AU2024200931B2 - Road surface condition obtaining system - Google Patents
Road surface condition obtaining systemInfo
- Publication number
- AU2024200931B2 AU2024200931B2 AU2024200931A AU2024200931A AU2024200931B2 AU 2024200931 B2 AU2024200931 B2 AU 2024200931B2 AU 2024200931 A AU2024200931 A AU 2024200931A AU 2024200931 A AU2024200931 A AU 2024200931A AU 2024200931 B2 AU2024200931 B2 AU 2024200931B2
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- Australia
- Prior art keywords
- road surface
- surface condition
- movable
- movable body
- condition
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- Navigation (AREA)
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- Traffic Control Systems (AREA)
Abstract
#$%^&*AU2024200931B220250814.pdf#####
43587551_1
ROAD SURFACE CONDITION OBTAINING SYSTEM
ABSTRACT
A road surface condition obtaining system configured to obtain a road surface condition
that is a condition of a road surface of a travel region where a movable body travels,
including: a road surface condition change estimating portion configured to estimate a
change of the road surface condition of the travel region; and a target route determining
portion (50) configured to determine the target route of the movable body based on the
change of the road surface condition estimated by the road surface condition change
estimating portion, wherein the movable body includes a movable body road surface
condition obtaining portion that obtains the road surface condition when the movable
body travels along the target route determined by the target route determining portion.
ROAD SURFACE CONDITION OBTAINING SYSTEM
ABSTRACT
A road surface condition obtaining system configured to obtain a road surface condition
that is a condition of a road surface of a travel region where a movable body travels,
including: a road surface condition change estimating portion configured to estimate a
change of the road surface condition of the travel region; and a target route determining
portion (50) configured to determine the target route of the movable body based on the
change of the road surface condition estimated by the road surface condition change
estimating portion, wherein the movable body includes a movable body road surface
condition obtaining portion that obtains the road surface condition when the movable
body travels along the target route determined by the target route determining portion.
43587551_1
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CENTRAL CONTROL
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Description
1/4 14 Feb 2024
FIG.1 FIG.1
A A 2024200931
0
28 28
28
ROAD SURFACE CONDITION OBTAINING SYSTEM 04 Jul 2025
BACKGROUND Technical Field
[0001] The present disclosure relates to a road surface condition obtaining system configured to obtain a road surface condition that is a condition of a road surface of a travel 46248759_1
region where a movable body travels. Description of Related Art 2024200931
[0002] Japanese Patent Application Publication No. 2019-44538 describes that a road surface condition of a reference route in a travel region where a plurality of movable bodies travels is estimated based on an unevenness condition of a road surface of a first part of the reference route where the movable body has traveled and an unevenness condition of a road surface of a detour route in a case where the movable body has traveled so as to detour a second part of the reference route. As a result, it is possible to obtain the road surface condition of the reference route even when the movable body detours without traveling the second part of the reference route. SUMMARY
[0002a] It is an object of the present invention to substantially overcome, or at least ameliorate, at least one disadvantage of present arrangements.
[0002b] One aspect of the present disclosure provides a road surface condition obtaining system configured to obtain a road surface condition that is a condition of a road surface of a travel region where a movable body travels, comprising: a road surface condition change estimating portion configured to estimate a change of the road surface condition of the travel region; and a target route determining portion configured to determine the target route of the movable body based on the change of the road surface condition estimated by the road surface condition change estimating portion, wherein the movable body includes a movable body road surface condition obtaining portion that obtains the road surface condition when the movable body travels along the target route determined by the target route determining portion, wherein the target route determining portion determines the target route based on a priority in obtaining the road surface condition, and wherein the target route determining portion determines the priority to be a higher value in at least one portion of the travel region for which it is estimated by the road surface condition change estimating portion that the change of the road surface condition is large than in at least one portion of the travel region for which it is estimated by the road surface condition change estimating portion that the change of the road surface condition is small, and
46248759_1
1a
wherein the target route determining portion determines the priority to be a higher value in 04 Jul 2025
a central portion of an intersection where at least two routes intersect than in a peripheral portion of the intersection.
[0002c] Another aspect of the present disclosure provides a road surface condition obtaining system configured to obtain a road surface condition that is a condition of a road 46248759_1
surface of a travel region where a plurality of movable bodies travels, wherein each of the movable bodies includes a movable body road surface condition obtaining 2024200931
portion that obtains the road surface condition when the movable body travels the travel region, wherein the plurality of movable bodies includes a third movable body
46248759_1
and aa fourth and fourth movable movable body body different different fromfrom the third the third movable movable body, body, wherein wherein the the road road surfacecondition surface condition obtaining obtaining system system includes includes a target a target route determining route determining portion configured portion configured
to determine to determine a a targetroute target routeof of the the fourth fourth movable movable body on body based based on the the road roadcondition surface surface condition obtained bybythe obtained themovable movable bodybody road road surface surface condition condition obtaining obtaining portionportion of the of the third third
movablebody, movable body,and andwherein, wherein, when when thethe fourth fourth movable movable bodybody travels travels along along the the target target route route
determinedbybythe determined thetarget target route route determining portion, the determining portion, the fourth fourth movable bodyobtains, movable body obtains,byby 2024200931
the movable the body movable body roadroad surface surface condition condition obtaining obtaining portion, portion, thethe roadroad surface surface condition condition
alongthe along thetarget targetroute. route.
[0002d]
[0002d] Anotheraspect Another aspectof ofthethe present present disclosure disclosure provides provides a roada surface road surface condition obtaining condition obtainingsystemsystem configured configured to obtain to obtain a road a road surface surface condition condition that isthat a is a condition of condition of aa road road surface surface of of aatravel travelregion regionwhere where aamovable bodytravels, movable body travels, comprising: comprising:
a target route determining portion configured to determine a target route based on at least a target route determining portion configured to determine a target route based on at least
oneofofcharacteristics one characteristicsof of thethe road road surface surface oftravel of the the travel regionregion and aofstate and a state of the movable the movable
bodythat body that travels travels on on the theroad roadsurface, surface,wherein whereinthe themovable movable body includes aa movable body includes body movable body
road surface condition obtaining portion that obtains the road surface condition along the road surface condition obtaining portion that obtains the road surface condition along the
target route target routewhen when thethe movable movable body body travelstravels along along the the route target targetdetermined route determined by the target by the target
route determining route portion. determining portion.
[0002e]
[0002e] Anotheraspect Another aspectof of thethe present present disclosure disclosure provides provides a roada surface road surface condition obtaining condition obtainingsystem system configured configured to obtain to obtain a road a road surface surface condition condition that isthat a is a condition of condition of aa road road surface surface of of aatravel travelregion regionwhere where aamovable bodytravels, movable body travels, comprising: comprising:
a target a target route routedetermining determining portion portion configured to determine configured to determine aa target target route route of of the themovable movable
bodybased body basedononananobtainment obtainment request request forfor obtaining obtaining thethe road road surface surface condition, condition, wherein wherein
the movable the bodyincludes movable body includesa amovable movable body body road road surface surface condition condition obtaining obtaining portion portion that that
obtains the obtains the road road surface surface condition condition when themovable when the movable body body travels travels along along thethe targetroute target route determinedbybythe determined thetarget target route route determining portion. determining portion.
[0003]
[0003] Someaspects Some aspects ofofthethepresent present disclosure disclosure relate relate to to aa technique technique ofof efficiently obtaining efficiently obtaining aa road road surface surface condition condition of of aa travel travel region region where where aa movable movablebody body travels. travels.
[0004]
[0004] In aa road In road surface surface condition condition obtaining obtaining system system according according toto one one aspect aspect of of the present the present disclosure, disclosure, aa target target route route ofof aa movable movable bodybody is determined is determined basedbased on an on an
obtainment obtainment request request for for obtaining obtaining a road a road surface surface condition. condition. For the For instance, instance, the target route target route
is determined is so as determined SO as to to include include at at least least one portion for one portion for which theobtainment which the obtainmentrequest requestisis made.TheThe made. movable movable body body can obtain can obtain the surface the road road surface condition condition while traveling while traveling along along the determined the determinedtargettargetroute. route.As aAsresult, a result, the the roadroad surface surface condition condition for which for which the the obtainmentrequest obtainment requestisismade madecan can be appropriately be appropriately obtained, obtained, so the SO that thatroad the surface road surface conditionofofthethetravel condition travelregion region is efficiently is efficiently obtained. obtained.
2 2 43587551_1 43587551_1
[0005]
[0005] The objects, The objects, features, features, advantages, advantages, and and technical technical andandindustrial industrial significanceofofthethepresent significance present disclosure disclosure will will be better be better understood understood by the by reading reading the following following
detailed description detailed descriptionofofan an embodiment, embodiment, whenwhenconsidered consideredininconnection connectionwith withthethe accompanying accompanying drawings, drawings, in in which: which: 2024200931
Fig. 11 is Fig. is aa view conceptually view conceptually illustrating illustrating a whole a whole road road surfacesurface condition condition
obtaining system obtaining systemaccording accordingtotoone oneembodiment embodiment of the of the present present disclosure; disclosure;
Fig. 22 is Fig. is aa view conceptuallyillustrating view conceptually illustrating aa configuration configuration of of aa central central control device control device ofof the the road road surface surface condition condition obtaining obtainingsystem systemandand a configuration a configuration of of a a
movable body; movable body; Fig. 3 is a view illustrating one example of a target route determined by Fig. 3 is a view illustrating one example of a target route determined by
a central a central ECU ECU of of thethe central central control control device; device;
Fig. 44 is Fig. is aa flowchart flowchartconceptually conceptuallyillustrating illustrating part part ofof aatarget target route route determiningprogram determining programexecuted executed by by thethe centralECU; central ECU; andand
Fig. 55 is Fig. is aa flowchart flowchartofofa atraveling travelingcontrol controlprogram program executed executed by a by a movablebody movable body ECU ECU of the of the movable movable body.body.
[0006]
[0006] Referring to Referring to the the drawings, drawings,there therewill willbebehereinafter hereinafterdescribed describeda aroad road surface condition surface condition obtaining obtaining system system according to one according to one embodiment embodimentof ofthethepresent present disclosure. The disclosure. Theroad roadsurface surfacecondition conditionobtaining obtainingsystem systemisisalso alsoaa traveling traveling management management
system. TheThe system. road road surface surface condition condition obtaining obtaining system system andtraveling and the the traveling management management
systemmay system maybebeeach eachreferred referredtotoasas aa target target route route determining system. determining system.
