JP7414705B2 - Planning device, planning method, and planning program - Google Patents

Description

The present disclosure relates to a planning device, a planning method, and a planning program that create movement plans for a plurality of mobile bodies at a mobile base where a plurality of mobile bodies are stationed.

Conventionally, in a mobile base where a plurality of mobile bodies are stationed, a technique for creating a detention plan for a plurality of mobile bodies with respect to the mobile base is known in order to efficiently move the mobile bodies in and out of the mobile base. There is.

For example, Patent Document 1 discloses hindrance information that defines a hindrance relationship, which is a relationship between detention locations within a mobile base that hinders the arrival or departure of other mobile bodies due to the detention of a certain mobile body; 2. Description of the Related Art There is a known technique for creating a detention plan for a plurality of mobile bodies at a mobile base based on departure and arrival time information indicating the arrival and departure times of the plurality of mobile bodies at the mobile base.

Japanese Patent Application Publication No. 2012-86779

However, with the technique described in Patent Document 1, depending on the arrival time and departure time of each mobile object, it may be difficult to create a detention plan so as not to fall under any problem within the mobile base.

The present disclosure has been made in view of the above, and provides a mobile base that allows a plurality of mobile bodies to depart from and arrive at a mobile base at the arrival and departure times indicated by the departure and arrival time information. An object of the present invention is to obtain a planning device capable of creating a movement plan for a moving object in a mobile station.

In order to solve the above-mentioned problems and achieve the purpose, the plan creation device of the present disclosure includes an information acquisition section, an extraction section, and a movement determination section. The information acquisition unit records the arrival time and departure time of each of the plurality of mobile objects to a mobile base, each of which includes a plurality of detention places arranged in the moving direction of the mobile objects, and in which a plurality of detention place groups leading to an exit are provided. Obtain departure/arrival time information indicating the time. The extraction unit is configured to determine whether the arrival time is later compared to the arrival time of the target moving object, which is one mobile object selected from the plurality of moving objects, and the departure time is later compared to the departure time of the target moving object. A mobile object with a low priority is extracted from among the plurality of mobile objects based on departure and arrival time information acquired by an information acquisition unit. The movement determination unit determines a time later than the arrival time of the lower priority mobile object and earlier than the departure time of the target mobile object as the travel time of the target mobile object to the detention place on the exit side of the mobile base; A detention location group that includes a detention location for a mobile object with a lower priority among multiple detention locations, and a target movement to a detention location on the exit side of the mobile base than the detention location of a mobile object with a lower priority in the same detention location group. Determine body movement. The extraction unit assigns a score such that the earlier the arrival time and earlier the departure time of the mobile object, the higher the score, and selects the target mobile object in order from the highest score.

According to the present disclosure, a movement plan for mobile bodies at a mobile base is created so that a plurality of mobile bodies can depart from and arrive at the mobile base at the arrival and departure times indicated by the departure and arrival time information. It has the effect of being able to do things.

A diagram showing an example of the configuration of a railway system according to Embodiment 1. A diagram showing an example of the configuration of a railway depot that is the target of a movement plan and a detention plan created by the planning device according to the first embodiment. A diagram showing an example of parking a vehicle formation in the depot shown in FIG. 2 A diagram showing an example of an indwelling plan according to Embodiment 1 A diagram for explaining a movement plan created by the plan creation device according to the first embodiment A diagram showing an example of the configuration of a planning device according to Embodiment 1. Flowchart showing an example of processing by the planning device according to the first embodiment Flowchart showing an example of detention plan creation processing by the plan creation device according to the first embodiment Flowchart showing an example of movement plan creation processing by the planning device according to the first embodiment A diagram showing an example of the hardware configuration of the planning device according to the first embodiment.

Below, a planning device, a planning method, and a planning program according to an embodiment will be explained in detail based on the drawings.

Embodiment 1.
FIG. 1 is a diagram showing an example of the configuration of a railway system according to a first embodiment. The railway system 100 according to the first embodiment includes a plan creation device 1 that creates a detention plan that is a plan for detaining a formation of cars at a depot 4 and a movement plan that is a plan for moving a formation of cars at the depot 4. , an operation plan creation device 2 that creates a train operation plan including one or more train formations, and an operation management device 3 that manages train operation. The vehicle depot 4 is an example of a mobile base, and the organization of vehicles is an example of a mobile body.

The plan creation device 1, the operation plan creation device 2, and the operation management device 3 can exchange information with each other via a network (not shown). The plan creation device 1 acquires information on a basic timetable or an implementation timetable indicating a train operation plan from the operation plan creation device 2, and obtains information on a changed timetable from the operation management device 3. Each timetable includes departure and arrival time information indicating the arrival and departure times of each formation with respect to the depot 4. Create a detention plan based on the following. Note that the changed timetable is a timetable that is changed from the basic timetable or the implemented timetable when the timetable is disrupted.

FIG. 2 is a diagram illustrating an example of the configuration of a railway depot that is the target of a movement plan and a detention plan created by the planning device according to the first embodiment. In FIG. 2, solid lines indicate railroad tracks. The vehicle depot 4 shown in FIG. 2 has a plurality of parking locations 5 ₁₁ , 5 ₁₂ , 5 ₂₁ , 5 ₂₂ , 5 ₃₁ , 5 ₃₂ in which vehicle formations can be parked. Below, a vehicle formation may be simply referred to as a formation.

In the depot 4 shown in FIG. 2, two formations can be parked in tandem on the same track. For example, the detention locations 5 ₁₁ and 5 ₁₂ are arranged on the same track, and two formations can be parked in tandem at the detention locations 5 ₁₁ and 5 ₁₂ . Detention locations 5 ₁₁ and 5 ₁₂ are referred to as Platform 1, detention location 5 ₁₁ is referred to as Platform 1A, and detention location 5 ₁₂ is referred to as Platform 1B.

Similarly, the detention locations 5 ₂₁ and 5 ₂₂ are arranged on the same track, and two formations can be parked in tandem at the detention locations 5 ₂₁ and 5 ₂₂ . Detention places 5 ₂₁ and 5 ₂₂ are called Platform 2, detention location 5 ₂₁ is called Platform 2A, and detention location 5 ₂₂ is called Platform 2B.

