AU2024200380B2 - Operation management system - Google Patents

Abstract

OPERATION MANAGEMENT SYSTEM ABSTRACT An operation management system (1) includes: a surroundings monitoring device (2) configured to detect a distance between an own mobility and an object located in front of the own mobility and; a position detecting device (3) configured to detect a position of the own mobility; and a controller (4) configured to control automated driving of the own mobility based on a detection result of the position detecting device and a detection result of the surroundings monitoring device. The controller is configured to: calculate a visibility limit distance that is a maximum value of a range in which the surroundings monitoring device is capable of detecting the object in front of the own mobility, based on the detection result of the surroundings monitoring device; and set a priority of maintenance with respect to a road surface or a preceding mobility that travels ahead of the own mobility, based on the visibility limit distance. 43456031_1 A -%%%%-% .. %%%--%%%%

Description

A -%%%%-% .. %%%--%%%% OPERATION MANAGEMENT SYSTEM

BACKGROUND Technical Field

[0001] The present disclosure relates to an operation management system. Description of Related Art

[0002] A system for managing an operation of a mobility has been developed for executing appropriate driving control of the mobility. For instance, Japanese Patent Application Publication No. 2022-96071 discloses a risk management system for evaluating, in real time, a risk that may prevent traveling of an automobile.

SUMMARY

[0003] When a mobility travels on an unpaved road such as a dirt road, sand dust is generated, so that a following mobility suffers from poor visibility. In the mobility that is performing automated driving, visibility of a surroundings monitoring device such as cameras deteriorates. In mines, on the assumption that sand dust is generated due to traveling of the mobility, automated driving control of the mobility is executed such that a sufficient spacing distance is set beforehand between two mobilities that are traveling so as to be arranged in the front-rear direction and/or such that the traveling speed is lowered to prevent generation of sand dust. According to the control, however, the working efficiency is lowered. For improving the working efficiency, it is required to sprinkle water over dry road surface by a sprinkler truck. That is, it is useful to perform maintenance on road surface (area) where sand dust is likely to be generated, for efficient traveling of the mobility.

[0004] It is considered that a cause of poor visibility ahead of an own mobility is not only sand dust but also exhaust gas of a preceding mobility that is traveling ahead of the own mobility. In a case where colored exhaust gas is discharged in a large amount due to abnormality of the preceding mobility, the visibility of a following mobility deteriorates.

[0004a] It is an object of the present invention to substantially overcome, or at least ameliorate, at least one disadvantage of present arrangements.

[0004b] According to one aspect of the present invention, there is provided operation management system, comprising: a surroundings monitoring device mounted on an own mobility and configured to detect a distance between the own mobility and an object located in front of the own mobility and; a position detecting device mounted on the own mobility and configured to detect a position of the own mobility; and a controller configured to control automated driving of the own mobility based on a detection result of the position detecting device and a detection result of the surroundings monitoring device, wherein the controller is configured to: calculate a visibility limit distance that is a maximum value of a range in which the surroundings monitoring device is capable of detecting the object in front of the own mobility, based on the detection result of the surroundings monitoring device; set a priority of maintenance with respect to water sprinkling over a road surface or a gas discharge mechanism of a preceding mobility that travels ahead of the own mobility, based on the visibility limit distance; and determine whether a target for the maintenance is the road surface or the gas discharge mechanism of the preceding mobility, based on information transmitted from a plurality of mobilities in a predetermined time.

[0005] An aspect of the present disclosure relates to an operation management system capable of appropriately setting a priority of maintenance with respect to a road surface or a preceding mobility.

[0006] In one aspect of the present disclosure, an operation management system includes: a surroundings monitoring device mounted on an own mobility and configured to detect a distance between the own mobility and an object located in front of the own mobility and; a position detecting device mounted on the own mobility and configured to detect a position of the own mobility; and a controller configured to control automated driving of the own mobility based on a detection result of the position detecting device and a detection result of the surroundings monitoring device. The controller is configured to: calculate a visibility limit distance that is a maximum value of a range in which the surroundings monitoring device is capable of detecting the object in front of the own mobility, based on the detection result of the surroundings monitoring device; and set a priority of maintenance

2a

with respect to a road surface or a preceding mobility that travels ahead of the own mobility, based on the visibility limit distance.

