the occurrence level level of of thethe event event is obtained is obtained for section. for each each section.

20 20 43237134_1 43237134_1

[0094]

[0094] (5) The (5) managementsystem The management systemaccording accordingtotothe theform form(4),(4), wherein whereinthe the occurrencelevel occurrence level obtaining obtaining portion portion obtains obtainsthethe occurrence occurrencelevel levelfor for each eachofofthe theplurality plurality of of sectionsofofthe sections thetravel travelregion region based based on aton at least least one ofone of an occurrence an occurrence possibilitypossibility of the eventof the event andseverity and severityofofthetheevent eventin in each each of the of the plurality plurality of sections of sections of theof the travel travel region,region, the severity the severity

of the of the event eventbeing being a scale a scale of of thethe event. event.

[0095]

[0095] For instance, For instance, thethe work plan may work plan maybebegenerated generatedSOsoasastotolower lowerthethe occurrence occurrence level level of ofthethe event. event. 2023282238

[0096]

[0096] (6) The (6) The management system management system according according to the to the form form (4)(4) or or (5),wherein (5), wherein the the

occurrencelevel occurrence level obtaining obtaining portion portion obtains obtains the the occurrence occurrencelevel levelfor for each eachofofthe theplurality plurality of of sectionsofofthe sections thetravel travelregion region based based at least at least one one of a of a condition condition of asurface of a road road surface portion portion and a and a state of the first movable body in each of the plurality of sections of the travel region. state of the first movable body in each of the plurality of sections of the travel region.

[0097]

[0097] (7) (7) The The management management systemsystem according according to to anyanyoneoneof of thetheforms forms (1)(1)through through (6), wherein (6), the work wherein the workplan plangenerating generatingdevice deviceincludes includesananinfluence influencelevellevelobtaining obtainingportion portion configuredto toobtain configured obtain an influence an influence levellevel that isthat is a degree a degree of the of the influence influence of the of the event event that the that the

secondmovable second movablebody body is is estimated estimated toto receive,and receive, and whereinthe wherein thework work plan plan generating generating device device generates generates the the workwork plan based plan based on the on the

influencelevel influence levelobtained obtained by the by the influence influence level level obtaining obtaining portion.portion.

[0098]

[0098] (8) (8) The managementsystem The management systemaccording accordingtotothe theform form(7), (7), wherein whereinthe the influence level influence level obtaining obtaining portion portion obtains obtainsthe theinfluence influencelevel levelbased basedonon(i)(i)atatleast least one oneof: of: severityofofthe severity theevent eventandand an occurrence an occurrence possibility possibility of the of theand event event (ii) and (ii) a relative a relative positionalpositional relationship between relationship between aa section section of of the thetravel travelregion regionwhere wherethethesecond secondmovable bodyisis located movable body located and a section of the travel region where the event is estimated to occur. and a section of the travel region where the event is estimated to occur.

[0099]

[0099] (9) The (9) management The management system system according according to the to the formform (7)(7) or or (8),wherein (8), wherein thethe influence level influence level obtaining obtaining portion portion obtains obtainsthe theinfluence influenceofofthetheevent eventbased basedon on the the second second

movable body. movable body.

[0100]

[0100] In aa case In case where the second where the secondmovable movable body body is is thethe lightvehicle, light vehicle,thethe degree degree of the of the influence influence that that the the second second movable body movable body receivesisishigher, receives higher,asascompared compared withwith a case a case

wherethe where the second secondmovable movable body body is is thethe heavy heavy machine. machine.

[0101]

[0101] (10) A (10) management A management system system configured configured to manage to manage a plurality a plurality of movable of movable

bodies that bodies that travel travel aa travel travelregion, region,comprising comprising aa work plangenerating work plan generatingdevice deviceconfigured configured to to

generate aa work generate workplan planfor forthe theplurality plurality of of movable movablebodies bodiesbased basedon on (i)(i) a a relativepositional relative positional relationship in relationship in an an up-down directionamong up-down direction among a pluralityofofsections a plurality sectionsofofthe thetravel travel region region and and (ii) a state as to ease of occurrence of a fall of rocks or a landslide of a road surface portion (ii) a state as to ease of occurrence of a fall of rocks or a landslide of a road surface portion

in each in each ofofthe theplurality pluralityofofsections sections of of thethe travel travel region. region.