[0007]
[0007] Asillustrated As illustratedininFig. Fig.1,1,thetheroad road surface surface condition condition obtaining obtaining system of system of
the present the present embodiment includes embodiment includes a centralcontrol a central controldevice deviceS S and and at at leastone least oneantenna antennaA. A.
Thecentral The central control control device device SS is is communicable communicable with with a pluralityofofmovable a plurality movable bodies bodies V that V that
worksinin mines, works mines, for for instance. instance. The Theplurality pluralityofofmovable movablebodies bodies V V andand thethe centralcontrol central control device SS perform device performwireless wirelesscommunication communication directly directly or or viathe via theantenna antennaA.A.
[0008]
[0008] Theplurality The plurality ofof movable movable bodes bodes V includes V includes at least at least one large-sized one large-sized
movable body movable bodyHVHV andand at at leastone least onesmall-sized small-sized movable movablebody bodyLV.LV.In theIn the present present embodiment,thethelarge-sized embodiment, large-sizedmovable movable bodybody HVthe HV and andsmall-sized the small-sized movablemovable body LV body LV maybebecollectively may collectively or or individually individually referred referredto toasasthe movable the movablebody body V V where appropriate. where appropriate.
[0009]
[0009] Each large-sized Each large-sized movable movable body body HV maybebeaaheavy HV may heavymachine machine(heavy (heavy equipment) or equipment) or aa large-sized large-sizeddump dump truck. truck. TheThe large-sized large-sized movable movable body HVininthe body HV the present embodiment present embodiment is is a a movable movable bodybody that that wokswoks in mines. in mines. The large-sized The large-sized movable movable
3 3 43587551_1 43587551_1
bodyHV body HVisisautomatically automaticallyoperated operatedorormoved moved based based on on commands commands from from the central the central control control
device S. device S. The The large-sizedmovable large-sized movable body body HVanisautomated HV is an automated traveling traveling movable movable body. body. Each small-sizedmovable Each small-sized movablebody bodyLV LV is is a movable a movable bodybody having having a smaller a smaller
weight than weight than the the large-sized large-sizedmovable movablebodybody HV. HV. The Thesmall-sized small-sizedmovable movablebodybodyLV LV usually travels usually travels with with workers workers ononboard boardorortravels travels carrying carryingloads loadsnecessary necessaryfor forthe thework. work. Thesmall-sized The small-sizedmovable movable body body LVthe LV in in present the present embodiment embodiment is an automated is an automated driving driving 2024200931
movablebody movable body(automated (automated travelingmovable traveling movable body) body) capable capable of traveling of traveling without without a driver’s a driver's
driving operation. driving operation. TheThesmall-sized small-sizedmovable movable body body LV may LV may be a be a manual manual driving driving movable movable
bodycapable body capable of of traveling traveling by aby a driver’s driver's driving driving operation. operation.
[0010]
[0010] As illustrated As illustrated ininFig. Fig.2,2,each eachmovable movable body body VVincludes, includes,for for instance, instance, aa drive device drive device D for driving D for driving the the movable bodyV,V,aa brake movable body brake device device BBfor for braking braking the the movable movable body V, a steering device T for steering steerable wheels of the movable body V, a global body V, a steering device T for steering steerable wheels of the movable body V, a global
positioning system positioning (GPS)receiver system (GPS) receiver10, 10,aa surroundings surroundingsinformation informationobtaining obtainingdevice device12,12,a a movablebody movable body communication communication device device 14, and 14, and a movable a movable body20.ECU body ECU 20.
[0011]
[0011] The drive The drive device device D mayinclude D may include one oneoror more moreelectric electric motors each motors each functioning as functioning as aa drive drivesource sourceand and connected connected to atoplurality a plurality of drive of drive wheels wheels amongamong a a plurality of plurality ofwheels wheels 28.28. Further, Further, a drive a drive circuitcircuit (such (such as as an inverter) an inverter) is provided is provided SO as to so as to
correspond correspond to to the the electric electric motor. motor. By controlling By controlling the drivethecircuit, drive circuit, theforce the drive drive force applied applied
to the to the plurality pluralityofofdrive drivewheels wheels is controlled, is controlled, anddrive and the the drive force applied force applied to the movable to the movable
bodyVVisis automatically body automatically controlled. controlled.
[0012]
[0012] Thedrive The drive device deviceDDmay may include include an an engine engine in in addition addition to to ororininplace placeofof the electric the electric motor. motor.
[0013]
[0013] Thebrake The brake device device B may B may be configured be configured to include: to include: a plurality a plurality of friction of friction
brakes each brakes each provided providedfor foraacorresponding corresponding oneoneof of thethe pluralityofofwheels plurality wheels2828 to to decrease decrease
rotation of rotation of the thewheel wheel 28 28 by by pressing pressing friction frictionengagement members engagement members againsta abrake against brakerotary rotary bodythat body thatisisrotatable rotatableintegrally integrallywithwith the the wheelwheel 28; and28;a pressing and a pressing forceactuator force control control actuator for controlling for controllinga apressing pressing force force of of each each friction friction brake. brake. By controlling By controlling the force the pressing pressing force control actuator, control actuator, the the pressing force of pressing force of the the friction friction brakes providedfor brakes provided forthe therespective respective wheels2828 wheels is is controlled, controlled, so that SO that the the braking braking force force appliedapplied to each to each wheel 28 wheel 28 is controlled is controlled
and the and the braking force applied braking force applied toto the themovable movable bodybodyVVisis automatically automaticallycontrolled. controlled. ForceForce of regenerative of regenerative braking maybebeapplied braking may appliedtoto the the wheels wheels28 28bybybraking brakingofofthetheelectric electric motor motor
of the drive device D. of the drive device D.
[0014]
[0014] Thesteering The steeringdevice device T steers T steers the the steerable steerable wheels wheels among among the plurality the plurality of of wheels28. wheels 28. TheThe steering steering device device T includes, T includes, forfor instance,a apair instance, pairofoftie tie rods rods respectively respectively connected connected to to thethe right right andand leftleft steerable steerable wheels, wheels, a steering a steering rod connecting rod connecting the pair ofthetiepair of tie rods, and rods, and aa steering steering actuator actuator provided for the provided for the steering steering rod. Thesteering rod. The steeringrodrodisismoved moved
4 4 43587551_1 43587551_1
by the steering actuator in the width direction of the vehicle, so that the right and left by the steering actuator in the width direction of the vehicle, SO that the right and left
steerablewheels steerable wheelsareare steered steered automatically. automatically.
[0015]
[0015] TheGPS The GPS receiver receiver 10 10 receives receives signals signals fromfrom the (e.g., the GPS GPS (e.g., the GPSthe GPS signals). The signals). TheGPSGPS is one is one exampleexample of a global of a global navigation navigation satellite satellite systemsystem (GNSS).(GNSS).
Basedononthe Based theGPS GPS signals,thetheposition signals, positionofofananown own movable movable bodybody V thatV is thatthe is movable the movable bodyVVitself body itself is is obtained. Basedonon obtained. Based theGPS the GPS signals, signals, thethe three-dimensional three-dimensional position position of of 2024200931
the own the ownmovable movable body body V represented V represented by the latitude, by the latitude, the longitude, the longitude, and theoraltitude and the altitude the or the two-dimensionalposition two-dimensional positionofofthe the own ownmovable movable body body V represented V represented by the by the latitude latitude andand thethe
longitude may longitude maybebeobtained. obtained.
[0016]
[0016] Thesurroundings The surroundingsinformation information obtaining obtaining device device 12 12 includes includes a plurality a plurality
of cameras, of cameras,aaplurality plurality of of light light detection detection and andranging rangingororlaser laserimaging imaging detection detection andand
ranging (LiDAR) ranging devices, etc. (LiDAR) devices, etc. The Thesurroundings surroundingsinformation informationobtaining obtaining device device 12 12 recognizes an recognizes anobject objectaround aroundananownown movable movable body body V thatVis that theismovable the movable body V body and V and obtains aa relative obtains relative positional positionalrelationship relationshipbetween between the the object objectand and the the own movablebody own movable body V. V.
Thesurroundings The surroundings information information obtaining obtaining device device 12 obtains, 12 obtains, by the by the camerasand cameras andthe theLiDAR LiDAR devices, devices, a road a road surface surface condition condition that that is aiscondition a condition of aofroad a road surface ahead surface of the ahead of the movable bodyV,V,namely, movable body namely,obtains obtainsmainly mainlyananunevenness unevenness condition condition of of
the road the roadsurface. surface.
[0017]
[0017] Thesurroundings The surroundingsinformation informationobtaining obtainingdevice device1212includes includesroad roadsurface surface sensors provided sensors providedfor for the the respective respective wheels wheels2828and/or and/or a verticalacceleration a vertical accelerationsensor sensorfor for detecting vertical detecting vertical acceleration that acts acceleration that acts on on the the movable movable body body V. road V. The Thesurface road surface sensors detect sensors detect the the condition condition of of the the road road surface surface on on which the wheels which the wheels2828pass pass(such (suchasasa a watercontent water content of of thethe road road surface surface and/or and/or the friction the friction coefficient coefficient of the of thesurface). road road surface). By By integrating integrating the vertical acceleration the vertical detected by acceleration detected bythethevertical verticalacceleration accelerationsensor, sensor,thethe amplitude amplitude of of the the vibration vibration of the of the vehicle vehicle body body in thein the vertical vertical direction direction can be can be obtained, obtained, SO so that the that the unevenness unevenness condition condition ofroad of the the road surfacesurface can be can be obtained. obtained.
[0018]
[0018] As described As describedabove, above,the thesurroundings surroundingsinformation information obtaining obtaining device device 12 12
obtains the obtains the road road surface surfacecondition conditionas asinformation informationon onthe thesurroundings surroundingsof ofthe theown ownmovable movable
bodyV. body V. In In thissense, this sense,itit may may bebeconsidered consideredthat thataa movable movablebodybody road road surface surface condition condition
obtaining portion obtaining portion is is included included ininthe thesurroundings surroundings information information obtaining obtaining device 12. device 12.
[0019]
[0019] The movable The movablebodybodycommunication communication device device 14 wirelessly 14 wirelessly transmits transmits movablebody movable body information information generated generated by by the the movable movable body body ECU ECU 20 and 20 and receives receives centralcentral
controlinformation control information wirelessly wirelessly transmitted transmitted from from the the central central control control device S.device S.