[00071 In a good visibility situation, the visibility limit distance is a set value that is predetermined based on performance or setting of the surroundings monitoring device. In a case where sand dust or abnormal exhaust gas is being generated ahead of the own mobility, the visibility limit distance is smaller than the set value. In a case where two mobilities are traveling so as to be arranged in the front and rear direction while keeping a predetermined inter-mobility distance (vehicle-to-vehicle distance), the visibility of the following mobility becomes worse and the visibility limit distance decreases with an increase in a scale of sand dust due to traveling of the preceding mobility. The scale of sand dust increases with an increase in a dryness degree of the road surface (dirt road), and abnormal exhaust gas is discharged when the preceding mobility is abnormal. In view of the principle, it is possible to estimate the dryness degree of the road surface or an abnormality degree of the preceding mobility based on the visibility limit distance. According to the present disclosure, the priority of the maintenance is set based on the calculated visibility limit distance, thus enabling the priority to be properly set depending on current situations.

BRIEF DESCRIPTION OF THE DRAWINGS

[00081 The objects, features, advantages, and technical and industrial significance of the present disclosure will be better understood by reading the following detailed description of an embodiment, when considered in connection with the accompanying drawings, in which: Fig. 1 is a view illustrating a configuration of an operation management system of one embodiment of the present disclosure; Fig. 2 is a conceptual view for explaining areas in the embodiment; Fig. 3 is a conceptual view for explaining a visibility limit distance in the embodiment; and Fig. 4 is a view representing a relationship between a traveling speed and a target value in the embodiment.

DETAILED DESCRIPTION OF THE EMBODIMENT

[0009] Referring to the drawings, there will be hereinafter described in detail an operation management system 1 according to one embodiment of the present disclosure. It is to be understood that the present disclosure is not limited to the details of the present embodiment but may be embodied with various changes and modifications based on the knowledge of those skilled in the art. In the present embodiment, there will be described a configuration of one example of the operation management system 1 used in mines where most of roads are unpaved roads (dirt roads).

[0010] The operation management system 1 of the present embodiment is configured to be capable of communicating with a plurality of registered mobilities to manage operations of the plurality of registered mobilities, each of which is configured to obtain positional information thereof. The registered mobilities are mobilities registered beforehand in the operation management system 1. The mobility is a movable body that travels on a road surface. In the present embodiment, the registered mobilities are, for instance, a plurality of light vehicles and a plurality of large-sized dump trucks (large-sized heavy equipment). The light vehicle is a pickup truck, for instance. Various kinds of information on the registered mobilities (such as specifications) are stored in a memory 4b that will be described.

[0011] The operation management system 1 manages operations of the plurality of registered mobilities including the mobilities that are different in kind or type. At least one of a central system 9 and a system in the registered mobility is equipped with the functions of the operation management system 1. Part of the functions of the operation management system 1 of the present embodiment is executed by the central system 9 disposed outside the mobility. The central system 9 is disposed in a facility that has a wireless communication device.

[0012] Specifically, the operation management system 1 includes a surroundings monitoring device 2, a position detecting device 3, and a controller 4. The surroundings monitoring device 2 is mounted on an own mobility to detect a distance between the own mobility and an object located in front of the own mobility. The surroundings monitoring device 2 may be referred to as a distance sensor. The surroundings monitoring device 2 monitors (recognizes) surroundings of the own mobility. The surroundings monitoring device 2 includes, for instance, at least one camera, at least one light detection and ranging or laser imaging detection and ranging (LiDAR) device and/or at least one millimeter wave radar. For instance, it is possible to calculate a distance to the object located in front of the own mobility based on imaging results of a plurality of cameras like a stereo camera. Based on a detection result of the surroundings monitoring device 2 and three-dimensional map data, the surrounding situation and the self position can be recognized with high accuracy. The

43456031_1 operation management system 1 is configured to be capable of locally modifying a target route based on the detection result of the surroundings monitoring device 2.