Further, the detention locations 5 ₃₁ and 5 ₃₂ are arranged on the same track, and two formations can be parked in tandem at the detention locations 5 ₃₁ and 5 ₃₂ . Detention places 5 ₃₁ and 5 ₃₂ are called Platform 3, detention location 5 ₃₁ is called Platform 3A, and detention location 5 ₃₂ is called Platform 3B. In the following, when each of detention locations 5 ₁₁ , 5 ₁₂ , 5 ₂₁ , 5 ₂₂ , 5 ₃₁ , and 5 ₃₂ is shown without being individually distinguished, it may be referred to as detention location 5.

The detention locations 5 ₁₁ , 5 ₂₁ , and 5 ₃₁ are connected to the main line via the base entrance 6, and the formation of vehicles is such that vehicles enter the depot 4 from the main line via the base entrance 6, and are divided into multiple detention locations 5. The patient is detained at one of the detention locations 5. Furthermore, when the departure time comes, the formation of vehicles parked at the detention place 5 moves from the detention place 5 to the main line via the base entrance/exit 6. Further, in the vehicle depot 4, an inspection device 8 is arranged at the base entrance/exit 6, and when the vehicle formation passes through the base entrance/exit 6, the inspection device 8 conducts an external inspection for brakes, scratches, etc. . When the inspection device 8 determines that the vehicle formation requires repair as a result of the inspection, it outputs the inspection result to a repair management device (not shown).

FIG. 3 is a diagram illustrating an example of a parking arrangement of vehicles at the depot illustrated in FIG. 2. FIG. In FIG. 3, the vehicle organization is shown using rectangular blocks. In the example shown in FIG. 3, formation 7 ₁ is kept at detention place 5 ₁₁ , formation 7 ₂ is kept at detention place 5 ₂₁ , formation 7 ₃ is kept at detention place 5 ₂₂ , and formation 7 is kept at detention place 5 ₃₂ . ₄ are in custody. Below, when each of formations 7 ₁ , 7 ₂ , 7 ₃ , and 7 ₄ is shown without being individually distinguished, it may be referred to as formation 7. Note that the number of detention places 5 and the number of wires are not limited to the example shown in FIG. 2, and the number of formations 7 is not limited to the example shown in FIG. 3.

Composition 7 ₃ is kept at detention place 5 ₂₂ which is deeper than detention place 5 ₂₁ where composition 7 ₂ is kept. Therefore, when formation 7 ₃ departs from the depot 4, if formation 7 ₂ is held at detention place 5 ₂₁ , the on-site driver will move formation 7 ₂ from detention place 5 ₂₁ to another detention place. It will be done. Such moving work is also called shuffling work. Since shunting work requires on-site operators, the workload of on-site operators increases as the number of shunting operations increases.

Generally, on railways, many formations 7 are in operation during the day, and there are not many formations 7 in operation at night. At night, the formations 7 that have completed their service for the day are brought back to the depot 4, and many formations 7 are parked within the premises of the depot 4. Then, the next day, the train departs from the depot 4 again and begins operation for that day. Therefore, the order in which the formations 7 arrive at the depot 4 and the order in which they depart from the depot 4 depends on what kind of operation the formations 7 will be in charge of on that day. It has already been decided at this stage. Therefore, as described above, the planning device 1 acquires departure and arrival time information indicating the arrival and departure times of each formation 7 from the train depot 4 from the operation planning device 2 or the operation management device 3.

The plan creation device 1 creates a parking plan for each formation 7 at the detention location 5 at the depot 4 based on the information regarding the configuration of the depot 4 and the departure/arrival time information that have already been given. The information regarding the configuration of the vehicle depot 4 includes detention location information and hindrance information. The hindrance information is, like the relationship between the detention place 5 ₂₁ and the detention place 5 ₂₂ described above, when the formation 7 is detained at the depot 4 where the detention plan is created, the movement of the formation 7 is hindered. This is information indicating a detention place 5 that is in a hindrance relationship.

The plan creation device 1 performs a detention plan process to create a detention plan that does not require the above-mentioned shunting work, but depending on the arrival time and departure time of each formation 7, it may be necessary to avoid problems within the depot 4. It may not be possible to create a detention plan.

FIG. 4 is a diagram showing an example of an indwelling plan according to the first embodiment. The detention plan shown in FIG. 4 includes information on the formation 7 to be detained at each detention location 5 ₁₁ , 5 ₁₂ , 5 ₂₁ , 5 ₂₂ , 5 ₃₁ , 5 ₃₂ for each time period l1, l2, l3, l4. "0" in FIG. 4 indicates that the formation 7 is not in place.

In the detention plan shown in FIG. 4, if the departure time of formation 7 ₁ is in time zone 14, formation 7 ₅ is detained at detention location 5 ₂₁ in time zone 14, so formation 7 ₅ is detained at detention location 5 _21. Formation ₇₁ cannot depart unless it is moved from.

Therefore, the planning device 1 creates a movement plan that is a plan for the replacement work of the formation 7. Specifically, the planning device 1 selects one formation 7 from among the plurality of formations 7, and sets the selected formation 7 as the target formation. The target organization is an example of a target moving object. Then, based on the departure and arrival time information, the planning device 1 selects a low-priority formation 7 whose arrival time is late compared to the arrival time of the target formation and whose departure time is slow compared to the departure time of the target formation. , extracted from a plurality of formations 7.

The plan creation device 1 creates a movement plan for performing replacement work for the target formation in a time period later than the arrival time of the formation 7 having a lower priority and earlier than the departure time of the target formation. For example, the planning device 1 selects a vehicle depot 4 rather than a detention place 5 of a formation 7 with a low priority in a time period later than the arrival time of the formation 7 with a low priority and earlier than the departure time of the target formation. A movement plan is created to move the target formation to the detention place 5 on the exit side.

FIG. 5 is a diagram for explaining a movement plan created by the plan creation device according to the first embodiment. In the example shown in FIG. 5, formation 7 ₂ arrives later than formation 7 ₁ . Further, although not shown in FIG. 5, formation ₇₂ has a later departure time than formation ₇₁ . In this case, the planning device 1 selects formation 7 ₁ as the target formation, and prioritizes the formation whose arrival time is later than the arrival time of formation 7 ₁ and whose departure time is later than the departure time of formation 7 ₁ . It is determined that the lowest formation 7 is formation ₇₂ .