[0020]
[0020] The movable The movablebodybodyECUECU20 is20 constituted is constituted mainly mainly by by a computer. a computer. There are There are connected, connected,toto the the movable movablebody bodyECUECU 20, the 20, the drive drive circuit circuit of of thethe drive drive device device
55 43587551_1 43587551 1
D, the pressing force control actuator of the brake device B, the steering actuator of the D, the pressing force control actuator of the brake device B, the steering actuator of the
steeringdevice steering deviceT,T,the theGPSGPS receiver receiver 10, surroundings 10, the the surroundings information information obtaining obtaining device 12, device 12,
the movable the bodycommunication movable body communication device device 14, etc. 14, etc. The movable The movable body ECU body ECU 20 includes 20 includes
a traveling a plangenerating traveling plan generating portion portion 22, 22, a traveling a traveling control control portion portion 24, and24, and a movable a movable body body information information generating generating portion portion 30,instance. 30, for for instance.
[0021]
[0021] Thetraveling The traveling plan plan generating generatingportion portion2222generates generatesa atraveling travelingplan planofof 2024200931
the own the movable own movable body body V that V that is is themovable the movable body body V, based V, based on aon a target target route route included included in in
the central the central control control information. information. The The travelingplan traveling planincludes includes controlcommands control commands of the of the
drivedevice drive deviceD,D, thethe brake brake device device B, andB,the andsteering the steering device device T. T. Thetraveling The traveling control control portion portion 24 controls the 24 controls the drive drive device device D, D, the the brake brake
device B, and the steering device T based on the traveling plan generated by the traveling device B, and the steering device T based on the traveling plan generated by the traveling
plan generating plan generating portion portion 22. 22. TheThe drive drive device device D, the D, the brake brake devicedevice B, andB, the andsteering the steering deviceT Tare device arecontrolled controlled by by the the traveling traveling control control portion portion 24, SO24, thatsothe that ownthe own body movable movable body V travels along the target route. V travels along the target route.
[0022]
[0022] Themovable The movable body body information information generating generating portionportion 30 generates 30 generates the the movablebody movable body information information including including movable movable bodybody positional positional information information indicating indicating the the
position of position of the the own movablebody own movable body V obtained V obtained based based on the on the GPS GPS signals, signals, movable movable body body
road surface road surface condition condition information informationindicating indicating the the road road surface surface condition condition obtained obtained by bythe the surroundingsinformation surroundings informationobtaining obtainingdevice device12, 12,and andidentification identification information informationofofthe the own own movablebody movable bodyV. V. The The generated generated movable movable body information body information is outputisto output to the movable the movable
bodycommunication body communication device device 14.14. The movable The movable body communication body communication device 14device 14 transmits transmits
the movable the bodyinformation. movable body information.
[0023]
[0023] Thecentral The central control controldevice deviceS Sincludes includes a central a central ECUECU 40 constituted 40 constituted
mainlybybya acomputer mainly computer andand a central a central communication communication device device 42 connected 42 connected to the to the central central
ECU40.40.The The ECU central central ECU ECU 40 includes 40 includes a target a target routeroute determining determining portion portion 50, a 50, a central central
control information control informationgenerating generatingportion portion52,52,a central a centralroad road surface surface condition condition obtaining obtaining
portion 54, portion 54, and a movable and a body movable body statestorage state storageportion portion56. 56.TheThe target target route route determining determining
portion 50 portion includes aa weighting 50 includes portion 58. weighting portion 58.
[0024]
[0024] Thecentral The central communication communication device device 42 wirelessly 42 wirelessly transmits transmits the the central central
control information control generatedbybythe information generated thecentral centralcontrol controlinformation informationgenerating generatingportion portion52 52
and receives and receives the the movable bodyinformation movable body informationwirelessly wirelesslytransmitted transmittedfrom fromthethemovable movablebodybody V. V.
[0025]
[0025] Thecentral The central control controlinformation informationgenerating generating portion portion 52 52 generates generates the the
central control central control information information including target route including target route information information indicating indicating the the determined determined
target route target routeofofthe thetarget targetmovable movablebodybody V andVthe andidentification the identification information information indicating indicating the the target movable target bodyV.V. movable body
6 6 43587551_1 43587551 1
[0026]
[0026] Themovable The movablebody body statestorage state storageportion portion5656stores storesinformation informationaboutaboutthe the state of state of each each movable bodyV.V.TheThe movable body statestate of of thethe movable movable bodybody V includes V includes the traveling the traveling
state and state and the the weight weight ofof the the movable bodyV,V,for movable body forinstance. instance.Specifically, Specifically,the thestate stateofof the the movablebody movable body V includes V includes the the previous previous traveling traveling history history of each of each movable movable body V, body the V, the
current location current location ofof each each movable movable body body V, and V, and information information included included in theinwork the plan work plan predeterminedfor predetermined foreach eachmovable movable bodybody V suchV as suchtheastarget the target route,route, the weight the weight of eachof each 2024200931
movablebody movable bodyV,V,and andthe thegross grossweight weightofofeach eachmovable movable body body V (i.e.,the V (i.e., the sum sumofof the the weight weight
of the of the movable movablebody body itselfandand itself thethe loading loading weight). weight). It mayItbe may be considered considered that thethat the
movablebody movable body statestorage state storageportion portion5656stores stores the the work workplan planofof each eachmovable movable body body V. V.
[0027]
[0027] Thetarget The target route route determining determiningportion portion5050generates generatesand anddetermines, determines, forfor
each movable each movablebody body V, V, thethe target target route route along along which which eacheach movable movable body Vbody is toVtravel. is to travel. The target route determining portion 50 may determine, as the target route, a route along The target route determining portion 50 may determine, as the target route, a route along
whichthe which themovable movable body body V isVto is travel to travel or or a route a route andand a position a position (portion) (portion) on on the the roadroad
surface of the route. surface of the route.
There are There are unpaved unpaveddirtdirtroads roadsininthe thetravel travelregion regionwhere wherethethe movable movable
bodyVVworks. body works.WhenWhen the movable the movable body Vbody V travels travels the dirt the dirt road, road, thethe degree degree of of unevenness unevenness
becomeshigher becomes higherininaccordance accordance with with travelingofofthe traveling themovable movable body body V. V. For instance, For instance, rutsruts
are formed are formed duedue to traveling to traveling of movable of the the movable body V, body V, the the size sizeruts of the of increases the ruts increases with an with an increase in increase in the the number number ofof the the traveling traveling movable bodiesV,V,and movable bodies andthethedegree degreeofofunevenness unevenness accordingly becomes accordingly becomes high. high. WhenWhen the degree the degree of unevenness of unevenness becomes becomes high, thehigh, the small- small-
sized movable sized bodyLVLV movable body maymay havehave a difficulty a difficulty in in traveling. traveling.
In view In viewof of the the above, above,the the travel travel region region is is patrolled patrolled during during the the work to work to
monitor the road surface condition, and a portion of the road surface where the degree of monitor the road surface condition, and a portion of the road surface where the degree of
unevenness unevenness is is high high is repaired is repaired by aby a movable movable body body used used exclusively exclusively for road for road surface surface repair repair
suchasasaagrader. such grader.
[0028]
[0028] In the In the present present embodiment, embodiment, in in contrast,thethetarget contrast, targetroute routedetermining determining portion 50 portion 50 determines determinesthe thetarget target route route of of the the movable movablebodybody V based V based on anonobtainment an obtainment request for request for obtaining obtaining thethe road road surface surface condition condition in in the the travel travel region. region. The The targetroute target route determinedbybythe determined thetarget targetroute routedetermining determiningportion portion5050isisusually usuallydifferent differentfrom froma aroute route included in included in aa traveling traveling plan plan ofof the the work workplanplansetsetfor forthe themovable movable body body V beforehand. V beforehand.
Accordingly, Accordingly, thethe target target route route is determined is determined such such that that a difference a difference in a traveling in a traveling distance distance
from a departure location to a destination location between the target route determined by from a departure location to a destination location between the target route determined by
the target the target route routedetermining determining portion portion 50the 50 and andtarget the target route route included included in the predetermined in the predetermined
workplan work plan is is notnot greater greater thanthan a seta value. set value. For instance, For instance, theroute the target target routeinincluded included the in the workplan work planisisusually usuallysetsetsuch suchthat thatthe thetarget targetroute routehashasthe theshortest shortestdistance distancefrom from thethe
departurelocation departure location to to thethe destination destination location, location, and and the the target target route isroute is usually usually determined determined
7 7 43587551_1 43587551 1
by the by the target target route route determining determiningportion portion5050 such such that that thethe target target route route hashas thethe shortest shortest
distance. distance.
[0029]
[0029] Thetarget The target route route determining portion 50 determining portion 50 may maydetermine determine thethetarget targetroute route basedonona apriority based prioritythat thatisisaadegree degreeofofthetheobtainment obtainment request request for obtaining for obtaining thesurface the road road surface condition. The condition. The obtainment obtainment request request forfor obtaining obtaining thethe road road surface surface condition condition is is higherinin higher
a case a whereititisis estimated case where estimatedthat thatthethedegree degree of unevenness of unevenness of theof thesurface road road surface has increased has increased 2024200931
thanininaacase than casewhere where it isestimated it is estimated thatthat the the degree degree of unevenness of unevenness of the of the road roadhas surface surface has not increased. not increased. The Theobtainment obtainment request request forfor obtainingthe obtaining theroad roadsurface surfacecondition conditionisis higher higher in aa case in casewhere whereit itisisestimated estimated thatthat the the degree degree of unevenness of unevenness of the of the road roadissurface surface likely is likely
to increase to increasethan thaninina acase case where where it isit estimated is estimated thatdegree that the the degree of unevenness of unevenness of the road of the road surface is not likely to increase. Accordingly, the priority is higher in a portion for which surface is not likely to increase. Accordingly, the priority is higher in a portion for which
it isis estimated it thatthe estimated that thedegree degree of of unevenness unevenness of the of thesurface road road surface has increased has increased than in a than in a
portionfor portion forwhich which it it isisestimated estimated that that thethe degree degree of unevenness of unevenness of the of the road road has surface surface not has not
increased, and the priority is higher in a portion for which it is estimated that the degree increased, and the priority is higher in a portion for which it is estimated that the degree
of unevenness of unevenness of the of the road road surface surface is likely is likely to increase to increase than in athan in afor portion portion which itforiswhich it is estimatedthat estimated thatthethedegree degree of unevenness of unevenness of the of thesurface road road surface is nottolikely is not likely to increase. increase.