[0013] The position detecting device 3 is mounted on the own mobility to detect the position of the own mobility. The position detecting device 3 includes a receiver of a global navigation satellite system (GNSS), for instance. The operation management system 1 can obtain the positional information based on the GNSS positioning data received by the receiver.

[0014] The controller 4 controls automated driving of the own mobility based on the detection results of the position detecting device 3 and the surroundings monitoring device 2. The controller 4 is constituted by one or more computers. The controller 4 of the present embodiment includes a central computer 41 and an on-board computer 42. Each of the central computer 41 and the on-board computer 42 includes at least one processor 4a and at least one memory 4b. The processor 4a of each computer 41, 42 executes various kinds of processing according to programs stored in the memory 4b. The memory 4b may be disposed inside or outside the computer 41, 42. The computer 41, 42 may be referred to as an electronic control unit (ECU).

[0015] The central computer 41 constitutes the central system 9 that manages operations of the plurality of mobilities. That is, the central computer 41 is at least part of the central system 9. The central computer 41 calculates a target route of each registered mobility based on a destination and a current location of each registered mobility and transmits information on the target route to each registered mobility. The central computer 41 transmits, to each registered mobility, commands as to a traveling speed and an inter mobility distance (vehicle-to-vehicle distance) in automated driving of each registered mobility.

[0016] The on-board computer 42 is mounted on the own mobility and controls automated driving of the own mobility. That is, the on-board computer 42 is mounted on each registered mobility. The on-board computer 42 controls the drive force, the braking force, the steering angle, etc., of the own mobility based on commands from the central computer 41 (such as the target route), the detection result of the position detecting device 3, and the detection result of the surroundings monitoring device 2. In automated driving, the on-board computer 42 transmits respective control target values to an ECU that controls the drive force, an ECU that controls the braking force, and an ECU that controls the steering angle. Sensors mounted on each registered mobility include, for instance, wheel speed sensors, a longitudinal acceleration sensor, a vertical acceleration sensor, a lateral acceleration sensor, a yaw rate sensor, a pitch rate sensor, a roll rate sensor, and a vehicle height sensor. The traveling speed can be calculated based on wheel speeds, for instance.

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Communication in the mobility is performed through a CAN (car area network or controllable area network), for instance.

[00171 The on-board computer 42 calculates a visibility limit distance of the surroundings monitoring device 2 on the front side of the own mobility based on the detection result of the surroundings monitoring device 2. The visibility limit distance is a maximum value of a range in which the surroundings monitoring device 2 is capable of detecting an object. In other words, the visibility limit distance is a maximum distance toward the front side over which the surroundings monitoring device 2 is capable of detecting the object. Further, the visibility limit distance may be referred to as a recognition limit distance that is a maximum distance in a range in which the surroundings monitoring device 2 is capable of recognizing that there is an object on the road surface ahead of the own mobility. The visibility limit distance may be referred to as an effective range.

[00181 In a case where no visibility deterioration factors are present ahead of the own vehicle, the visibility limit distance is a set value that is predetermined based on performance of the surroundings monitoring device 2, for instance. When the visibility ahead of the own mobility is obstructed due to the visibility deterioration factor such as sand dust or abnormal exhaust gas in the detectable range of the surroundings monitoring device 2, the distance from the own mobility to the visibility deterioration factor is the visibility limit distance. That is, when the visibility limit distance becomes less than the set value, it can be estimated that the visibility deterioration factor is generated in the detectable range of the surroundings monitoring device 2. The visibility deterioration factor may be referred to as a recognition disturbance factor. The on-board computer 42 calculates the visibility limit distance and transmits the calculated visibility limit distance to the central computer 41.