[0102]

[0102] Themanagement The management system system of this of this form form may may employ employ the technical the technical features features

of any of anyone oneofofthetheforms forms (1) (1) through through (9). (9).

21 21 43237134_1 43237134_1

[0103]

[0103] (11) (11) A management A management system system configured configured to manage to manage a plurality a plurality of movable of movable

bodies including bodies including aa first first movable bodyand movable body anda asecond secondmovable movable body, body, comprising comprising a worka work plan plan

generatingdevice generating device configured configured to: determine to: determine a relative a relative positional positional relationship relationship between between the first the first

movablebody movable body and and thethe second second movable movable body, body, basedbased on aton at least least one one of anofevent an event estimated estimated to to

occurdue occur duetototraveling traveling of the of the firstfirst movable movable bodyis that body that is located located at aposition at a higher higher than position the than the

secondmovable second movablebodybody and and an an influenceofofthe influence theevent eventthat that the the second second movable movable bodybodyisisestimated estimated to receive to receive when when thethe event event is is assumed assumed to tooccur; occur;and andgenerate generateaaworkworkplanplanfor forthe theplurality plurality of of 2023282238

movablebodies. movable bodies.

[0104]

[0104] Themanagement The management system system of this of this form form may may employ employ the technical the technical features features

of to of to any anyone oneofofthetheforms forms(1) (1) through through (10). (10).

[0105]

[0105] (12) AAtraveling (12) traveling state state control control system systemconfigured configuredto tocontrol controla traveling a traveling state of state of at at least leastone oneofofaaplurality pluralityofofmovable movable bodies, bodies, comprising comprising aatraveling traveling state state control control device configured device configuredtoto control control aa traveling traveling state state of of at atleast leastone oneof ofa afirst movable first movablebody body and and aa

secondmovable second movable body body in the in the plurality plurality of of movable movable bodies bodies basedbased on (i) ona(i)relative a relative positional positional

relationship between relationship the first between the first movable movable bodybodyand andthethesecond second movable movable bodybody and at and (ii) (ii)least at least oneofofananevent one event estimated estimated to occur to occur due todue to traveling traveling of themovable of the first first movable body that body that is located is located

at aa higher at position than higher position than thethe second secondmovable movable body body and and an influence an influence of event of the the event that that the the

secondmovable second movablebody body is is estimated estimated toto receivewhen receive whenthethe event event is isassumed assumed to to occur. occur.

[0106]

[0106] Thetraveling The travelingstate state control control system systemmaymay be constituted be constituted by an byexternal an external device outside device outside the the plurality plurality of of movable bodiesorormay movable bodies maybebeconstituted constitutedbybyatatleastleastone oneofofthe the plurality ofofmovable plurality bodies. movable bodies.

Thetraveling The traveling state state control control system system of of this thisform form may employthe may employ thetechnical technical features of any one of the forms (1) through (11). features of any one of the forms (1) through (11).

[0107]

[0107] Forinstance, For instance,thethetraveling traveling state state of least of at at least one one of first of the the first movable movable body body and the and the second secondmovable movable body body is is preferably preferably controlledSOsoasastotosuppress controlled suppressthe theinfluence influenceofofthe the event. IfIfthe event. theevent eventestimated estimated to occur to occur is suppressed, is suppressed, the influence the influence of the of thethat event eventthethat the second second

movablebody movable bodyisisestimated estimatedtotoreceive receivemay may be be suppressed. suppressed. By controlling By controlling the the traveling traveling state state

of at of at least leastoneoneofofthe thefirst movable first movablebody bodyand and the thesecond second movable body,the movable body, thesecond secondmovable movable bodyisis located body located atat aa position position where wherethethesecond secondmovable movablebodybody is less is less likely likely to receive to receive the the

influenceofofthe influence theevent, event,SO so that that thethe influence influence of event of the the event is reduced. is reduced.

[0108]

[0108] (13) Thetraveling (13) The travelingstate statecontrol controlsystem system according according to theto form the (12), form (12), wherein the traveling state control device slows down a travel speed of the first movable body wherein the traveling state control device slows down a travel speed of the first movable body

whenthe when thesecond second movable movable bodybody is located is located in a in a range range wherewhere the second the second movablemovable body is body is

estimatedtotoreceive estimated receivethethe influence influence of event. of the the event.