[0030]
[0030] Asillustrated As illustratedininFig. Fig.3,3,thethe travel travel region region R is R is divided divided (partitioned) (partitioned) by by grid lines grid lines into into aa plurality plurality of of portions portions pp inin the the present present embodiment. embodiment. For For eacheach of the of the
plurality of plurality of portions portions p, p, weighting basedononthethe weighting based degree degree of of the the obtainment obtainment requestrequest for for
obtainingthe obtaining theroad road surface surface condition condition is performed, is performed, and aisscore and a score is assigned assigned to each portion to each portion
p. The p. The portion portion p having p having a high a high score score has has a high a high priority. priority. Further, Further, the the target target route route is is determinedSOsoasastoto include determined include at at least least oneone portion portion p p having having aa high high priority. priority. ForForinstance, instance, the priority the priority isis determined determined based based on characteristics on the the characteristics of theof thesurface road road surface and the and statethe of state of
the movable the movable body body V that V that travels travels onroad on the the road surface surface (e.g., (e.g., the number the number of traveling of traveling movable movable
bodies VVand bodies andwhether whether or or notnot thethe travelingmovable traveling movablebodybodyV is V theis large-sized the large-sized movable movable
body). body).
[0031]
[0031] Theweighting The weightingportion portion5858 performs performs weighting weighting for each for each portion portion p andp and
assigns aa score assigns score toto each each portion portion p.p. TheTheweight weight(score) (score)ofofeacheachportion portionppmaymaybebea ahigher higher value when value whenthe theneed needforforobtaining obtaining(monitoring) (monitoring)the theunevenness unevennesscondition conditionthat thatisis the the road road surfacecondition surface condition of of thethe portion portion p isphigh is high thanthan when when the needtheisneed low. is In low. In other other words, the words, the
weight (score) weight (score) ofof each portion pp may each portion may be beaahigher highervalue valuewhenwhen thetheobtainment obtainment request request forfor
obtaining the obtaining the unevenness conditionisis high unevenness condition high than than when whenthe theobtainment obtainmentrequest requestisislow. low.In In other words, other words,thethescore scoreis is a higher a higher value value in ain a portion portion for which for which it is estimated it is estimated that a that a change change
of the of the road roadsurface surface condition condition (the(the unevenness unevenness condition) condition) is large is large and and afor a portion portion which for which
it isis estimated it thatthe estimated that thechange change is likely is likely to become to become largeinthan large than in a portion a portion for whichfor which it is it is
estimatedthat estimated thata achange change of road of the the road surface surface condition condition is smallis andsmall and aforportion a portion which itfor which it
88 43587551_1 43587551_1
is estimated that the change is not likely to become large. is estimated that the change is not likely to become large.
[0032]
[0032] The weighting The weightingportion portion5858determines determinesthe the scorescore based based on the on the characteristicsofofthe characteristics theroad roadsurface, surface,thethe state state of of thethe movable movable body body V thatV that travels travels on the on roadthe road
surface,etc. surface, etc. For instance, For instance, aa change change inin the the unevenness unevenness ofofthe theroad roadsurface surfacewhen when the the
movablebody movable bodyhashas traveled traveled tends tends to to be be larger larger at at a portion a portion where where the the roadroad surface surface has has 2024200931
characteristicsthat characteristics thata alarge largeamount amount of soil of soil and sand and sand is contained is contained and and water is water likely is to likely be to be containedthan contained thanat at a portion a portion where where the surface the road road surface has characteristics has characteristics that amount that a large a large amount of rocks of rocksisiscontained contained andand water water is unlikely is unlikely to be to be contained. contained.
Further, the Further, the change change in inthe theunevenness unevenness of of thethe roadroad surface surface whenwhen the the
movablebody movable bodyhashas traveled traveled tends tends to to bebe largeratataaportion larger portionwhere wherethe theroad roadsurface surfaceisissoft soft than at than at aa portion portion where wherethe theroad roadsurface surfaceisishard. hard.TheThe softness softness of the of the roadroad surface surface is is determinedbased determined basedon on the the characteristics characteristics of of the the roadroad surface, surface, the terrain the terrain (the (the height height
difference), the meteorological information, whether or not water sprinkling is performed, difference), the meteorological information, whether or not water sprinkling is performed,
etc. For etc. Forinstance, instance,inin aa case casewhere wherethe theroad roadsurface surfacehashasthethecharacteristics characteristicsthatthat aa large large amount amount of of soilsoil andand sandsand is contained is contained and theand thecontent water water content is high, is high, the the road road surface is surface in is in a wet a wetstate. state. In In this this case, case, it it maymay be considered be considered that that the thesurface road road surface is softerisat softer at a portion a portion
having the having the characteristics characteristics that that aa large large amount amount ofofsoil soiland andsandsandis iscontained contained than than at ata a
portionhaving portion having thethe characteristics characteristics that that a large a large amountamount of rocksofisrocks is contained contained and water is and water is
unlikelytotobebecontained. unlikely contained.
[0033]
[0033] Further,the Further, thewater watercontent content of of thethe road road surface surface is determined is determined based based on the on the
meteorological meteorological information, information, whether whether or not or notsprinkling water water sprinkling is performed, is performed, the terrain,theetc. terrain, etc. Forinstance, For instance,whenwhen rainfall rainfall or snowfall or snowfall occursoccurs orwater or when whensprinkling water sprinkling is performed, is performed, the the watercontent water content of of thethe roadroad surface surface increases. increases. Further,Further, even if or even if rainfall rainfall or occurs snowfall snowfall occurs or even or even ifif water sprinkling is water sprinkling is performed, performed, the the water water content content of of the the road road surface surface is is small small owingtotothetheheight owing height difference difference at a at a portion portion that that is well is well drained. drained.
Thecharacteristics The characteristicsofofthetheroad road surface, surface, the the terrain terrain (the (the height height difference), difference),
etc., are etc., are input andstored input and storedininthethecentral centralcontrol control device device S beforehand. S beforehand. The meteorological The meteorological
information information is is supplied supplied fromfrom an external an external information information transmission transmission device (notdevice (not illustrated) illustrated)
andisis received. and received.
[0034]
[0034] It is It is estimated thatthe estimated that thechange change in the in the unevenness unevenness of the of roadthe road is surface surface is larger in a case where the movable body V that travels a portion (the road surface) is the larger in a case where the movable body V that travels a portion (the road surface) is the
large-sized movable large-sized body movable body (i.e., inin aa case (i.e., casewhere wherethetheweight weightor or thethe gross gross weight weight of the of the
movablebody movable body is is large)than large) than in in a case a case where where the movable the movable body Vbody is theV small-sized is the small-sized movablebody movable body (i.e., in (i.e., in aa case case where where the the weight weightoror the the gross gross weight weightofof the the movable movablebody body is small). is small).
9 9 43587551_1 43587551 1
Further, itit isisestimated Further, estimated that thatthe thechange change in in the the unevenness of the unevenness of the road road surface is larger in a case where the number of the movable bodies V that travel the portion surface is larger in a case where the number of the movable bodies V that travel the portion
of the of the road roadsurface surfaceisislarge largethan than in in a case a case where where the number the number of the movable of the movable bodies V that bodies V that
travel the travel the portion portionofofthetheroad road surface surface is small. is small.
[0035]
[0035] In view In view ofof the the above, the score above, the score may bemade may be madehigher higheratata aportion portionwhere where the road the road surface surface hashas the the characteristics characteristics that that the the change change in in the the unevenness unevennessof ofthetheroad road 2024200931
surfaceisis likely surface likelytoto be belarge largethan thanatata aportion portion where where the the roadroad surface surface hascharacteristics has the the characteristics that the that the change change inin the the unevenness unevenness of of the the road road surface surface is is unlikely unlikely totobebelarge. large. The score The score
maybebemade may made higher higher at a at a portion portion where where the roadthesurface road surface is soft is soft than at athan at a where portion portionthe where the
roadsurface road surfaceisishard. hard. Further, the Further, the score score may bemade may be madehigher higher at at a aportion portionp pwhere where thethe large- large-
sized movable sized bodyHVHV movable body travels travels than than at at a a portionp pwhere portion where thethe small-sized small-sized movable movable bodybody
LVtravels. LV travels. TheThe score score maymay be made be made higherhigher in awhere in a case case the where the of number number of traveling traveling
movablebodies movable bodiesV Visislarge large than than in in aa case case whether whether the the number of traveling number of traveling movable bodies movable bodies
V is V is small. small. InInthis this case, case, the the score score may maybebedetermined determinedin in consideration consideration ofof thetraveling the traveling history of history of the thelarge-sized large-sizedmovable movable body HVand body HV andthethetraveling travelingschedule scheduleofofthe thelarge-sized large-sized movablebody movable bodyHVHV determined determined based based on work on the the work plan,plan, for instance. for instance.
[0036]
[0036] The weighting The weighting portion portion 5858 may maydetermine determinethethescore scorebased basedon onthethe obtainmenthistory obtainment history of of the the road road surface surface condition condition by by the the movable movablebodybodyV.V. For For instance, instance,
the score the score may bemade may be made higher higher at at a portionp pwhere a portion where a set a set time time or or more more elapses elapses after after thethe
road surface road surface condition condition is is previously previously obtained obtained by the movable by the bodyV V movable body than than at at a aportion portionp p where the set time does not elapse. where the set time does not elapse.
The score The score may maybebemademade higheratata aportion higher portionwhere wherethetheobtainment obtainment frequency frequency ofof the the road roadsurface surfacecondition conditionisis high highthan thanatat aa portion portion where wherethe theobtainment obtainment frequencyis frequency is low. Thisisisbecause low. This becausethetheobtainment obtainment request request forforobtaining obtainingthe theroad roadsurface surface condition is condition is high and the high and the road road surface surface condition conditionis is likely likely toto considerably changeatat the considerably change the portion where portion the obtainment where the obtainmentfrequency frequencyisishigh. high.