[0019] The controller 4 of the present embodiment detects the visibility deterioration factor (that may be referred to as a spatial obstacle) in the air ahead of the own mobility. In mines, the controller 4 may calculate the visibility limit distance by limiting a target that is determined to be the visibility deterioration factor to substances in the air (such as sand dust or the exhaust gas). In ordinary roads, the controller 4 may determine the visibility deterioration factor in consideration of other visibility deterioration factors depending on predetermined situations. In a case where a recognition target object (such as the preceding mobility) is difficult to be recognized in a space between the surroundings monitoring device 2 and the recognition target object due to sand dust or colored exhaust gas, it is difficult for the surroundings monitoring device 2 to receive signals from the recognition target object. As a result, the SN ratio largely changes.

[0020] For instance, the controller 4 measures a distance between the own mobility and the visibility deterioration factor according to a ToF (Time of Flight) technique utilizing the surroundings monitoring device 2. In a case where there exists sand dust or

43456031_1 colored exhaust gas in the space ahead of the own mobility, light from the surroundings monitoring device 2 is scattered, and time for the light to be reflected by sand dust or colored exhaust gas and to return to the surroundings monitoring device 2 changes. The visibility limit distance may be calculated based on light scattering pattern or time of flight (ToF) of light. In a case where it is determined that there exists the visibility deterioration factor ahead of the own mobility, the controller 4 may calculate a distance between the own mobility and the most distant one of objects (such as the road surface or the unevenness of the road surface) that the controller 4 recognizes the existence ahead of the own mobility and may estimate the distance as the visibility limit distance. The controller 4 may estimate, as the visibility limit distance, a distance between the own mobility and a position ahead of the own mobility where the recognition region (such as the area of a recognizable portion of an image taken by the camera) is less than a threshold. Known methods may be utilized as the calculation method of the visibility limit distance.

[0021] Priority of Maintenance The central computer 41 sets a priority of maintenance with respect to a road surface or a preceding mobility that travels ahead of the own mobility, based on the visibility limit distance. In other words, the central computer 41 stores, in the memory 4b, the priority of the maintenance with respect to the road surface or the preceding mobility based on the information on the visibility limit distance transmitted from the on-board computer 42. The central computer 41 sets the priority of the maintenance such that the smaller the visibility limit distance, the higher the priority of the maintenance. When the visibility limit distance decreases due to the sand dust or the exhaust gas, the priority of performing water sprinkling (maintenance) over the road surface or the priority of performing the maintenance of a gas discharge mechanism of the preceding mobility becomes high.

[0022] In map data stored in the central computer 41, a road is divided into a plurality of areas. The areas are defined by grid lines at predetermined intervals, for instance, and may be referred to as a grid or cells. The areas may be set over the entirety of the map data or may be set only for portions of the map data where roads are present. Characteristics of the areas (such as the size, the shape, the number of the areas) may be suitably set on the map data.

[00231 The central computer 41 stores the priority of the maintenance for each area. That is, the central computer 41 stores the area and the priority of the maintenance in association with each other. For instance, when the visibility limit distance is less than a predetermined value in the area X1, the priority of the maintenance with respect to the road surface in the area X1 is high. In this instance, the central computer 41 stores maintenance

43456031_1 information (indicative of high priority) in association with the area X1. Hereinafter, the priority of the maintenance will be referred to as maintenance information.

[0024] Based on the visibility limit distance, the central computer 41 sets the road surface to a maintenance target and stores the maintenance information for each area. This will be explained referring to a case illustrated in Fig. 2 in which three mobilities that are the same in type, i.e., a first mobility M1 (top), a second mobility M2, and a third mobility M3 (last), are platooning at the same traveling speed. When the visibility limit distance of the second mobility M2 becomes smaller than a threshold in the area X1, the maintenance information of the area Xl is updated, and the priority of the maintenance of the road surface in the area X1 becomes high. Subsequently, when the visibility limit distance of the third mobility M3 that travels the area X1 is not less than the predetermined value, it is estimated that poor visibility of the second mobility M2 is not due to sand dust resulting from the dryness of the road surface of the area X1 but due to abnormality of the exhaust gas of the first mobility Ml, for instance. In this case, the central computer 41 returns the maintenance information of the area X1 to that before updated and updates the maintenance information for the first mobility Ml. That is, the central computer 41 stores the maintenance information in association with each registered mobility.