The planning device 1 creates a movement plan for performing the replacement work for the formation _7-1 in a time period later than the arrival time of the formation _7-2 , which has a lower priority, and earlier than the departure time of the formation _7-2 . In the example shown in FIG. 5, the time slot that is later than the arrival time of formation ₇₂ , which has a lower priority, and earlier than the departure time of formation ₇₂ , is time period l3. The plan creation device 1 creates a movement plan for moving the formation 7 ₁ to a detention place 5 _{11 on the exit side of the depot 4 than the detention place 5 12 of} the formation _{7 2} having a lower priority in the time period 13.

By creating a detention plan that reflects the movement plan created in this way, the plan creation device 1 can create a detention plan that does not fall under any hindrances within the vehicle depot 4. The information on the detention plan includes information on the formation 7 to be subjected to the shunting work, information on the detention place 5 to which the shunting work will move, and information on the shunting work including information on the time period of the shunting work. included. The information about the detention place 5 that is the destination of the shunting operation is, for example, information about the detention place 5 that is closer to the exit of the depot 4 than the detention place 5 of the formation 7 that has a lower priority.

The planning device 1 will be explained in more detail below. FIG. 6 is a diagram illustrating an example of the configuration of the planning device according to the first embodiment. As shown in FIG. 6, the plan creation device 1 includes an information acquisition unit 10, a detention plan creation unit 20, a movement plan creation unit 30, a location information storage unit 41, a location and time zone information storage unit 42, It includes a detention plan information storage section 43 and a movement plan information storage section 44.

The information acquisition unit 10 acquires detention location information, movement hindrance information, and departure/arrival time information from an external device via a network (not shown). The information acquisition unit 10, for example, acquires operation plan information from the operation plan creation device 2, and acquires departure and arrival time information included in the operation plan information.

The detention place information is information indicating all the detention places 5 within the vehicle depot 4. When the vehicle depot 4 is the vehicle depot 4 shown in FIG. 2, the detention location information includes information indicating a plurality of detention locations 5 ₁₁ , 5 ₁₂ , 5 ₂₁ , 5 ₂₂ , 5 ₃₁ , 5 ₃₂ .

The movement hindrance information is information regarding movement hindrances, and when the formation 7 is detained at the depot 4 for which the detention plan is to be created, it indicates a detention location that is in a hindrance relationship that will hinder the movement of the formation 7. This is information indicating 5. For example, the movement hindrance information may include at least two detention locations between at least two formations 7 where one formation 7 poses a hindrance to the arrival of another formation 7 at the detention place 5 or the departure of the other formation 7 from the detention place 5. This is information that defines the relationship of location 5 as a hindrance relationship.

When the depot 4 is the depot 4 shown in FIG. 2, the detention places 5 ₁₁ and 5 ₁₂ are in a mutually obstructing relationship, the detaining places 5 ₂₁ and 5 ₂₂ are in an interfering relationship with each other, and the detaining places 5 ₃₁ and 5 ₃₂ are in an interfering relationship with each other. are interfering with each other. In this case, the movement hindrance information includes information indicating that detention locations 5 ₁₁ and 5 ₁₂ are in a hindrance relationship with each other, information indicating that detention locations 5 ₂₁ and 5 ₂₂ are in a hindrance relationship with each other, and detention location 5 ₃₁ , 5 ₃₂ are in a mutually detrimental relationship.

The departure and arrival time information is information indicating the arrival time and departure time of each of the plurality of formations 7 to the depot 4, and includes information indicating the arrival time of the formation 7 to the depot 4 and departure time of the formation 7 from the depot 4. Information indicating time is included for each composition 7. In the following, for convenience of explanation, formation 7 may be referred to as equipment.

The detention plan creation unit 20 creates a detention plan for the plurality of formations 7 at the depot 4 during the period covered by the detention plan, based on the detention location information, movement hindrance information, and departure/arrival time information acquired by the information acquisition unit 10. create. The target period of the detention plan is a preset period or a period specified by an input operation to an input unit (not shown) of the plan creation device 1. The preset period is, for example, a period from noon of the current day to noon of the next day, but may be a period from noon of the current day to noon of the day after next, or may be any other period.

After creating a detention plan, if information on a changed timetable is acquired by the information acquisition unit 10 from the traffic management device 3 during the target period of the detention plan, the detention plan creation unit 20 determines the departure and arrival times included in the information on the changed timetable. Based on the information, the detention plan can be re-created. The detention plan creation section 20 includes a location information generation section 21 , a location/time zone information generation section 22 , a movement restriction information generation section 23 , a detention location search section 24 , and a time zone classification adjustment section 25 .

The location information generation unit 21 generates location information of the depot 4 for which a detention plan is to be created based on the detention location information, and stores the generated location information in the location information storage unit 41. , for example, is indicated by detention location information based on detention location information. Information in which a variable indicating the detention place 5 and a variable indicating the equipment kept at the detention place 5 are associated is generated as position information.

For example, the position information generation unit 21 sets the set of all detention places 5 in the vehicle depot 4 as T, the number of equipment as n, each equipment as F1 to Fn, and the subscript k as an arbitrary value from 1 to n. Generate position information defined by T(Fk)∈T. T(Fk) represents a place where the equipment Fk is kept, and can be any detention place 5 included in the set T.

For T(Fk), the specific detention place 5 is determined by a search by the detention place search unit 24. If there is a restriction such that a specific detention location 5 cannot be used for a specific piece of equipment, for example, if equipment Fk cannot use detention location T', a constraint expression such as T(Fk)≠T' is set. You can also leave it there.

The location/time zone information generating section 22 generates information in each time zone in which the target period of the detention plan is divided based on the location information generated by the location information generating section 21 and the departure/arrival time information acquired by the information acquiring section 10. Location and time zone information is generated that represents the equipment to be detained at each detention location 5 using variables. The location and time zone information generation section 22 stores the generated location and time zone information in the location and time zone information storage section 42 .

The location and time zone information generation section 22 associates the detention place 5 in the time zone of the arrival time and departure time of each equipment set in the location and time zone information with the location information generated by the location information generation section 21. The location and time zone information generated by the location and time zone information generation unit 22 does not have variable values set, and each time the detention location search unit 24 searches, detention locations 5 are sequentially determined. A value corresponding to the designated detention location 5 is assigned to the variable.

The location/time zone information generation unit 22 generates, for example, information indicated by "P(p,l)" as the location/time zone information. In "P(p,l)", "l" indicates the time zone, and "p" indicates the detention place 5.