[0037]
[0037] The score The score may maybebedetermined determinedbased basedononthe theroad roadsurface surface condition condition previously obtained previously obtainedbybythethemovable movablebodybody V. instance, V. For For instance, in the inpreviously the previously obtained obtained
road surface road surface condition, condition, the the score score may may be bedetermined determined totobebea a highervalue higher valueatata aportion portionp p wherethe where theunevenness unevenness degree degree of of thethe road road surface surface is is high high thanthan at at a portion a portion p where p where the the
unevennessdegree unevenness degreeofofthe theroad roadsurface surfaceisislow. low.ThisThis is is because because it can it can be be estimated estimated that that
the change the of the change of the road road surface surface condition condition is is larger larger when the degree when the degreeof of the the unevenness unevennessofof the road surface is high than when the degree of the unevenness of the road surface is low. the road surface is high than when the degree of the unevenness of the road surface is low.
[0038]
[0038] As described As describedabove, above,weighing weighing isisperformed performed forfor each each portion portion p, p, and and the the
priority is priority is determined determined based based on score. on the the score. For instance, For instance, the is the priority priority is determined determined to be to be
10 10 43587551_1 43587551_1
high for a portion p where the score (or a sum of the scores) is not lower than a first set high for a portion p where the score (or a sum of the scores) is not lower than a first set
score, the score, thepriority priorityisisdetermined determined tolow to be be for lowa for a portion portion p where pthe where score the score is not is not higher higher
thanaa second than secondsetsetscore score that that isis smaller smaller than than thethe first first setsetscore, score, and and thethe priority priority is is determined determined
to be to be medium medium for fora aportion portionp pwherewhere thescore the scoreisishigher higherthanthanthe thesecond second setsetscore scoreand andisis lowerthan lower thanthethefirst firstset setscore. score.
[0039]
[0039] In the In the example example of of Fig.Fig. 3, 3, there there are,are, in the in the travel travel region region R, main R, main paths A,paths A, 2024200931
B, CC and B, andpaths pathsD,D,E,E,F Fthat thatintersect intersectthethemain mainpathspathsA,A,B,B,C. C.The The traveltravel regionregion R R is is
dividedbybythetheplurality divided plurality of of grid grid lines lines intointo the the plurality plurality of portions of portions p. p. In the In the main mainpath pathA,A,there thereis isthethetraveling travelinghistory historyofofthethelarge-sized large-sized movablebody movable bodyHVHV or orthethe travelingfrequency traveling frequency ofof thelarge-sized the large-sizedmovable movablebodybodyHV HV is high. is high.
Thus, it Thus, it is is estimated estimated that that the the change of the change of the road road surface surfacecondition conditionisis large large at at the the road road surface of surface of the the main mainpath pathA,A,and andthetheobtainment obtainment request request forfor obtaining obtaining the the road road surface surface
condition is accordingly high. condition is accordingly high.
At the main path A, ruts tend to be formed at opposite side end portions At the main path A, ruts tend to be formed at opposite side end portions
of the of the main pathAAwhere main path where thethe wheels wheels 28 the 28 of of the large-sized large-sized movable movable body body HV passHVin pass in
accordancewith accordance withtraveling traveling ofof the the large-sized large-sized movable bodyHV. movable body HV.Thus, Thus, the the score score of each of each
of portions of portionspas pasincluded included in in thethe side side endend portions portions of theofmain the main path A path A iswhile is high highthe while scorethe score of each of eachofofportions portions patpat included included in the in the central central portion portion of theof thepath main main path A is A is low. low.
[0040]
[0040] At the At the main mainpathpathB,B,thetheroad road surface surface hashas characteristics characteristics thata large that a large amountofofsoil amount soiland andsand sandis is contained contained and and water water is likely is likely to betocontained be contained aroundaround an an intersection Bd intersection Bd where the main where the mainpath pathB Band andthe thepath pathD Dintersect. intersect.TheThe intersection intersection Bd Bd is is locatedatataaterrain located terrainthat thatisis poorly poorlydrained. drained. Because Because the movable the movable bodystraight, body V travels V travels straight, turns toto the turns theleft, left, and andturns turnsto tothethe right right at at thethe intersection intersection Bd,traveling Bd, the the traveling frequency frequency of of the movable the movablebody body V isV is higher higher at at thethe central central portion portion of of thethe intersectionBdBd intersection than than at at thethe
peripheral portion peripheral portion of of the the intersection intersection Bd. Accordingly, Bd. Accordingly, thethe score score of of each each of portions of portions
pbdgincluded pbdg included in the in the central central portion portion of intersection of the the intersection Bd is Bd highiswhile highthe while scorethe of score each of each
of portions of portionspbdr pbdr included included in the in the peripheral peripheral portion portion of the of the intersection intersection Bd is low.Bd is low.
[0041]
[0041] Further,ininthe Further, thevicinity vicinityofofananintersection intersection Be Be where where the path the main mainB path and B and
the path the path E intersect and E intersect and in in the the vicinity vicinityofofananintersection intersection BfBfwhere wherethe themain main path path B and B and
the path the path FF intersect, intersect, thethe road surface is road surface is well well drained drained though thoughthe theroad roadsurface surface hashas thethe
characteristicsthat characteristics thata alarge largeamount amount of soil of soil and sand and sand is contained is contained and waterandis water likely is to likely be to be contained, and contained, andthe theroad roadsurface surface is is hard. hard. Thus,Thus, it is it is estimated estimated thatdegree that the the degree of of unevennesstends unevenness tendstotobe below lowwhen when themovable the movable body body V travels V travels thethe intersections intersections Be, Be, Bf,asas Bf,
comparedwith compared with when when the the movable movable body VbodytravelsV travels the intersection the intersection Bd. the Bd. Further, Further, the numberofoftraveling number travelingmovable movable bodies bodies V is V is greater greater at theatintersection the intersection Beatthan Be than the at the
intersectionBf. intersection Bf.Thus, Thus, the score the score of ofeach of each of portions portions pbeg included pbeg included in the in the central central portion portion
11 11
43587551_1 43587551 1
of the of the intersection intersection Be Be is is higher higher than than the the score score of of each of portions each of portions pber pber included includedinin the the peripheral portion of the intersection Be and the score of each of portions pbf included in peripheral portion of the intersection Be and the score of each of portions pbf included in
the intersection the intersectionBf. Bf.
[0042]
[0042] At the At the main path C, main path C, the the large-sized large-sized movable bodyHVHV movable body does does notnottravel traveloror the number the number ofoftraveling traveling large-sized large-sized movable bodiesHVHV movable bodies is is small.ThisThis small. meansmeans that that therethere is no is travelinghistory no traveling history of of thethe large-sized large-sized movable movable body HV body or thereHVisor there is a little a little traveling traveling 2024200931
schedule of schedule of the the large-sized large-sized movable bodyHV, movable body HV,for forinstance. instance. On Onthe the other other hand, hand, thethe road road
surfaceofofthe surface themain main path path C hasC the hascharacteristics the characteristics that a that largea amount large amount of sand of soil and soil is and sand is contained and contained andwater waterisislikely likely toto be be contained. contained. Thus, Thus,thethe score score of of eacheach of portions of portions pc pc
included in included in the the main path CC is main path is medium. medium.
[0043]
[0043] As described As describedabove, above,the the weighting weightingisis performed performedfor foreach eachportion portionp,p, and and the priority the priority is is obtained obtained for foreach eachportion portion p based p based on the on the score. score. In the In the present present embodiment, embodiment,
the priority the priorityisis high highatatthetheportions portions pas pas included included in thein the opposite opposite side endside end of portions portions the of the mainpath main pathAAand andthe theportions portionspbdg pbdgincluded included inin thecentral the centralportion portionofof the the intersection intersection Bd Bd
of the main path B. The priority is medium at portions pat included in the central portion of the main path B. The priority is medium at portions pat included in the central portion
of the of the main mainpath pathA, A, at at thethe portions portions pbdrpbdr included included in theinperipheral the peripheral portion portion of the of the
intersection Bd, intersection Bd, and and at at the theportions portionspc pcincluded included in inthethemain main path path C. Thepriority C. The priorityis is low low
at the at the portions portionspber pber included included in peripheral in the the peripheral portionportion of the intersection of the intersection Be and at Be the and at the
portions pbf portions pbf included included inin the the intersection intersection Bf. Thetarget Bf. The targetroute routeXXisisdetermined determinedSOsoasastoto includethe include theportions portions having having highhigh priority, priority, as illustrated as illustrated in Fig. in Fig. 3. 3.
[0044]
[0044] Theweighting The weightingofofeach eachportion portionp pandandthethe determined determined target target route route X of X of
Fig. 33 are Fig. are illustrated illustratedby by way of one way of one example. example.The The scorescore basedbased on theonweighting, the weighting,the the method method forfor setting setting thethe priority, priority, etc., etc., maymay be suitably be suitably determined determined dependingdepending on situations. on situations.
[0045]
[0045] Themovable The movablebody body V obtains V obtains thethe road road surfacecondition surface conditionalong along thetarget the target route XX while route whiletraveling travelingalong alongthethetarget targetroute routeX.X.TheThe movable movable body V body V transmits transmits the the movablebody movable bodyinformation information including including road road surfacecondition surface conditioninformation information thatindicates that indicatesthethe roadsurface road surfacecondition. condition.
[0046]
[0046] Thecentral The centralroad road surface surface condition condition obtaining obtaining portion portion 54 obtains 54 obtains the road the road
surfacecondition surface condition along along the the target target route route X based X based on theon thesurface road road surface condition condition informationinformation included in included in the the movable movable bodybodyinformation information andand obtains obtains thethe road road surface surface condition condition of of thethe
travel region travel region R. R. TheThe road road surface surface condition condition includes includes the the unevenness unevenness condition condition of the of the
road surface. road surface. The The road road surface surface condition condition maymay include include the wetness the wetness degree degree of theofroad the road surface (i.e., surface (i.e., the thewater water content content ofof the the road road surface), surface), for for instance. Basedononthethe instance. Based road road
surfacecondition surface condition of of thethe travel travel region region R,timing R, the the timing of operation of operation of a roadofsurface a roadrepair surface repair vehicle such vehicle such asas aa grader grader isis determined. determined.ForFor instance, instance, thethe grader grader is is operated operated when when the the
degreeofofthe degree theunevenness unevenness ofroad of the the road surface surface is higher is higher thandegree. than a set a set degree.
12 12 43587551_1 43587551 1
[0047]
[0047] In the In the road roadsurface surfacecondition condition obtaining obtaining system system including including the thus the thus
configuredtraveling configured traveling control control system, system, the target the target route route determining determining portion portion 50 of the50 of the central central
control device control device SS executes executesa atarget target route route determining determiningprogram program offlowchart of a a flowchart of Fig. of Fig. 4 4
everytime every timea asetsettime time elapses. elapses.