[0025] On the other hand, when the visibility limit distance of the third mobility M3 that travels the area X1 becomes smaller than the predetermined value as in the second mobility M2, the road surface is determined to be the maintenance target of the area Xl, and the maintenance information of the area X1 is maintained. Thus, the maintenance target is determined based on the information transmitted from the plurality of mobilities that travels in the same area in a predetermined time. The central computer 41 may execute processing relating to the maintenance in order from the areas with higher priority. The processing relating to the maintenance may be an instruction to the sprinkler truck, an instruction or warning to a user, displaying on the map data, or generation of the maintenance plan, for instance.

[00261 Control When Visibility Limit Distance Decreases The on-board computer 42 adjusts the traveling speed of the own mobility such that the visibility limit distance does not become less than the braking distance of the own mobility. The braking distance is a distance required from application of the brake till complete stop of the own mobility. The braking distance is calculated based on brake performance and the traveling speed. As illustrated in Fig. 3, when the visibility limit distance becomes less than the braking distance, the on-board computer 42 of the present embodiment lowers the traveling speed of the own mobility relative to the preceding mobility such that the visibility limit distance becomes equal to a predetermined distance. The

43456031_1 predetermined distance is a sum of the braking distance and a predetermined margin a. The margin a prevents hunting of control. The state in which the visibility limit distance is kept at the predetermined distance is a state in which the visibility limit distance is small. Thus, the priority of the maintenance stored in association with the area or the preceding mobility is high.

[00271 The central computer 41 transmits a target value of the inter-mobility distance to each registered mobility. The on-board computer 42 controls the traveling speed of the own mobility such that the inter-mobility distance becomes equal to the target value. This control will be hereinafter referred to as a basic control. When the visibility limit distance is less than the braking distance or less than the set value, the on-board computer 42 adjusts the traveling speed of the own mobility such that the visibility limit distance becomes equal to the predetermined distance. This control will be hereinafter referred to as a visibility maintaining control. The visibility maintaining control enables the visibility limit distance to be kept equal to the braking distance or more. This enables the on-board computer 42 to perform collision avoidance processing such as stopping of the own mobility or avoidance of the obstacle after having recognized the obstacle even when the obstacle is hidden in sand dust ahead of the own mobility.

[00281 The on-board computer 42 causes the inter-mobility distance to be close to the target value by the basic control while executing the visibility maintaining control with higher priority. Thus, in a case where the scale of sand dust or the exhaust gas is large, the inter-mobility distance may become greater than the target value by the visibility maintaining control. Hereinafter, the inter-mobility distance that becomes greater than the target value by the visibility maintaining control will be referred to as an enlarged spacing distance.

[0029] The larger the scale of sand dust, the lower the traveling speed of the own mobility and the greater the inter-mobility distance, in order to maintain the visibility limit distance at the predetermined distance. According to the visibility maintaining control, the larger the scale of sand dust, the greater the inter-mobility distance. The on-board computer 42 may calculate the inter-mobility distance changed by the visibility maintaining control and may transmit, to the central computer 41, information on the changed inter-mobility distance. The on-board computer 42 can calculate the inter-mobility distance (enlarged spacing distance) after the visibility maintaining control based on a change in a relative speed of the own mobility to the preceding mobility and the traveling time.

[00301 The central computer 41 obtains the positional information of each registered mobility from each registered mobility. The central computer 41 can grasp each inter-mobility distance based on the collected positional information. Further, the central computer 41 can grasp the inter-mobility distance based on information on the inter-mobility distance transmitted from the on-board computer 42.