[0109]

[0109] To slow To slowdown down thethetravel travelspeed speedofofthe thefirst first movable movable bodybodymeans meansto to cause cause

the travel the travel speed speedtotobebe lower lower thanthan that that at present at the the present time point. time point. Thespeed The travel travel speed of the of the first first

movablebody movable bodyis isusually usuallyhigher higheratataasection section where wherethetheoccurrence occurrencelevel levelofofthe theevent eventsuch suchasas

22 22 43237134_1 43237134 1

the fall of rocks is low than at a section where the occurrence level is high. Thus, the travel the fall of rocks is low than at a section where the occurrence level is high. Thus, the travel

speed of speed of the the first firstmovable movable body is preferably body is preferably slowed downwhen slowed down when thethe occurrence occurrence level level of of the the

event is event is high high and and the the second second movable bodyisislocated movable body located inin the the range range where the second where the secondmovable movable bodyisisestimated body estimated to to receive receive the the influence influence of theofevent. the event.

[0110]

[0110] (14) Thetraveling (14) The traveling state state control control system system according according to the to the(12) form formor (12) (13),or (13),

whereinthethe wherein traveling traveling statestate control control device device controls controls the traveling the traveling state of state of one at least at least of theone of the

first movable first movable bodybodyandandthethesecond second movable movable body body suchthe such that thatsecond the second movablemovable body is body is 2023282238

located outside located outside a a range range where the second where the movablebody second movable body is is estimatedtotoreceive estimated receivethe theinfluence influence of the of the event. event.

[0111]

[0111] In other In otherwords, words,thethetraveling traveling state state of of at at least least oneone of of thethe first first movable movable body body

and the and the second secondmovable movable bodybody is controlled is controlled such such that relative that the the relative positional positional relationship relationship

betweenthe between thefirst first movable movable body body and second and the the second movablemovable body is abody is a positional relative relative positional relationship in relationship in which the second which the movablebody second movable body is is lesslikely less likelytoto receive receive the the influence influence of of the the event that is estimated to occur due to traveling of the first movable body. event that is estimated to occur due to traveling of the first movable body.

[0112]

[0112] (15) Thetraveling (15) The traveling state state control control system system according according to any to oneany oneforms of the of the forms (12) through(14), (12) through (14), whereinthe wherein thetraveling traveling state state control control device includes an device includes an occurrence occurrencelevel levelobtaining obtaining portionconfigured portion configured to obtain, to obtain, for each for each of a plurality of a plurality of sections of sections of a region of a travel travelwhere region thewhere the

plurality of plurality of movable movable bodies bodies travels, travels, an occurrence an occurrence levelisthat level that is a degree a degree of the of theestimated event event estimated to occur, to occur,based basedononat at least least oneone of aofcondition a condition of a of a road road surfacesurface portionportion and of and a state a state of the first the first

movable movable body body in each in each of theofplurality the plurality of sections of sections of the of the travel travel region, region, and and wherein the traveling state control device controls the traveling state of at least one wherein the traveling state control device controls the traveling state of at least one

of the of the first firstmovable movablebody body andand the the second second movable bodybased movable body basedononthe theoccurrence occurrencelevel levelinineach each of the of the plurality plurality ofof sections sectionsof ofthe thetravel travelregion regionobtained obtainedby by the the occurrence occurrence level level obtaining obtaining

portion. portion.

[0113]

[0113] (16) (16) The The traveling traveling statecontrol state control system system according according to the to form the (15), form (15), whereinthe wherein the occurrence occurrencelevel levelobtaining obtainingportion portionobtains obtainsthethe occurrence occurrencelevel, level, for for each each ofof the the plurality of plurality of sections sectionsofofthe thetravel travelregion, region, based based onleast on at at least one one of anof an occurrence occurrence possibility possibility of of the event the eventand andseverity severity of of thethe event event in each in each of plurality of the the plurality of sections of sections of theof the travel travel region, region, the the severityofofthe severity theevent eventbeing being a scale a scale of the of the event. event.