At Step At Step 1,1, the the state state ofof each each movable movablebody body V obtained. V is is obtained.Step Step 1 is 1 is
abbreviated as abbreviated as S1. S1. Other Other steps steps willbebesimilarly will similarlyabbreviated. abbreviated.At S2, At S2, the the roadroad surface surface 2024200931
conditionofofpart condition partofofthetheplurality pluralityof of portions portions p ofpthe of the travel travel region region R is obtained R is obtained based onbased on
the movable the movablebody body roadroad surface surface condition condition information information included included in theinmovable the movable body body information,thethe information, characteristics characteristics of the of the roadroad surface surface andterrain and the the terrain of eachofofeach of the plurality the plurality
of portions of portions p pareareobtained, obtained, andandthe the meteorological meteorological information information from the from the external external
information transmission information transmissiondevice deviceisis obtained. obtained. Based Based on on those those obtained obtained at at S2,S2, thethechange change of the road surface condition of each of the plurality of portions p in the travel region R of the road surface condition of each of the plurality of portions p in the travel region R
is estimated is atS3. estimated at S3.At S4, At S4, the weighting the weighting is performed is performed for eachfor of each of the plurality the plurality of portions of portions
p, and the score is assigned to each portion p. At S5, the priority is set for each portion p, and the score is assigned to each portion p. At S5, the priority is set for each portion
p based p basedononthethescore, score,andand thethe target target route route is determined. is determined. The information The information on the on the
determined determined target target route route is included is included in central in the the central control control information information and is transmitted. and is transmitted.
[0048]
[0048] Themovable The movablebody body ECUECU 20 of20the of the movable movable body body V executes V executes a movable a movable
bodytraveling body traveling control control program programofofa aflowchart flowchart of of Fig.5 every Fig. 5 every timetime a set a set time time elapses. elapses.
At S21, At S21,itit isis determined determinedwhether whether the the central central control control information information is is
received. When received. When an affirmative an affirmative determination determination (YES) (YES) is made, is made, the control the control flowflow proceeds proceeds
to S22 at which the identification information included in the central control information to S22 at which the identification information included in the central control information
coincides with coincides with itsits own identification information. own identification information. When When an affirmative an affirmative determination determination
(YES)isis made, (YES) made,the thecontrol controlflow flowproceeds proceedstotoS23S23at at which which thethe information information on on the the target target
route is route is obtained obtained from fromthethecentral centralcontrol controlinformation. information.At At S24,S24, the the traveling traveling planplan is is
generated such generated suchthatthatthe themovable movable bodybody V travels V travels alongalong the target the target route. route. At S25,AttheS25, the steeringdevice steering deviceT,T,thethedrive drive device device D, the D, the brake brake device device B, are B, etc., etc.,controlled are controlled according according to to the traveling the traveling plan, plan, SOso that that the the movable movablebody body V travels V travels alongalong the target the target route. route. The The movablebody movable body V obtains V obtains the the roadroad surface surface condition condition and transmits and transmits the movable the movable body body information information that that includes includes the the roadroad surface surface condition condition information information while traveling while traveling along the along the
target route. target route.
[0049]
[0049] In the In the present embodiment,when present embodiment, whenthe the movable movable body body obtains obtains the roadthe road surface condition surface condition while whiletraveling traveling along alongthe thetarget target route, route, the the target target route route is is determined determined
based on based onthe the obtainment obtainmentrequest requestfor forobtaining obtainingthe theroad roadsurface surfacecondition. condition.As aAsresult, a result, the road the road surface surface condition condition for for which which the the obtainment request is obtainment request is made can be made can be appropriately appropriately obtained by obtained bythe thetraveling travelingmovable movable body body V that V that is working, is working, so the SO that thatroad the surface road surface condition of the travel region can be efficiently obtained. condition of the travel region can be efficiently obtained.
13 13 43587551_1 43587551 1
Becausethe Because the road road surface surface condition condition is is obtained obtained by by the themovable movable body that body that
is working, the number of times the movable body V travels for patrolling can be reduced. is working, the number of times the movable body V travels for patrolling can be reduced.
Thetarget The targetroute routeis is usually usually determined determined SO as so as the to be to be the shortest shortest distancedistance
from the from thedeparture departurelocation locationtotothe thedestination destinationlocation locationwithout withoutdetouring. detouring. Thus, Thus, the the
workingefficiency working efficiencyisis prevented preventedfrom frombeing being lowered lowered due due to the to the obtainment obtainment of the of road the road surface condition surface condition by the movable by the movable bodybodyV.V. 2024200931
Further, it Further, it isis possible possible totoidentify identifya aportion portion where where the degree the degree of of unevenness unevenness is actually is actually high, high, so that SO that a portion a portion for the for which which theisgrader grader is to be can to be operated operated can be identified, be identified,resulting resultingininananefficient efficientoperation operation of the of the grader. grader.
[0050]
[0050] Thoughthe Though theroad roadsurface surfacecondition conditionmay maybe be obtained obtained by by the the small-sized small-sized
movablebody movable bodyLV,LV,the theroad roadsurface surfacecondition conditionmay maybebe obtained obtained byby thelarge-sized the large-sizedmovable movable bodyHV. body HV.In aIncase a case where where thethe road road surface surface condition condition is is obtainedbybyboth obtained boththe thesmall-sized small-sized movablebody movable body LV LV and and the large-sized the large-sized movable movable body body HV, the HV, road the road condition surface surface condition obtained by obtained by the the small-sized small-sized movable bodyLVLV movable body andand thethe road road surface surface condition condition obtained obtained by by
the large-sized the large-sized movable bodyHVHV movable body areare preferably preferably adjusted adjusted because because thethe relativepositional relative positional relationship between relationship the camera between the cameraand and theroad the road surface surface of of thesmall-sized the small-sized movable movable bodybody
LVisis different LV different from from that that of ofthe thelarge-sized movable large-sized movable body body HV. HV.
Thesmall-sized The small-sizedmovable movablebody body LV LV is easy is easy to to turnasascompared turn compared with with the the
large-sized movable body HV and can travel the side end portion of the path, for instance. large-sized movable body HV and can travel the side end portion of the path, for instance.
Thus, if Thus, if the the road road surface surface condition condition is is obtained obtained by by the the small-sized small-sized movable bodyLV, movable body LV,the the unevennesscondition unevenness conditionofofthe theroad roadsurface surfacecan canbe befinely finely obtained. obtained.
[0051]
[0051] In the In the present present embodiment, embodiment, ititmay maybe be considered considered thatthat thethe targetroute target route determining determining portion portion is constituted is constituted bycentral by the the central controlcontrol device device S, by theS, by thecontrol central central control device SS and device and the the movable movablebody body road road surfacecondition surface condition obtaining obtaining portion,ororbybythe portion, thetarget target route determining route portion5050ofofthe determining portion the central central ECU ECU40.40.Further, Further, a road a road surface surface condition condition
changeestimating change estimating portion portion is constituted is constituted by portions by portions of the of the central central ECU ECU 40 that 40 that store and store and
execute S3 execute S3 of of the the target target route routedetermining determining program. program.
[0052]
[0052] It isistotobebeunderstood It understoodthatthatthethe present presentdisclosure disclosuremaymaybebeembodied 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.
[0053]
[0053] Therewill There willbebehereinafter hereinafter described described formsforms of a claimable of a claimable invention. invention.
[0054]
[0054] (1) A Aroad (1) roadsurface surfacecondition condition obtaining obtaining system system configured configured to obtain to obtain a a
road surface road surface condition conditionthat that is is aa condition condition of of aa road road surface surface ofof aa travel travel region region where wherea a movablebody movable body travels,including: travels, including: a target a target route routedetermining determining portion portion configured configured to determine to determine a target aroute target of route the of the
14 14 43587551_1 43587551 1
movablebody movable body based based on on an an obtainment obtainment request request for for obtaining obtaining thethe road road surface surface condition, condition,
wherein the wherein the movable bodyincludes movable body includes aa movable movable body bodyroad roadsurface surface condition condition obtaining portion obtaining portion that that obtains obtains the the road road surface surfacecondition condition when the movable when the body movable body travels travels
along the target route determined by the target route determining portion. along the target route determined by the target route determining portion.
[0055]
[0055] (2) (2) Theroad The roadsurface surfacecondition conditionobtaining obtaining system system according according to the to the
form(1), form (1),wherein wherein thethe target target route route determining determining portion portion determines determines the the target target route route SO as to so as to 2024200931
include at include at least least one one portion portion ofof the the travel travelregion regionwhere where the the obtainment requestisis higher obtainment request higher thanaaset than set request requestlevel. level.
[0056]
[0056] Theset The setrequest request level level maymay befirst be the the first set score set score or theor the second second set scoreset score
describedabove described above withwith respect respect toscore to the the score assigned assigned to each to each portion. portion.
[0057]
[0057] (3) (3) A A roadsurface road surfacecondition condition obtaining obtaining system system configured configured to obtain to obtain a a
road surface road surface condition conditionthat that is is aa condition of aa road condition of road surface surface of of aa travel travel region region where wherea a movablebody movable body travels,including: travels, including: a road a road surface surface condition conditionchange change estimating estimating portion portion configured configured to estimate to estimate a a change of the road surface condition of the travel region; and change of the road surface condition of the travel region; and
a target a routedetermining target route determining portion portion configured configured to determine to determine theroute the target target of route the of the movablebody movable body based based on on thethe change change of the of the roadroad surface surface condition condition estimated estimated by road by the the road surface condition surface condition change estimatingportion, change estimating portion, wherein the wherein the movable bodyincludes movable body includes aa movable movablebodybodyroad roadsurface surface condition condition obtaining portion obtaining portion that that obtains obtains the the road road surface surface condition condition when the movable when the movablebody body travels travels
along the target route determined by the target route determining portion. along the target route determined by the target route determining portion.
[0058]
[0058] Theroad The roadsurface surfacecondition condition is is thethe unevenness unevenness condition condition of road of the the road surfaceand surface andisisrepresented represented by degree by the the degree of unevenness of unevenness of surface, of the road the roadforsurface, for instance. instance.