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[00311 The central computer 41 transmits a target inter-mobility distance of each area as the target value (command value). The target value is stored for each area. The target value changes depending on the traveling speed of the preceding mobility. The traveling speed and the target value are proportional to each other. That is, the higher the traveling speed of the preceding mobility, the greater the target value of the inter-mobility distance. In a situation in which the visibility is good, the on-board computer 42 of each registered mobility controls automated driving such that the inter-mobility distance is equal to the target value.

[0032] When the inter-mobility distance becomes greater than the target value by the visibility maintaining control executed by the on-board computer 42, the central computer 41 increases the target value associated with the corresponding area. Thus, the central computer 41 updates the target value when a predetermined condition is satisfied. The predetermined condition is that "the inter-mobility distance becomes greater than the target value by the visibility maintaining control and a length of time, during which the change of the inter-mobility distance falls within a predetermined range, exceeds a predetermined length of time", for instance. When the predetermined condition is satisfied, the central computer 41 updates the target value to a current inter-mobility distance (enlarged spacing distance). Specifically, when the predetermined condition is satisfied, as illustrated in Fig. 4, the central computer 41 increases a "gradient of the target value" indicating a change amount of the target value per unit change of the traveling speed.

[0033] When the central computer 41 updates the target value corresponding to the area X1, for instance, the central computer 41 transmits the updated target value to the registered mobility that travels the area X1. Accordingly, the inter-mobility distance of the registered mobility that travels the area X1 after the target value has been updated increases without executing the visibility maintaining control. The inter-mobility distance in the area X1 is maintained in a state in which the visibility limit distance is greater than the braking distance.

[0034] The target value of the inter-mobility distance and the priority of the maintenance are in a correspondence relationship. The greater the gradient of the target value, i.e., the target value/the traveling speed, the higher the priority of the maintenance. The central computer 41 stores the gradient of the target value and the priority of the maintenance in association with each other. The central computer 41 stores the area where the gradient of the target value is greater than an initial set value as the area where the priority of the maintenance is high. The order of performing water sprinkling for the areas is set in accordance with the priority of the maintenance of the road surface.

[00351 The central computer 41 can indicate, on a display or the like, map data that indicates the priority of the maintenance. The user can grasp the maintenance

43456031_1 information of each area indicated on the display. Further, the central computer 41 can determine the order of performing the maintenance of the road surface for the plurality of areas according to the priority.

[00361 The likelihood of generation of sand dust varies depending on the dryness degree of the road surface, the size of the preceding mobility, and the traveling speed of the preceding mobility. The higher the dryness degree of the road surface, the higher the likelihood of generation of sand dust. The larger the preceding mobility, e.g., the larger the ground contact area of the tire, the higher the likelihood of generation of sand dust. The higher the traveling speed of the preceding mobility, the higher the likelihood of generation of sand dust. The controller 4 sets the priority of each area in consideration of those factors. For instance, a case is considered in which the large-sized dump truck and the light vehicle travel in mutually different areas at the same traveling speed. In this case, if the same scale of sand dust is generated in the areas, it can be determined that the dryness degree of the road surface is higher in the area where the light vehicle has traveled than in the area where the large-sized dump truck has traveled. That is, the priority of the maintenance is higher in the area where the light vehicle has traveled than in the area where the large-sized dump truck has traveled. The controller 4 sets the priority of the maintenance based on not only the inter mobility distance but also the size of the preceding mobility and the traveling speed.

[00371 The central computer 41 returns, to an initial value, the maintenance information of the area where the maintenance (water sprinkling) has been performed. Further, when the visibility of the plurality of registered mobilities is good, namely, when the visibility limit distance is the set value, in the area where the maintenance information has been updated, the central computer 41 returns the maintenance information of the area to the initial value.