The location/time zone information generation unit 22 generates constraint condition information indicating a location constraint expressed by the following equation (1) as a location constraint for the location/time zone information based on the departure/arrival time information. In the following formula (1), "T(Fk)" is the location where the equipment Fk is kept, the subscript k is an arbitrary value from 1 to n, and "s" is the location from time Ak to time Dk. This is the time period. "n" indicates the total number of equipment, time Ak indicates the arrival time of equipment Fk, and time Dk indicates the departure time of equipment Fk.
P(T(Fk),s)=Fk...(1)

Since there is only one variable that represents the equipment present at a certain detention place 5 in a certain time period, by setting the constraint shown in the above formula (1), indirectly It is possible to realize the constraint that multiple pieces of equipment do not exist. Note that if no equipment exists in a certain time zone and a certain location, the constraint condition shown in the above equation (1) does not work, so the value of the place and time zone information becomes undefined.

The movement constraint information generation section 23 generates movement constraint conditions based on the location and time zone information stored in the location and time zone information storage section 42 and the departure and arrival time information and movement hindrance information acquired by the information acquisition section 10. The movement restriction information shown is generated. This movement constraint condition is the condition that the movement of each piece of equipment upon arrival at detention place 5 and movement upon departure from detention place 5 in each time period does not cause any interference with other equipment. .

Movement hindrance information includes arrival hindrance information that stipulates that if a certain equipment is present at detention place q when the equipment arrives at detention place p, movement to detention place p will be hindered, and if the equipment is Departure hindrance information is included that specifies that when departing from location p, the presence of equipment at detention location q will impede movement from detention location p.

The movement constraint information generation unit 23 generates constraint condition information indicating a movement constraint expressed by the following formula (2) based on the arrival obstacle information. In formula (2) below, "AT(P(p,s))" represents the time when equipment Fk arrives at detention location p, and "AT(P(q,s))" represents the time when equipment Fk arrives at detention location p. represents the time to arrive at location q.
AT(P(p,s))<AT(P(q,s))...(2)

If the constraint expressed by the above equation (2) holds true, the arrival time of a certain piece of equipment at the detention place q will be later than the arrival time of the equipment Fk at the detention place p. Therefore, when the equipment Fk arrives at the detention place p, there is no equipment at the detention place q, and there is no problem. In addition, if there is no equipment to be detained at detention location p or detention location q, P(p, s) or P(q, s) will be an indefinite value, so the constraint equation expressed by equation (2) above restrictions will disappear.

Furthermore, the movement constraint information generation unit 23 generates constraint condition information indicating a movement constraint expressed by the following formula (3) based on the departure hindrance information. In formula (3) below, "DT(P(p,s))" represents the time when equipment Fk departs from detention location p, and "DT(P(q,s))" represents the time when equipment Fk departs from detention location p. It represents the time of departure from location q.
DT(P(q,s))<DT(P(p,s))...(3)

Based on the above-mentioned constraint information, the detention place search unit 24 selects a detention place 5 that satisfies the movement constraint conditions from among the plurality of detention places 5 given by the position information stored in the position information storage unit 41. By searching as a solution, the value of location information is determined, and based on the determined value of location information, the value of location and time zone information is set, thereby creating a detention plan for each piece of equipment. The information on the detention plan is, for example, as shown in FIGS. 4 and 5, information indicating the formations 7 to be detained at each detention location 5 in each time zone divided into the target period of the detention plan. The detention place search unit 24 causes the detention plan information storage unit 43 to store detention plan information indicating the created detention plan for each piece of equipment.

For the search by the detention place search unit 24, known techniques such as constraint logic programming can be used. In constraint logic programming, constraint relationships between variables are expressed in constraint expressions, and variable value options are expressed in a tree structure. The detention location search unit 24 sequentially traces the options in the tree structure, and if there is an option that does not satisfy the constraint conditions, it pruns the branch as there is no prospect of searching beyond that branch, until it can trace other options that are promising. By performing backtracking, a constraint-satisfying solution, which is a detention location 5 for each piece of equipment that satisfies the movement constraint conditions, is obtained. In the process of constraint logic programming, the detention location search unit 24 performs constraint propagation to propagate the constraint relationship between variables expressed in a constraint expression to other variables, thereby narrowing the search range and quickly finding a solution that satisfies the constraints. can be asked for.

Note that backtracking based on a constraint logic programming technique may be implemented as is in the detention location search unit 24, or may be implemented using a commercially available general-purpose library. In this case, if a constraint-satisfying solution exists, the detention location search unit 24 obtains a search result for an appropriate solution as the detention location 5 for each piece of equipment.

The time slot classification adjustment unit 25 adjusts the classification of the time slot 1 based on the departure and arrival time information acquired by the information acquisition unit 10 so that the number of moving equipment in the time slot is equal. For example, the time zone classification adjustment unit 25 refers to the number of arrivals and departures of equipment to the detention place 5 in the depot 4, finely divides the time periods in which the number of arrivals and departures of each equipment is large, and Roughly divide the time periods when the number of arrivals and departures is small.

For example, the time zone segment adjustment unit 25 calculates the number of departures and arrivals of equipment in the detention plan creation period, which is the period covered by the detention plan, and divides the number of departures and arrivals of equipment by the number of time zone segments. The time slot width is adjusted so that each time slot contains the same number of departures and arrivals. As a result, the time zone segment adjustment unit 25 can increase the resolution of the time zone width in the time zone where the number of arrivals and departures of aircraft is large, thereby suppressing the increase in the number of time zone segments and reducing the number of constraint expressions can suppress the increase in

The time zone classification adjustment unit 25 can adjust the number of divisions of the detention plan target period and the width of the time zone, for example, so that the division of each time zone is between the departure time and arrival time of the equipment. . In this case, the time zone classification adjustment unit 25 determines the time zone between the departure time and arrival time of the equipment in the detention plan period, depending on the number of equipment arriving at and departing from the depot 4 during the detention plan period. Decide where to insert the classification. Furthermore, when the detention place search unit 24 ends the search without finding a constraint-satisfying solution, the time slot segment adjustment unit 25 can increase the number of time slot segments for the detention plan creation period.

Note that if the target period of the detention plan is one day, it is necessary to consider the connection conditions with the previous day or the next day of the target day. In this case, for equipment that has been kept at the same location since the previous day, the same constraint condition can be expressed by giving the previous day's time to the arrival time AT(Fk). The same applies to the departure time DT(Fk).

Further, in the above description, an example was explained in which two detention locations 5 are in a hindrance relationship, but the detention plan creation unit 20 similarly handles cases where three or more detention locations 5 are in a hindrance relationship. It is possible to set constraints for each time period l regarding the detention place 5.