Theroad The road surface surface condition condition change changeestimating estimatingportion portion estimates estimates whether whetheror or not not the the change change
of the of the road surface condition road surface condition is is large large and whetherorornot and whether notthetheroad roadsurface surfacecondition conditionisis likely to likely to change. change. The The obtainment obtainment request request for for obtaining obtaining the road the road surface surface condition condition is is usuallyhigher usually higherinina acase case where where it is it is estimated estimated that that the change the change of theof thesurface road road surface conditioncondition is large is thanininaacase large than casewhere where it is it is estimated estimated thatthat the change the change of the of thesurface road road surface conditioncondition
is small. is small. TheTheobtainment obtainment request request for for obtaining obtaining the the roadroad surface surface condition condition is usually is usually
higherininaacase higher casewhere wherethe the roadroad surface surface condition condition is likely is likely to change to change than in athan casein a case where where
the road the roadsurface surfacecondition condition is unlikely is unlikely to change. to change.
[0059]
[0059] (4) The (4) The roadsurface road surfacecondition conditionobtaining obtainingsystem system according according to to theform the form (3), wherein (3), the target wherein the target route route determining determiningportion portiondetermines determines thethe targetroute target routeSO so as as to to
include at include at least least one portion of one portion of the the travel travel region region for for which whichitit is is estimated estimated bybythe theroad road surface condition surface condition change changeestimating estimatingportion portionthat thatthe theroad roadsurface surfacecondition conditionchanges changes by by
not less not less than than aaset setchange changeamount. amount.
15 15 43587551_1 43587551_1
[0060]
[0060] Forinstance, For instance,thetheatatleast leastoneone portion portion of the of the travel travel region region for which for which it is it is
estimated that estimated that the the road road surface surface condition changesbybynot condition changes notless lessthan thanaasetset change changeamount amount refers to refers to aa portion portionwhere wherethethe score score obtained obtained by weighting by weighting based onbased on the the change of change the road of the road
surfaceisisnot surface notless lessthan thanthethefirst firstset setscore scoreor or a portion a portion where where the score the score is notis notthan less lessthe than the secondset second set score. score. The The targetroute target routedetermining determining portion portion maymay determine determine the target the target route route
so as SO as to to include includeatatleast leastone oneportion portion forfor which which it isit estimated is estimated byroad by the the road surface surface condition condition 2024200931
changeestimating change estimatingportion portionthatthatthetheroad road surface surface condition condition is likely is likely to to change change due todue to traveling of traveling of the themovable body. movable body.
[0061]
[0061] (5) (5) Theroad The roadsurface surfacecondition conditionobtaining obtaining system system according according to theto the form (3) form (3) or or (4), (4), wherein wherein thethe road surface condition road surface condition change changeestimating estimatingportion portionestimates estimates that the that the change of the change of the road roadsurface surfacecondition conditionisisgreater greaterwhen whenthethe number number of traveling of traveling
movablebodies movable bodiesisislarge large than than when whenthe thenumber numberof of travelingmovable traveling movable bodies bodies is is small. small.
[0062]
[0062] (6) The (6) Theroad roadsurface surfacecondition conditionobtaining obtaining system system according according to any to any
oneofofthe one theforms forms (3)-(5), (3)-(5),
whereinthe wherein the movable movablebody body includes includes a firstmovable a first movable body body andand a second a second movable movable
bodyhaving body havinga aweight weightgreater greaterthan thanaa weight weightofofthe the first first movable body, and movable body, and whereinthe wherein the road roadsurface surface condition conditionchange changeestimating estimatingportion portionestimates estimatesthat thatthe the changeofofthe change theroad roadsurface surfacecondition conditionisislarger larger in in the the road road surface surface ononwhich whichthethesecond second movablebody movable body travelsthan travels thanininthe the road road surface surface on on which whichthethefirst first movable bodytravels. movable body travels.
[0063]
[0063] For instance, For instance, the the first first movable body movable body corresponds corresponds to the to the small-sized small-sized
movablebody, movable body,and andthe thesecond secondmovable movable body body corresponds corresponds to the to the large-sized large-sized movable movable body. body.
[0064]
[0064] (7) The (7) The road road surfacecondition surface conditionobtaining obtainingsystem system according according to to anyany oneone
of the of the forms forms(3)-(6), (3)-(6),wherein whereinthethe road road surface surface condition condition changechange estimating estimating portionportion
estimatesthe estimates thechange change of the of the road road surface surface condition condition based onbased on one at least at least one of of a state of athe state of the movablebody movable body andand characteristicsofofthe characteristics the road roadsurface. surface.
[0065]
[0065] (8) The (8) Theroadroadsurface surfacecondition conditionobtaining obtaining system system according according to any to any
oneofofthe one theforms forms (3)-(7), (3)-(7),
whereinthe wherein thetarget target route route determining determiningportion portiondetermines determinesthethetarget targetroute routebased based onaa priority on priorityininobtaining obtaining thethe road road surface surface condition, condition, and and whereinthe wherein thetarget targetroute routedetermining determining portion portion determines determines the the priority priority to abe a to be
highervalue higher value in in at at least least oneone portion portion oftravel of the the travel regionregion foritwhich for which it is estimated is estimated by the by the road surface road surface condition conditionchange change estimating estimating portion portion that that thethe change change of the of the roadroad surface surface
condition is large than in at least one portion of the travel region for which it is estimated condition is large than in at least one portion of the travel region for which it is estimated
by the by the road roadsurface surfacecondition conditionchange change estimating estimating portion portion thatthat the the change change ofroad of the the road surfacecondition surface condition is is small. small.
[0066]
[0066] (9) (9) A road A road surface surface condition condition obtaining obtaining system systemconfigured configuredtotoobtain obtain aa
16 16 43587551_1 43587551 1
road surface road surface condition conditionthat that is is aa condition condition of of aa road road surface surface of of aa travel travel region region where wherea a movablebody movable body travels,including: travels, including: a target a target route route determining determining portion portion configured to determine configured to determineaatarget target route route based based on at least one of characteristics of the road surface of the travel region and a state of the on at least one of characteristics of the road surface of the travel region and a state of the
movablebody movable body thattravels that travelsononthe the road road surface, surface, wherein the wherein the movable movable body bodyincludes includes aa movable movable body bodyroadroadsurface surface condition condition 2024200931
obtainingportion obtaining portion that that obtains obtains the the roadroad surface surface condition condition along along the theroute target target route when the when the
movablebody movable body travelsalong travels alongthethetarget targetroute routedetermined determined by by thethe targetroute target routedetermining determining portion. portion.
[0067]
[0067] Thechange The changeofofthe theroad roadsurface surfacecondition conditioncancanbebeestimated estimatedbased based on on at at
least one of the characteristics of the road surface and the state of the movable body, and least one of the characteristics of the road surface and the state of the movable body, and
the degree the degree(level) (level)ofofthethe obtainment obtainment request request for obtaining for obtaining the roadthe roadcondition surface surface condition can can be obtained. be obtained. Thetarget The target route route determining portion may determining portion mayemploy employ thetechnical the technicalfeatures features described in any one of the forms (1)-(8). described in any one of the forms (1)-(8).
[0068]
[0068] (10) (10) A road A road surface surface condition condition obtaining obtaining system configuredto system configured to obtain obtain a road a roadsurface surfacecondition conditionthatthat is a is a condition condition of asurface of a road road surface of aregion of a travel travelwhere region a where a plurality of plurality ofmovable movable bodies bodies travels, travels,
whereineach wherein eachofofthethemovable movable bodies bodies includes includes a movable a movable body body road road surface surface
condition obtaining condition obtaining portion portionthat that obtains obtains the the road roadsurface surfacecondition conditionwhen whenthethe movable movable
body travels the travel region, body travels the travel region,
whereinthe wherein theplurality plurality of of movable movablebodies bodiesincludes includes a thirdmovable a third movablebodybody and aand a
fourth movable fourth bodydifferent movable body differentfrom fromthethethird third movable movablebody,body, whereinthe wherein theroad roadsurface surfacecondition condition obtaining obtaining system system includes includes a target a target routeroute
determiningportion determining portionconfigured configuredtotodetermine determine a targetroute a target routeofofthe thefourth fourthmovable movable bodybody based on based on the the road road surface surface condition condition obtained obtained byby the the movable bodyroad movable body roadsurface surfacecondition condition obtaining portion obtaining portion of of the the third thirdmovable movable body, and body, and
wherein, when wherein, whenthethefourth fourth movable movablebodybody travelsalong travels alongthethetarget target route route determined determined
by the by the target targetroute routedetermining determining portion, portion,the thefourth fourthmovable movable body body obtains, obtains, byby the themovable movable
bodyroad body road surface surface condition condition obtaining obtaining portion, portion, thesurface the road road surface conditioncondition along the along target the target
route. route.
[0069]
[0069] For instance, For instance, the the third third movable movablebodybody corresponds corresponds to the to the small-sized small-sized
movablebody, movable body,and andthe thefourth fourthmovable movablebody body corresponds corresponds to to thethelarge-sized large-sizedmovable movable body. body.
It may It beconsidered may be consideredthat thatboth boththethethird thirdmovable movable bodybody andfourth and the the fourth movable movable body body correspondtotothe correspond the small-sized small-sizedmovable movable body body or correspond or correspond to large-sized to the the large-sized movable movable
body. Further, body. Further,ititmay maybe be considered considered thatthat the the third third movable movable body body corresponds corresponds to the to the
17 17 43587551_1 43587551_1
large-sized movable large-sized bodyandand movable body thethe fourth fourth movable movable bodybody corresponds corresponds to thetosmall-sized the small-sized movablebody. movable body.In any In any case, case, the the third third movable movable body body andfourth and the the fourth movable movable body body are are mutuallydifferent mutually different movable movablebodies. bodies.The The target target route route determining determining portion portion may employ may employ
the technical the technicalfeatures featuresdescribed described in any in any one one of theofforms the forms (1)-(9). (1)-(9).
[0070]
[0070] (11) (11) Theroad The roadsurface surfacecondition conditionobtaining obtainingsystem systemaccording according to to any any
oneofofthe one theforms forms (1)-(10), (1)-(10), 2024200931
whereinthe wherein thetarget target route route determining determiningportionportiondetermines determinesthethetarget targetroute routebased based on aa priority on priorityininobtaining obtaining thethe road road surface surface condition, condition, and and
whereinthe wherein thetarget targetroute routedetermining determining portion portion determines determines the the priority priority to abe a to be
higher value higher value in in at at least least one portion of one portion of the the road road surface surface ofof the the travel travel region region where wherethethe numberofoftraveling number travelinglarge-sized large-sized movable movablebodies bodies each each as as thethe movable movable bodybody is large is large thanthan
in at in at least least one portion of one portion of the the road roadsurface surfaceofofthe thetravel travelregion regionwhere where thethe number number of of traveling large-sized movable bodies is small. traveling large-sized movable bodies is small.