[0114]

[0114] (17) Thetraveling (17) The traveling state state control control system system according according to the to the(15) form formor (15) (16),or (16),

wherein the occurrence level obtaining portion obtains, for each of the plurality of sections wherein the occurrence level obtaining portion obtains, for each of the plurality of sections

of the of the travel travel region, region,thetheoccurrence occurrence level level based based on aton at least least one one of of a condition a condition of asurface of a road road surface portionand portion anda astate stateofofthethe firstmovable first movablebody body in ofeach in each the of the plurality plurality of sections of sections of the travel of the travel

region. region.

[0115]

[0115] (18) The (18) Thetraveling traveling state state control control system system according according to any to oneany oneforms of the of the forms (15) through(17), (15) through (17),wherein wherein the the traveling traveling statestate control control devicedevice controls controls the traveling the traveling state ofstate the of the

23 23 43237134_1 43237134 1

first movable first movable body suchthat body such that the the occurrence level obtained occurrence level obtained by by the the occurrence level obtaining occurrence level obtaining

portion is lowered. portion is lowered.

[0116]

[0116] (19) The (19) The traveling traveling state state control control system system according according to any to any one oneforms of the of the forms (15) through (15) through(18), (18), wherein wherein the traveling the traveling state state control control devicedevice controls controls the traveling the traveling state of at state of at

least one least one of of the thefirst firstmovable movablebodybody and and the the second movablebody second movable body when when thethe occurrence occurrence level level

obtainedbyby obtained thethe occurrence occurrence levellevel obtaining obtaining portionportion is higheristhan higher than a set a set level and level and the second the second

movablebody movable bodyisisapproaching approaching a a rangewhere range wherethethe second second movable movable bodybody is estimated is estimated to receive to receive 2023282238

the influence the influenceofofthetheevent event estimated estimated to occur to occur due todue to traveling traveling of themovable of the first first movable body. body.

[0117]

[0117] (20) Thetraveling (20) The traveling state state control control system system according according to any to oneany oneforms of the of the forms (12) through (12) through(19), (19), wherein wherein the traveling the traveling state state control control devicedevice controls controls the traveling the traveling state of at state of at

least one least one of ofthe thefirst movable first movablebody bodyand andthe thesecond secondmovable bodybased movable body basedononananinfluence influencelevel, level, whichisis aa degree which of the degree of the influence influence that that the thesecond second movable bodyisisestimated movable body estimatedtotoreceive receive due due to the event estimated to occur due to traveling of the first movable body. to the event estimated to occur due to traveling of the first movable body.

[0118]

[0118] (21) The (21) Thetraveling traveling state state control control system system according according to any to oneany oneforms of the of the forms (11) (11) through (20), comprising through (20), comprising aa work workplan plangenerating generatingportion portionconfigured configuredtotogenerate generatea awork work planfor plan forthe theplurality pluralityofof movable movable bodies, bodies,

whereinthethe wherein traveling traveling state state control control device device controls controls the traveling the traveling state state of of at one at least least one of the of the first firstmovable movable body body and the second and the movablebody second movable body based based on on thethe work work plan. plan.

[0119]

[0119] (22) (22) A A traveling traveling state state control control system systemconfigured configuredtotocontrol controla traveling a traveling state of state of at atleast leastone oneofofa aplurality plurality of of movable movablebodies bodies including including aa first firstmovable movable body andaa body and

secondmovable second movable body, body, comprising comprising a traveling a traveling state state controldevice control device configured configured to to control control the the

traveling state traveling stateof ofatat least oneone least of of thethe firstfirst movable body movable and body thethesecond and secondmovable movable body based body based

on an event estimated to occur due to traveling of the first movable body that is located at a on an event estimated to occur due to traveling of the first movable body that is located at a

higher position higher position than than the the second secondmovable movable body, body, SO so as as to to suppress suppress an an influence influence of the of the event event

that the that the second second movable movable bodybodyisisestimated estimatedtotoreceive receive when whenthetheevent eventisis assumed assumedtotooccur. occur.

[0120]

[0120] Thetraveling The traveling state state control control system system of of this thisform form may employthe may employ thetechnical technical features ofany features of anyoneone of of thethe forms forms (1) through (1) through (21). (21).