The movement plan creation unit 30 creates a movement plan for carrying out replacement work when the detention place search unit 24 cannot find a solution as the detention place for each piece of equipment. The movement plan creation section 30 includes an extraction section 31 and a movement determination section 32.

The extraction unit 31 selects a priority item whose arrival time is later than the arrival time of the target equipment, which is one equipment selected from the plurality of equipment, and whose departure time is later than the departure time of the target equipment. A low-priced aircraft is extracted from a plurality of aircraft based on the departure and arrival time information acquired by the information acquisition unit 10.

The extraction unit 31 selects a device with an early arrival time and an early departure time as a target device. For example, for equipment Fi and equipment Fj, the extraction unit 31 performs a process of giving 1 point if AT(Fi)<AT(Fj), and giving 0 point if AT(Fj)<AT(Fi). , j is changed from 1 to n, and the total score is calculated as the first score of the equipment Fi. Note that i and j are values from 1 to n, and j≠i. Further, AT(Fi) represents the arrival time of equipment Fi, and AT(Fj) represents the arrival time of equipment Fj. As for the first score, the earlier the aircraft arrives, the higher the score.

Similarly, for equipment Fi and equipment Fj, the extraction unit 31 gives 1 point if DT(Fi)<DT(Fj), and 0 points if DT(Fj)<DT(Fi). This process is performed while changing j from 1 to n, and the total score is calculated as the second score of the equipment Fi. DT(Fi) represents the departure time of equipment Fi, and DT(Fj) represents the departure time of equipment Fj. Regarding the second score, the earlier the aircraft departs, the higher the score.

The extraction unit 31 calculates the score of each of the equipment F1 to Fn by adding up the first score and the second score for each of the equipment F1 to Fn. The extraction unit 31 selects one or more pieces of equipment from among the pieces of equipment F1 to Fn in descending order of scores. A device with a high score is a device with an early arrival time and an early departure time, and the extraction unit 31 selects the device with a high score from among the devices F1 to Fn as the target device.

Next, the extraction unit 31 selects a device whose arrival time is later than that of the target device and whose departure time is later than that of the target device as a device with a low priority. When the equipment extracted as described above is equipment Fa, the extraction unit 31 extracts equipment Fk that satisfies AT(Fa)<AT(Fk) and DT(Fa)<DT(Fk) as equipment Fb. The aircraft Fb is a low-priority aircraft whose arrival time is later than that of the target equipment and whose departure time is later than that of the target equipment.

When the equipment with the highest score is equipment Fa, if no equipment Fk that satisfies AT(Fa)<AT(Fk) and DT(Fa)<DT(Fk) is found, the extraction unit 31 extracts , change the equipment to be treated as equipment Fa in descending order of score until a equipment Fk that satisfies AT(Fa)<AT(Fk) and DT(Fa)<DT(Fk) is found, and the first equipment found is used as equipment Fb. Extract.

For example, the extraction unit 31 changes the equipment to be extracted as the equipment Fa or increases the number of equipment until the detention location search unit 24 obtains a solution for the detention location 5 through the search. For example, when the extraction unit 31 is unable to obtain a solution for the detention location 5 in a search by the detention location search unit 24 using the travel plan created by the transportation plan creation unit 30, , two pieces of equipment are extracted as equipment Fa. In addition, when the extraction unit 31 is unable to obtain a solution for the detention place 5 in the search by the detention place search unit 24 using the movement plan after the movement plan for the two pieces of equipment is created in the movement plan creation unit 30, , three pieces of equipment are extracted as equipment Fa.

The movement determining unit 32 determines the movement of the equipment Fa due to the shunting work at a time later than the arrival time of the equipment Fb and earlier than the departure time of the equipment Fa, and at a time when time zones can be distinguished. For example, if the start time of time period l is BT(l) and the end time is ET(l), the movement determining unit 32 determines that AT(Fk)<BT(l) and ET(l)<DT(Fa). One of the time periods l that satisfies the following is selected as the time period la, and a movement plan for changing the detention position of the equipment Fa in the selected time period la is created.

The movement determining unit 32 determines to move the equipment Fa to a detention location 5 closer to the exit of the vehicle depot than the storage location 5 of the equipment Fb during the selected time period la. The movement determining unit 32 creates a movement plan including the movement time of the equipment Fa and the destination detention place 5. The movement determining unit 32 causes the movement plan information storage unit 44 to store information on the created movement plan.

For example, in the example shown in FIG. 4, it is assumed that the departure time of formation 7 ₁ is in time period l4, and the departure time of formations 7 ₂ to 7 ₅ is after time period l4. In this case, the movement determining unit 32 selects formation 7 ₁ as the target equipment because formation 7 ₁ has the highest score.

In addition, the movement determining unit 32 determines that when formation 7 ₁ is equipment Fa, equipment Fk that satisfies AT(Fa)<AT(Fk) and DT(Fa)<DT(Fk) is formation 7 ₂ to 7 ₄ . Yes, formations 7 ₂ to 7 ₄ are determined as equipment Fb. The movement determining unit 32 determines a time period l satisfying AT(Fk)<BT(l) and ET(l)<DT(Fa), with the formations 7 ₂ to 7 ₄ as equipment Fb.

Since the departure time of formation ₇₁ is in time zone l4, the time zones that satisfy ET(l)<DT(Fa) are time zones I1, l2, and I3. Further, the aircraft satisfying AT(Fk)<BT(l) are formations 7 ₂ and 7 ₃ . Then, since the time period l that satisfies AT(Fk)<BT(l) and ET(l)<DT(Fa) is time period I3, the movement determining unit 32 determines the detention position of equipment Fa in time period I3. Create a travel plan that changes

For example, in the time period I3, the movement determining unit 32 moves the formation 7 ₁ to the detention place 5 _{11 on the exit side of the depot 4 rather than the detention place 5 12 of} the formation 7 2 with a lower priority determined as the equipment _Fb . Create a travel plan. The movement determining unit 32 moves the formation 7 ₁ multiple times to move the formation 7 ₁ to the detention place 5 ₁₁ which is closer to the exit of the depot 4 than the storage place 5 ₁₂ of the formation 7 ₂ which has a lower priority. You can also create a travel plan.

The detention plan creation unit 20 acquires the movement plan information generated by the movement plan creation unit 30 from the movement plan information storage unit 44, and creates a detention plan that reflects the movement plan based on the acquired movement plan information.