[0071]
[0071] (12) TheThe (12) road road surface surface condition condition obtaining obtaining system system according according to anyto any
one of one of the the forms forms(1)-(11), (1)-(11), wherein whereinthethetarget target route route determining determiningportion portionassigns assignsa ascore score based on based onweighting weightingforforeach each of of a pluralityofofportions a plurality portionsobtained obtained by by dividing dividing thethe travel travel
regionand region anddetermines determines the target the target route route SO as so as to include to include at leastat least one oneinportion portion in which the which the
scoreisis not score notless lessthan thana aset setscore. score.
[0072]
[0072] Thescore The score includes includes aa sum sumofofthe the scores. scores.
[0073]
[0073] (13) TheThe (13) road road surface surface condition condition obtaining obtaining system system according according to anyto any
one of the forms (1)-(12), wherein the target route determining portion determines at least one of the forms (1)-(12), wherein the target route determining portion determines at least
one portion one portion ofof the the road road surface surface of of the the determined determinedtarget target route route where wherethe themovable movable body body
travels. travels.
[0074]
[0074] (14) TheThe (14) road road surface surface condition condition obtaining obtaining system system according according to anyto any
oneofofthe one theforms forms (1)-(13), (1)-(13),
wherein the wherein the movable movable bodybodyincludes includes aa movable movablebody bodycommunication communication device device configured tototransmit configured transmitmovable movable bodybody information information including including road surface road surface conditioncondition
information that information that is is information informationindicating indicatingthetheroad roadsurface surfacecondition condition obtained obtained by the by the
movablebody movable body road road surfacecondition surface condition obtaining obtaining portion,and portion, and whereinthe wherein the road road surface surface condition condition obtaining obtaining system systemincludes: includes: a management a communication management communication device device capable capable of receiving of receiving the the movable movable
bodyinformation; body information;and and a management a road management road surface surface condition condition obtaining obtaining portion portion configured configured to to obtainthe obtain theroad roadsurface surface condition condition in travel in the the travel region region based based on the on roadthe road condition surface surface condition information included information includedininthe themovable movablebodybody information information received received by the by the management management
communication communication device. device.
18 18 43587551_1 43587551_1
[0075]
[0075] The management The managementcommunication communication device device andandthe the management management road road surface condition surface condition obtaining obtaining portion portion respectively respectively correspond correspond to to the thecentral centralcommunication communication
device and device andthethecentral central road road surface surface condition condition obtaining obtaining portion portion in the in the illustrated illustrated
embodiment. embodiment.
[0076]
[0076] (15) The (15) Theroad roadsurface surfacecondition conditionobtaining obtaining system system according according to theto the form(14), form (14),which which determines determines timing timing of repair of repair of the of thesurface road road surface of theregion of the travel travelbased region based 2024200931
on the on the road road surface surface condition conditionalong alongthe thetarget target route routeobtained obtainedbybythe themanagement management road road
surfacecondition surface condition obtaining obtaining portion. portion.
[0077]
[0077] (16) (16) A A travelingmanagement traveling management system system configured configured to manage to manage traveling traveling
of aa movable of body movable body thatthat travels travels a travel a travel region, region, including including a target a target route route determining determining portion portion
configured toto determine configured determinea atarget targetroute routeofofthethemovable movable bodybody basedbased on an on an obtainment obtainment
request for obtaining a road surface condition that is a condition of a road surface of the request for obtaining a road surface condition that is a condition of a road surface of the
travel region. travel region.
[0078]
[0078] Thetarget The target route route determining portion may determining portion mayemploy employ thetechnical the technicalfeatures features describedininanyany described oneone of the of the forms forms (1)-(15). (1)-(15).
19 19 43587551_1 43587551_1
Claims (7)
1. A road surface condition obtaining system configured to obtain a road surface condition that is a condition of a road surface of a travel region where a movable body travels, comprising: a road surface condition change estimating portion configured to estimate a change of the road surface condition of the travel region; and 46248778_1
a target route determining portion configured to determine the target route of the 2024200931
movable body based on the change of the road surface condition estimated by the road surface condition change estimating portion, wherein the movable body includes a movable body road surface condition obtaining portion that obtains the road surface condition when the movable body travels along the target route determined by the target route determining portion, wherein the target route determining portion determines the target route based on a priority in obtaining the road surface condition, and wherein the target route determining portion determines the priority to be a higher value in at least one portion of the travel region for which it is estimated by the road surface condition change estimating portion that the change of the road surface condition is large than in at least one portion of the travel region for which it is estimated by the road surface condition change estimating portion that the change of the road surface condition is small, and wherein the target route determining portion determines the priority to be a higher value in a central portion of an intersection where at least two routes intersect than in a peripheral portion of the intersection.
2. The road surface condition obtaining system according to claim 1, wherein the target route determining portion determines the target route so as to include at least one portion of the travel region for which it is estimated by the road surface condition change estimating portion that the road surface condition changes by not less than a set change amount.
3. The road surface condition obtaining system according to claim 1 or 2, wherein the road surface condition change estimating portion estimates that the change of the road surface condition is greater when the number of traveling movable bodies is large than when the number of traveling movable bodies is small.
4. The road surface condition obtaining system according to any one of claims 1-3, wherein the movable body includes a first movable body and a second movable body having a weight greater than a weight of the first movable body, and
46248778_1 wherein the road surface condition change estimating portion estimates that the change of the road surface condition is larger in the road surface on which the second movable body travels than in the road surface on which the first movable body travels.
5. The road surface condition obtaining system according to any one of claims 1-4, wherein the road surface condition change estimating portion estimates the change of the road surface 46248778_1
condition based on at least one of a state of the movable body and characteristics of the road 2024200931
surface.
6. The road surface condition obtaining system according to any one of claims 1-5, wherein the movable body includes a large-sized movable body, wherein the target route determining portion determines the target route based on a priority in obtaining the road surface condition, and wherein the target route determining portion determines the priority to be a higher value in at least one portion of the road surface of the travel region where the number of traveling large-sized movable bodies is large than in at least one portion of the road surface of the travel region where the number of traveling large-sized movable bodies is small.
7. The road surface condition obtaining system according to any one of claims 1-8, wherein the priority is based on a score for a portion of the road surface, the score based on characteristics of the road surface including whether water is likely to be contained in the portion of the road surface.
Komatsu Ltd. Patent Attorneys for the Applicant SPRUSON & FERGUSON
46248778_1
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2023024307A JP2024118103A (en) | 2023-02-20 | 2023-02-20 | Road condition acquisition system |
| JP2023-024307 | 2023-02-20 |
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| AU2024200931A1 AU2024200931A1 (en) | 2024-09-05 |
| AU2024200931B2 true AU2024200931B2 (en) | 2025-08-14 |
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| AU2024200931A Active AU2024200931B2 (en) | 2023-02-20 | 2024-02-14 | Road surface condition obtaining system |
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| JP (1) | JP2024118103A (en) |
| AU (1) | AU2024200931B2 (en) |
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|---|---|---|---|---|
| WO2026070590A1 (en) * | 2024-09-30 | 2026-04-02 | 日立建機株式会社 | Road surface management system |
| CN120889186B (en) * | 2025-09-30 | 2025-12-23 | 湖南省高速公路集团有限公司 | Road surface prosthetic devices that highway maintenance was used |
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| JP2005115687A (en) * | 2003-10-08 | 2005-04-28 | Hitachi Ltd | Road maintenance support system |
| US20160258118A1 (en) * | 2014-03-19 | 2016-09-08 | Komatsu Ltd. | Road Surface Condition Determining Method, Road Surface Condition Outputting Method, Road Surface Condition Determining Device and Road Surface Condition Output Equipment |
| US20190186086A1 (en) * | 2017-03-31 | 2019-06-20 | Hitachi Construction Machinery Co., Ltd. | Road surface management system and road surface management method |
| US20200156646A1 (en) * | 2018-11-19 | 2020-05-21 | Aisin Seiki Kabushiki Kaisha | Road degradation information collecting device |
| US20210102813A1 (en) * | 2017-12-13 | 2021-04-08 | Caterpillar Sarl | Worksite Management System |
| WO2021241350A1 (en) * | 2020-05-28 | 2021-12-02 | 本田技研工業株式会社 | Road surface evaluating device, and road surface evaluating method |
| WO2022137369A1 (en) * | 2020-12-23 | 2022-06-30 | 日本電気株式会社 | Road inspection system, road inspection method, and program recording medium |
| WO2022176198A1 (en) * | 2021-02-22 | 2022-08-25 | 日本電気株式会社 | Infrastructure diagnostic device, infrastructure diagnostic method, and recording medium |
-
2023
- 2023-02-20 JP JP2023024307A patent/JP2024118103A/en active Pending
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- 2024-02-14 AU AU2024200931A patent/AU2024200931B2/en active Active
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| JP2005115687A (en) * | 2003-10-08 | 2005-04-28 | Hitachi Ltd | Road maintenance support system |
| US20160258118A1 (en) * | 2014-03-19 | 2016-09-08 | Komatsu Ltd. | Road Surface Condition Determining Method, Road Surface Condition Outputting Method, Road Surface Condition Determining Device and Road Surface Condition Output Equipment |
| US20190186086A1 (en) * | 2017-03-31 | 2019-06-20 | Hitachi Construction Machinery Co., Ltd. | Road surface management system and road surface management method |
| US20210102813A1 (en) * | 2017-12-13 | 2021-04-08 | Caterpillar Sarl | Worksite Management System |
| US20200156646A1 (en) * | 2018-11-19 | 2020-05-21 | Aisin Seiki Kabushiki Kaisha | Road degradation information collecting device |
| WO2021241350A1 (en) * | 2020-05-28 | 2021-12-02 | 本田技研工業株式会社 | Road surface evaluating device, and road surface evaluating method |
| WO2022137369A1 (en) * | 2020-12-23 | 2022-06-30 | 日本電気株式会社 | Road inspection system, road inspection method, and program recording medium |
| WO2022176198A1 (en) * | 2021-02-22 | 2022-08-25 | 日本電気株式会社 | Infrastructure diagnostic device, infrastructure diagnostic method, and recording medium |
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|---|---|
| JP2024118103A (en) | 2024-08-30 |
| AU2024200931A1 (en) | 2024-09-05 |
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