[0121]

[0121] (23) AAtraveling (23) traveling state state control control system systemconfigured configuredto tocontrol controla traveling a traveling state of state of at atleast leastoneoneofofa aplurality plurality of of movable movablebodies bodies including including aa first firstmovable movable body andaa body and

secondmovable second movable body, body, comprising comprising a traveling a traveling state state controldevice control device configured configured to to control control thethe traveling state traveling stateof ofatat least leastoneone of of thethe firstfirst movable body movable bodyand thethesecond and secondmovable movable body based body based

on at least one of an event estimated to occur due to traveling of the first movable body that on at least one of an event estimated to occur due to traveling of the first movable body that

is located is located at ataahigher higherposition positionthan thanthe thesecond second movable bodyand movable body andanan influence influence of of theevent the event that the that the second second movable bodyisisestimated movable body estimatedtotoreceive receive when whenthetheevent eventisis assumed assumedtotooccur, occur,SOso as to as to control control aarelative relativepositional positionalrelationship relationship between between the first the first movable movable body body and and the second the second

movable body. movable body.

24 24 43237134_1 43237134 1

[0122]

[0122] Thetraveling The traveling state state control control system system of of this thisform form may employthe may employ thetechnical technical featuresofofany features anyoneone of of thethe forms forms (1) through (1) through (22). (22). 2023282238

25 25 43237134_1 43237134_1

Claims (13)

CLAIMS:

1. A traveling control device provided for each of a plurality of movable bodies to control each of the plurality of movable bodies,

wherein each of the plurality of movable bodies includes: 2023282238

a movable body communication device that allows communication among the plurality of movable bodies and communication between the plurality of movable bodies and an external information transmission device;

a drive device;

a brake device; and

a steering device,

wherein the movable body communication device of each of the plurality of movable bodies transmits front-position information and an occurrence level of an event,

wherein the front-position information is information indicative of a position of a first section located ahead of a first movable body included in the plurality of movable bodies,

wherein the occurrence level of the event is an occurrence level of an event estimated to occur when it is assumed that the first movable body travels the first section, based on a road surface condition of the first section,

wherein the road surface condition of the first section located ahead of the first movable body is obtained via the movable body communication device, and

wherein the traveling control device controls at least one of the drive device, the brake device, and the steering device of the second movable body such that the second movable body avoids an influence of the event or the second movable body is less influenced by the event when it is determined that the second movable body is approaching

a second section where the second movable body is estimated to receive the influence of the event if the event is assumed to occur,

wherein the traveling control device controls the at least one of the drive device, the brake device, and the steering device of the second movable body based on a position of the second movable body and a position of the first section indicated by the front-position information transmitted from the first movable body and received by the movable body 2023282238

communication device.

2. A traveling state control system configured to control a traveling state of at least one of a plurality of movable bodies, the traveling state control system including:

a traveling state control device that receives control information and is configured to control a traveling state of at least one of a first movable body and a second movable body in the plurality of movable bodies based on (i) a relative positional relationship between the first movable body and the second movable body and (ii) at least one of a future event estimated to occur due to traveling of the first movable body in a first section of a travel path that is located at a higher position than the second movable body and an influence of the event that the second movable body is estimated to receive in a second section of the travel path when the future event is estimated to occur, wherein the second section of the travel path is determined based on a position of the first section and map information,

wherein the future event is estimated to occur based on a road surface condition of the first section of the travel path and movable body information associated with the first movable body, wherein the road surface condition of the first section of the travel path is determined based on data received from at least one road surface sensor;

wherein the traveling state control device controls the traveling state of at least one of the first movable body and the second movable body based on altitude difference data between the first section and the second section before the future event is estimated to occur such that the second movable body is located outside a range where the second movable body is estimated to receive the influence of the future event.

3. The traveling state control system according to claim 2, wherein the traveling state control device slows down a travel speed of the first movable body when the second movable body

is located in a range where the second movable body is estimated to receive the influence of the event.

4. The traveling state control system according to claim 2 or 3,

wherein the traveling state control device includes an occurrence level obtaining portion configured to obtain, for each of a plurality of sections of a travel region where the 2023282238

plurality of movable bodies travels, an occurrence level that is a degree of the event estimated to occur, based on at least one of a condition of a road surface portion and a state of the first movable body in each of the plurality of sections of the travel region, and

wherein the traveling state control device controls the traveling state of at least one of the first movable body and the second movable body based on the occurrence level in each of the plurality of sections of the travel region obtained by the occurrence level obtaining portion.