For example, the detention plan creation unit 20 determines constraint conditions based on the acquired movement plan information. Such a constraint condition is, for example, a condition that the equipment indicated by the movement plan information is moved to the detention place 5 indicated by the movement plan information during the time period indicated by the movement plan information. Based on the determined constraint conditions and the constraint information described above, the detention plan creation unit 20 selects the above-mentioned movement constraint conditions from among the plurality of detention locations 5 given by the position information stored in the position information storage unit 41. By searching for satisfactory detention locations as solutions, a detention plan that reflects the movement plan is created.

In addition, based on the acquired movement plan information, the detention plan creation unit 20 treats the target equipment as the first equipment whose arrival time is the arrival time and the time period in which the target equipment is to be moved as the departure time, and moves the target equipment. It is also possible to treat the target aircraft as a second aircraft whose arrival time is the time period during which the target aircraft arrives, and whose departure time is the departure time of the target equipment.

If the detention plan creation unit 20 cannot create a detention plan that reflects the movement plan, the movement plan creation unit 30 creates a movement plan that adds or changes target equipment and changes the detention position with a low priority.

Next, processing by the planning device 1 will be explained using a flowchart. FIG. 7 is a flowchart illustrating an example of processing by the planning device according to the first embodiment. As shown in FIG. 7, the detention plan creation unit 20 of the plan creation device 1 determines whether or not it is time to create a movement plan (step S10). The movement plan creation timing is, for example, the timing at which an input operation is made to an input section (not shown) of the planning device 1, the timing that occurs periodically, or the timing at which information about a changed timetable is acquired from the operation management device 3. .

When the detention plan creation unit 20 determines that it is time to create a movement plan (step S10: Yes), it performs detention plan creation processing (step S11). The process in step S11 is the process in steps S20 to S23 shown in FIG. 8, and will be described in detail later.

Next, the detention plan creation unit 20 determines whether a detention plan indicating the detention location of each piece of equipment that satisfies the movement constraint conditions has been created (step S12). When the detention plan creation unit 20 determines that the detention plan cannot be created (step S12: No), the movement plan creation unit 30 performs movement plan creation processing (step S13). The process of step S13 is the process of steps S30 to S33 shown in FIG. 9, and will be described in detail later.

The movement plan creation unit 30 determines whether the movement plan has been created (step S14). When the movement plan creation unit 30 determines that the movement plan has been created (step S14: Yes), the process proceeds to step S11. When the plan creation device 1 determines that it is not time to create a movement plan (step S10: No), when it determines that the detention plan has been created (step S12: Yes), it determines that the movement plan cannot be created. If so (step S14: No), the process shown in FIG. 7 ends.

FIG. 8 is a flowchart illustrating an example of the detention plan creation process by the plan creation device according to the first embodiment. As shown in FIG. 8, the detention plan creation unit 20 generates position information of the vehicle depot 4 for which the detention plan is to be created, based on the detention location information (step S20).

In addition, the detention plan creation unit 20 uses variables to represent the equipment to be detained at each detention location 5 in each time zone in which the target period of the detention plan is divided, based on location information and departure/arrival time information. Information is generated (step S21). Then, the detention plan creation unit 20 generates movement restriction information indicating movement restriction conditions based on the location and time zone information, departure and arrival time information, and movement hindrance information generated in step S21 (step S22).

Next, based on the constraint information generated by the movement constraint information generation unit 23, the detention plan creation unit 20 selects a detention place for each piece of equipment that satisfies the movement constraint conditions from among the plurality of detention places 5 in the depot 4. 5 to create detention plan information, which is information on a detention plan indicating the detention location 5 of each piece of equipment in each time period (step S23), and the process shown in FIG. 8 ends. In step S23, if a movement plan has been created by the movement plan creation unit 30, the detention plan creation unit 20 creates an detention plan that reflects the movement plan.

FIG. 9 is a flowchart illustrating an example of movement plan creation processing by the plan creation device according to the first embodiment. As shown in FIG. 9, the movement plan creation unit 30 selects the target equipment (step S30), and selects the target equipment whose arrival time is later than the arrival time of the target equipment and whose departure time is later than the departure time of the target equipment. equipment with a low priority is extracted (step S31).

Next, the movement plan creation unit 30 determines the time period in which the target equipment is to be moved (step S32). In step S32, the movement plan creation unit 30 determines, for example, a time later than the arrival time of the equipment Fb and earlier than the departure time of the equipment Fa, and a time when the time zone classification can be distinguished, as the time period in which the target equipment is to be moved. do.

Next, the movement plan creation unit 30 determines the detention location 5 to which the target equipment is to be moved (step S33), and ends the process shown in FIG. 9. In step S33, the movement plan creation unit 30 determines, for example, to move the target equipment to a storage location 5 closer to the exit of the depot than the storage location 5 of lower priority equipment during the time period determined in step S32. do.

FIG. 10 is a diagram illustrating an example of the hardware configuration of the planning device according to the first embodiment. As shown in FIG. 10, the planning device 1 includes a computer including a processor 101, a memory 102, a communication device 103, and an interface circuit 104.

The processor 101, the memory 102, the communication device 103, and the interface circuit 104 can exchange information with each other via the bus 105, for example. The location information storage section 41 , location/time zone information storage section 42 , detention plan information storage section 43 , and movement plan information storage section 44 are realized by the memory 102 . The processor 101 executes the functions of the information acquisition unit 10, the detention plan creation unit 20, the movement plan creation unit 30, and the like by reading and executing programs stored in the memory 102. The processor 101 is an example of a processing circuit, and includes one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

The memory 102 includes one or more of RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). include. Furthermore, the memory 102 includes a recording medium in which a computer-readable program is recorded. Such recording media include one or more of nonvolatile or volatile semiconductor memory, magnetic disk, flexible memory, optical disk, compact disk, and DVD (Digital Versatile Disc). Note that the planning device 1 may include integrated circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

The above-mentioned depot 4 has a configuration in which two formations 7 are parked in tandem on the same track, but the planning device 1 has a configuration in which three formations 7 are parked in tandem on the same track. can also create detention and transfer plans. Furthermore, although an example has been described in which there is one base entrance/exit 6 in the depot 4, the plan creation device 1 can create a detention plan and a movement plan even if the depot 4 has two or more base entrances/exits 6. be able to. In the above description, the railway formation 7 was cited as an example of a mobile body, and the rolling stock depot 4 was cited as an example of a mobile base. It is also possible to create a detention plan for mobile bodies at a mobile base, which is a base.