[00381 As described above, the central computer 41 transmits, to the on-board computer 42, the target value of the inter-mobility distance, which is a distance between two mobilities that are traveling so as to be arranged in the front-rear direction. The on-board computer 42 executes the basic control to adjust the traveling speed of the own mobility such that the inter-mobility distance becomes closer to the target value. Simultaneously, the on board computer 42 executes the visibility maintaining control to adjust the traveling speed of the own mobility such that the visibility limit distance is maintained at not less than the braking distance of the own mobility. That is, the on-board computer 42 executes the visibility maintaining control while executing the basic control. When the inter-mobility distance is maintained at the enlarged spacing distance greater than the target value by the visibility maintaining control, the central computer 41 updates the target value to the enlarged spacing distance. The central computer 41 increases the priority of the maintenance with

43456031_1 respect to the road surface or the preceding mobility with an increase in the target value relative to a given traveling speed as a result of updating of the target value.

[0039] Advantageous Effects of Present Embodiment In a good visibility situation, the visibility limit distance is a set value that is predetermined based on performance or setting of the surroundings monitoring device. In a case where sand dust or abnormal exhaust gas is being generated ahead of the own mobility, the visibility limit distance is smaller than the set value. In a case where two mobilities are traveling so as to be arranged in the front and rear direction while keeping a predetermined inter-mobility distance (vehicle-to-vehicle distance), the visibility of the following mobility becomes worse and the visibility limit distance decreases with an increase in a scale of sand dust due to traveling of the preceding mobility. The scale of sand dust increases with an increase in a dryness degree of the road surface (dirt road ), and abnormal exhaust gas is discharged when the preceding mobility is abnormal. In view of the principle, it is possible to estimate the dryness degree of the road surface or an abnormality degree of the preceding mobility based on the visibility limit distance. According to the present embodiment, the priority of the maintenance is set based on the calculated visibility limit distance, thus enabling the priority to be properly set depending on current situations.

[0040] The central computer 41 updates the target value of the inter-mobility distance in accordance with the enlarged spacing distance (i.e., the scale of sand dust and the dryness degree of the road surface). Thus, the registered mobility that receives the updated target value achieves an appropriate inter-mobility distance suitable for the road surface condition without executing the visibility maintaining control.

[0041] Modifications The present disclosure is not limited to the embodiment illustrated above. For instance, the controller 4 may be constituted only by the on-board computer 42 mounted on the own mobility. In this instance, the on-board computer 42 calculates the visibility limit distance based on the detection result of the surroundings monitoring device 2 and sets the priority of the maintenance with respect to the road surface or the preceding mobility based on the visibility limit distance. For instance, the on-board computer 42 may receive information on the visibility limit distance from the following mobility that travels behind the own mobility, may compare the received visibility limit distance with the visibility limit distance calculated by itself, and may determine whether the maintenance target is the road surface or the preceding mobility based on the comparison result. For instance, if the visibility limit distance calculated by the following mobility is a value similar to the visibility limit distance calculated by the own mobility, it can be determined that the maintenance

43456031_1 target is the road surface. If the visibility limit distance calculated by the following mobility is a value similar to that in good visibility condition and only the visibility limit distance calculated by the own mobility is small, it can be determined that the maintenance target is the preceding mobility. Thus, the setting of the maintenance information can be performed not by the central system 9 but by the own mobility.

[0042] In a case where the inter-mobility distance ahead of the own mobility is greater than the target value from the central computer 41, the on-board computer 42 increases the traveling speed of the own mobility relative to the preceding mobility such that the inter-mobility distance becomes close to the target value. When the on-board computer 42 detects the visibility limit, namely, when the visibility limit distance becomes less than the set value, in a time period in which the inter-mobility distance is made close to the target value, the on-board computer 42 adjusts the traveling speed such that the visibility limit distance becomes equal to the predetermined distance (Fig. 3).

[00431 In terms of accurate detection of the visibility limit, the on-board computer 42 may temporarily increase the sensitivity of the surroundings monitoring device 2. In a state in which the sensitivity is increased, the on-board computer 42 decreases the inter-mobility distance and again calculates the visibility limit distance. Thus, the on-board computer 42 can determine the visibility limit distance with higher accuracy. Based on the thus determined visibility limit distance, the on-board computer 42 controls the traveling speed of the own mobility such that the visibility limit distance is equal to the predetermined distance. After the determination of the visibility limit distance, the sensitivity of the surroundings monitoring device 2 is returned to an initial value. The adjustment of the inter mobility distance may be effectuated by controlling the traveling speed of the preceding mobility. It is noted, however, that the state of generation of sand dust may change if the traveling speed of the preceding mobility is changed. It is accordingly preferable to adjust the traveling speed of the own mobility.