5. The traveling state control system according to claim 4, wherein the occurrence level obtaining portion obtains the occurrence level, for each of the plurality of sections of the travel region, based on at least one of an occurrence possibility of the event and severity of the event in each of the plurality of sections of the travel region, the severity of the event being a scale of the event.

6. The traveling state control system according to the claim 4 or 5, wherein the occurrence level obtaining portion obtains, for each of the plurality of sections of the travel region, the occurrence level based on at least one of a condition of a road surface portion and a state of the first movable body in each of the plurality of sections of the travel region.

7. The traveling state control system according to any one of claims 2-6, including a work plan generating portion configured to generate a work plan for the plurality of movable bodies,

wherein the traveling state control device controls the traveling state of at least one of the first movable body and the second movable body based on the work plan.

8. The traveling state control system according to any one of claims 2-7, wherein each of the first movable body and the second movable body includes a drive device, a brake device, and

a steering device, and wherein the traveling state control device controls, before the future event is estimated to occur, at least one of the drive device, the brake device, and the steering device of at least one of the first movable body and the second movable body.

9. The traveling state control system according to any one of claims 2-8, wherein the second movable body includes a steering device, and wherein the traveling state control device controls the steering device of the second movable body before the future event is estimated 2023282238

to occur to cause the second movable body to be evacuated such that the second movable body is located outside a range where the second movable body is estimated to receive the influence of the event.

10. A traveling state control system configured to control a traveling state of at least one of a plurality of movable bodies including a first movable body and a second movable body, the traveling state control system including:

a traveling state control device that receives control information and is configured to control the traveling state of at least one of the first movable body and the second movable body based on at least one of a future event estimated to occur due to traveling of the first movable body in a first section of a travel path that is located at a higher position than the second movable body and an influence of the future event that the second movable body is estimated to receive in a second section of the travel path when the event is estimated to occur, so as to control a relative positional relationship between the first movable body and the second movable body, wherein the second section of the travel path is determined based on a position of the first section and map information,

wherein the future event is estimated to occur based on a road surface condition of the first section of the travel path and movable body information associated with the first movable body, wherein the road surface condition of the first section of the travel path is determined based on data received from at least one road surface sensor;

wherein the traveling state control device controls the traveling state of at least one of the first movable body and the second movable body based on altitude difference data between the first section and the second section such that the second movable body is located

outside a range where the second movable body is estimated to receive the influence of the future event.

11. The traveling state control system according to claim 10, wherein each of the first movable body and the second movable body includes a drive device, a brake device, and a steering device, and wherein the traveling state control device controls, before the future even is estimated to occur, at least one of the drive device, the brake device, and the steering 2023282238

device of at least one of the first movable body and the second movable body.

12. The traveling state control system according to claim 10, wherein the second movable body includes a steering device, and wherein the traveling state control device controls, before the future even is estimated to occur, the steering device of the second movable body to cause the second movable body to be evacuated such that the second movable body is located outside a range where the second movable body is estimated to receive the influence of the event.

13. A travelling state control system for controlling a travelling state of at least one of a first movable body and a second movable body, the system including a processor configured to:

determine influence that the second movable body is estimated to receive in a second section of a travel path from a future event caused by the first movable body travelling in a first section of a travel path located at a higher position than the second movable body, wherein the second section of the travel path is determined based on a position of the first section and map information, the influence being determined based on the future event, a current position of the first movable body, a position of the first section of the travel path and a position of the second moveable body, wherein the future event is estimated based on a road surface condition of the first section of the travel path and movable body information associated with the first movable body, wherein the road surface condition of the first section of the travel path is determined based on data received from at least one road surface sensor;

generate a control command based on the determined influence and altitude difference data between the first section and the second section; and

control the traveling state of at least one of the first movable body and the second movable body based on the generated control command before the future event is estimated

to occur such that the second movable body is located outside a range where the second movable body is estimated to receive the influence of the future event.

Toyota Jidosha Kabushiki Kaisha; Komatsu, Ltd. Patent Attorneys for the Applicant 2023282238

SPRUSON & FERGUSON