Further, the information acquisition unit 10 of the planning device 1 can acquire the inspection results of the formation 7 from the inspection device 8 via a network (not shown). When the planning device 1 acquires information about the formation 7 determined by the inspection device 8 to be in need of repair, it can re-create the detention plan and the movement plan. For example, the detention plan creation unit 20 of the plan creation device 1 creates a detention plan for detaining the formation 7 that has been determined by the inspection device 8 to be in need of repair at the detention location 5 furthest from the base entrance 6 of the depot 4. can be created. The detention plan creation unit 20 sets the set of detention places 5 other than the detention place 5 farthest from the base entrance 6 of the vehicle depot 4 as T', and sets a constraint expression such as T(Fk)≠T'. be able to.

In addition, the movement plan creation unit 30 of the plan creation device 1 moves the formation 7 determined by the inspection device 8 to be in need of repair to the detention place 5 farthest from the base entrance 6 of the depot 4 as the target formation. You can create a travel plan.

The detention plan creation unit 20 of the plan creation device 1 can change the departure time of the formation 7 determined by the inspection device 8 to be in need of repair to be later than the target period of the detention plan. Thereby, the planning device 1 can increase the possibility that the vehicle will be parked at the parking place 5 which is away from the base entrance/exit 6 of the vehicle depot 4.

As described above, the planning device 1 according to the first embodiment includes the information acquisition section 10, the extraction section 31, and the movement determination section 32. The information acquisition unit 10 acquires departure and arrival time information indicating the arrival and departure times of each of the plurality of formations 7 with respect to the depot 4 . The vehicle depot 4 is an example of a mobile base, and the formation 7 is an example of a mobile body. The extraction unit 31 gives priority to one formation 7 selected from the plurality of formations 7, which has a later arrival time compared to the arrival time of the target formation and a later departure time compared to the departure time of the target formation. A formation 7 having a low ranking is extracted from among the plurality of formations 7 based on the departure and arrival time information acquired by the information acquisition unit 10. The movement determining unit 32 determines the movement of the target formation to a detention place 5 closer to the base entrance 6 of the depot 4 than the detention place 5 of the formation 7 having a lower priority. The base entrance/exit 6 is an example of an exit. Thereby, the planning device 1 creates a movement plan for mobile bodies at the mobile base so that a plurality of mobile bodies can depart from and arrive at the mobile base at the arrival and departure times indicated by the departure and arrival time information. can be created.

In addition, the movement determining unit 32 determines a time that is later than the arrival time of the formation 7 with a lower priority and earlier than the departure time of the target formation as the movement time of the target formation to the detention place 5 on the exit side of the depot 4. do. As a result, the planning device 1 can create a movement plan with higher precision so that a plurality of mobile objects can take off and arrive at the mobile base at the arrival and departure times indicated by the departure and arrival time information. Can be done.

Further, the depot 4 is provided with a plurality of detaining place groups each including a plurality of detaining places 5 arranged in the moving direction of the formation 7 and communicating with the exit of the depot 4 . The plurality of detention place groups are, for example, a detention place group including detention places 511 and 512, a detention place group including detention places 521 and 522, and a detention place group including detention places 531 and 532. The movement determining unit 32 moves the target formation to the detention place 5 on the exit side of the depot 4 in the same detention place group as the detention place group that includes the detention place 5 of the formation 7 having a lower priority among the plurality of detention places 5. Determine. As a result, the planning device 1 can create a movement plan with higher precision so that a plurality of mobile objects can take off and arrive at the mobile base at the arrival and departure times indicated by the departure and arrival time information. Can be done.

The information acquisition unit 10 also acquires departure and arrival time information from the operation plan creation device 2 that creates operation management plans for a plurality of formations 7. Thereby, the planning device 1 can easily acquire departure and arrival time information.

The plan creation device 1 also includes an indwelling plan creation section 20 and a movement plan creation section 30. The detention plan creation unit 20 creates a detention plan, which is a plan for the detention locations 5 of the plurality of formations 7 at the depot 4, based on the departure and arrival time information acquired by the information acquisition unit 10. The movement plan creation unit 30 includes an extraction unit 31 and a movement determination unit 32, and creates a movement plan for the target organization. The detention plan creation section 20 includes a detention location search section 24 . The detention place search unit 24 determines whether among the plurality of formations 7, at least two formations 7, one formation 7 is interfering with the other formation 7 arriving at the detention place 5 or the other formation 7 from leaving the detention place 5. A detention plan is created by searching for a detention place 5 for each of a plurality of formations 7 that satisfies a constraint condition that restricts the movement of at least two formations 7 so as not to cause the movement of the formations 7. The movement plan creation unit 30 creates a movement plan when the detention place search unit 24 does not find a detention place 5 for each of the plurality of formations 7 that satisfies the constraint conditions. The detention plan creation unit 20 creates a detention plan based on the movement plan created by the movement plan creation unit 30 and the departure and arrival time information acquired by the information acquisition unit 10. As a result, the plan creation device 1 can create a movement plan and create a detention plan based on the created movement plan when it is not possible to create a detention plan so as not to fall under a problem within the mobile base. can.

The information acquisition unit 10 also acquires movement hindrance information. The movement hindrance information includes at least two formations 7 at the depot 4 where one formation 7 poses a hindrance to the other formation 7 arriving at the detention place 5 or the other formation 7 from leaving the detention place 5. The relationship between the two detention places 5 is defined. The detention plan creation unit 20 includes a place and time zone information generation unit 22 and a movement restriction information generation unit 23. The location/time zone information generation unit 22 generates information about the multiple detention locations 5 in each time zone in which the target period of the detention plan is divided, based on the location information indicating the multiple detention locations 5 in the depot 4 and the departure/arrival time information. Location and time zone information indicating the formations 7 to be detained at each location is generated. The movement constraint information generation unit 23 generates information indicating constraint conditions based on the place and time zone information generated by the place and time zone information generation unit 22 and the movement hindrance information acquired by the information acquisition unit 10. do. In this way, the planning device 1 can generate constraint conditions that depend on the number of detention locations 5 and the time zone using the location and time zone information, and therefore sets the constraint conditions for all moving objects. The number of constraints can be reduced compared to the case where

The configuration shown in the above embodiments is an example, and it is possible to combine it with another known technology, and a part of the configuration can be omitted or changed without departing from the gist. It is possible.