[0044] As one example of the maintenance target set by the controller 4, the surroundings monitoring device 2 of the own mobility may be included. In a case where the visibility limit distance of only the own mobility is continuously small over the plurality of areas even when the preceding mobility is changed to other mobilities plural times, it can be determined that the surroundings monitoring device 2 of the own mobility is abnormal. The cause for the abnormality is, for instance, fogging of camera lenses, adherence of mud to camera lenses. The technique of the present disclosure is applicable to ordinary roads. The priority of the maintenance may be rephrased as need of the maintenance. The processing of setting the priority of the maintenance may be rephrased as processing of prompting the user or the central computer 41 to perform the maintenance.

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[00451 The position detecting device 3 and the map data may be installed on the mobility as part of a navigation device. The visibility maintaining control may be executed when the visibility limit distance is less than a predetermined threshold. The predetermined threshold may be set to the visibility limit distance (set value) of the surroundings monitoring device 2 in good visibility situations or may be set to the braking distance of the own mobility.

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Claims (5)

CLAIMS:

1. An operation management system, comprising: a surroundings monitoring device mounted on an own mobility and configured to detect a distance between the own mobility and an object located in front of the own mobility and;

a position detecting device mounted on the own mobility and configured to detect a position of the own mobility; and a controller configured to control automated driving of the own mobility based on a detection result of the position detecting device and a detection result of the surroundings monitoring device, wherein the controller is configured to: calculate a visibility limit distance that is a maximum value of a range in which the surroundings monitoring device is capable of detecting the object in front of the own mobility, based on the detection result of the surroundings monitoring device; set a priority of maintenance with respect to water sprinkling over a road surface or a gas discharge mechanism of a preceding mobility that travels ahead of the own mobility, based on the visibility limit distance; and determine whether a target for the maintenance is the road surface or the gas discharge mechanism of the preceding mobility, based on information transmitted from a plurality of mobilities in a predetermined time.

2. The operation management system according to claim 1, wherein the controller is configured to set the priority of the maintenance with respect to the road surface or the preceding mobility such that the smaller the visibility limit distance, the higher the priority of the maintenance.

3. The operation management system according to claim 1 or 2, wherein the controller includes: a central computer that constitutes a central system that manages operations of a plurality of mobilities; and an on-board computer mounted on the own mobility and configured to control automated driving of the own mobility, wherein the on-board computer calculates the visibility limit distance and transmits the visibility limit distance to the central computer, and wherein the central computer sets the priority of the maintenance with respect to the road surface or the preceding mobility based on the transmitted visibility limit distance.

4. The operation management system according to claim 3, wherein the central computer transmits, to the on-board computer, a target value of an inter-mobility distance, which is a distance between two mobilities that are traveling so as to be arranged in a front-rear direction, wherein the on-board computer is configured to execute: a basic control in which a traveling speed of the own mobility is adjusted such that the inter-mobility distance becomes close to the target value; and a visibility maintaining control in which the traveling speed of the own mobility is adjusted such that the visibility limit distance is maintained so as to be not less than a braking distance of the own mobility, and wherein, when the inter-mobility distance is maintained, by the visibility maintaining control, at an enlarged spacing distance that is greater than the target value, the central computer updates the target value to the enlarged spacing distance.

5. The operation management system according to claim 4, wherein the central computer increases the priority of the maintenance with respect to the road surface or the preceding mobility with an increase in the target value of the inter-mobility distance with respect to a given traveling speed as a result of the updating of the target value.

Toyota Jidosha Kabushiki Kaisha, Komatsu Ltd. Patent Attorneys for the Applicants SPRUSON&FERGUSON