1 Planning device, 2 Operation planning device, 3 Operation control device, 4 Depot, 5, _{5 11} , 5 ₁₂ , 5 ₂₁ , 5 ₂₂ , 5 ₃₁ , 5 ₃₂ Detention place, 6 Base entrance, 7, 7 ₁ , 7 ₂ , 7 ₃ , 7 ₄ organization, 8 inspection device, 10 information acquisition unit, 20 detention plan creation unit, 21 location information generation unit, 22 location and time zone information generation unit, 23 movement restriction information generation unit, 24 detention Location search unit, 25 Time zone classification adjustment unit, 30 Movement plan creation unit, 31 Extraction unit, 32 Movement determination unit, 41 Location information storage unit, 42 Location and time zone information storage unit, 43 Detention plan information storage unit, 44 Movement Planning information storage unit, 100 Railway system.

Claims (6)

Departure/arrival times indicating the arrival and departure times of each of a plurality of mobile bodies with respect to a mobile base, each of which includes a plurality of detention places arranged in the direction of movement of the mobile bodies, and in which a plurality of detention place groups leading to an exit are provided. an information acquisition unit that acquires information;
A priority ranking in which the arrival time is later compared to the arrival time of a target mobile body, which is one mobile body selected from the plurality of mobile bodies, and the departure time is later compared to the departure time of the target mobile body. an extraction unit that extracts a mobile body with a low value from among the plurality of mobile bodies based on the departure and arrival time information acquired by the information acquisition unit;
determining a time later than the arrival time of the lower priority mobile object and earlier than the departure time of the target mobile object as the travel time of the target mobile object to a detention place on the exit side of the mobile base; out of a plurality of detention locations, to a detention location closer to the exit of the mobile base than the detention location of the lower priority mobile object in the same detention location group that includes the detention location of the lower priority mobile object. a movement determining unit that determines the movement of the target moving object ,
The extraction unit assigns scores such that the earlier the arrival time and the earlier the departure time of the mobile objects, the higher the score, and selects the target mobile objects in order from the mobile object with the highest score.
A planning device characterized by: The information acquisition unit includes:
The plan creation device according to claim 1, wherein the departure and arrival time information is acquired from an operation plan creation device that creates an operation management plan for the plurality of moving objects. a detention plan creation unit that creates a detention plan that is a plan for detention locations for the plurality of mobile bodies at the mobile base based on the departure and arrival time information acquired by the information acquisition unit;
a movement plan creation unit that has the extraction unit and the movement determination unit and creates a movement plan for the target moving object;
The detention plan preparation department:
At least two of the plurality of mobile bodies are arranged so that one mobile body does not interfere with the other mobile body arriving at the detention place or leaving the other mobile body from the detention place. comprising a detention place search unit that searches for a detention place for each of the plurality of moving bodies that satisfies a constraint that restricts movement of the two mobile bodies and creates the detention plan;
The movement plan creation department
creating the movement plan when the detention place search unit does not have a detention place for each of the plurality of mobile objects that satisfies the constraint;
The detention plan preparation department:
The plan according to claim 1 or 2, wherein the detention plan is created based on the movement plan created by the movement plan creation unit and the departure and arrival time information acquired by the information acquisition unit. Creation device. The information acquisition unit includes:
At least two detentions at the mobile base that interfere with the arrival of the other mobile body at the detention place or departure from the detention place of the other mobile body between the at least two mobile bodies. Obtain mobility hindrance information that defines location relationships,
The detention plan preparation department:
The mobile object is detained at each of the plurality of detention locations in each time zone divided into the target period of the detention plan based on the location information indicating the plurality of detention locations at the mobile base and the departure/arrival time information. a location and time zone specific information generation unit that generates location and time zone specific information indicating the location and time zone;
a movement constraint information generation unit that generates information indicating the constraint conditions based on the location and time zone specific information generated by the location and time zone specific information generation unit and the movement hindrance information acquired by the information acquisition unit; The planning device according to claim 3 , comprising the following. A planning method executed by a computer, the method comprising:
Departure/arrival times indicating the arrival and departure times of each of a plurality of mobile bodies with respect to a mobile base, each of which includes a plurality of detention places arranged in the direction of movement of the mobile bodies, and in which a plurality of detention place groups leading to an exit are provided. A first step of obtaining information;
A priority ranking in which the arrival time is later compared to the arrival time of a target mobile body, which is one mobile body selected from the plurality of mobile bodies, and the departure time is later compared to the departure time of the target mobile body. a second step of extracting a moving object with a low value from among the plurality of moving objects based on the departure and arrival time information obtained in the first step;
determining a time later than the arrival time of the lower priority mobile object and earlier than the departure time of the target mobile object as the travel time of the target mobile object to a detention place on the exit side of the mobile base; out of a plurality of detention locations, to a detention location closer to the exit of the mobile base than the detention location of the lower priority mobile object in the same detention location group that includes the detention location of the lower priority mobile object. a third step of determining the movement of the target moving body ,
In the second step, scores are assigned such that the earlier the arrival time and earlier the departure time of the mobile object, the higher the score, and the target mobile objects are selected in order from the mobile object with the highest score.
A planning method characterized by: Departure/arrival times indicating the arrival and departure times of each of a plurality of mobile bodies with respect to a mobile base, each of which includes a plurality of detention places arranged in the direction of movement of the mobile bodies, and in which a plurality of detention place groups leading to an exit are provided. A first step of obtaining information;
A priority ranking in which the arrival time is later compared to the arrival time of a target mobile body, which is one mobile body selected from the plurality of mobile bodies, and the departure time is later compared to the departure time of the target mobile body. a second step of extracting a moving object with a low value from among the plurality of moving objects based on the departure and arrival time information obtained in the first step;
determining a time later than the arrival time of the lower priority mobile object and earlier than the departure time of the target mobile object as the travel time of the target mobile object to a detention place on the exit side of the mobile base; out of a plurality of detention locations, to a detention location closer to the exit of the mobile base than the detention location of the lower priority mobile object in the same detention location group that includes the detention location of the lower priority mobile object. causing a computer to execute a third step of determining the movement of the target moving body ;
In the second step, scores are assigned such that the earlier the arrival time and earlier the departure time of the mobile object, the higher the score, and the target mobile objects are selected in order from the mobile object with the highest score.
A planning program that is characterized by:

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