Route estimation system, route estimation method and non-transitory computer-readable storage medium for the same

Patent metadata

Field	Value
Publication number	US-2020097022-A1
Application number	US-201916566130-A
Country	US
Kind code	A1
Filing date	Sep 10, 2019
Priority date	Sep 21, 2018
Publication date	Mar 26, 2020
Grant date	—

Abstract

An optimum route of multiple mobile objects is estimated by: generating a time-series route candidate of a shortest route for each mobile object; generating a time-series route candidate of a detour route for each mobile object; calculating route assignment evaluation values for the shortest route and the detour route for each mobile object; calculating travel distance evaluation values for the shortest route and the detour route for each mobile object; calculating a route collision evaluation value of a combination for the shortest route and the detour route for each mobile object; and comparing a total value of the route assignment evaluation value, the travel distance evaluation value, and the route collision evaluation value for combinations of the time-series route candidates of the mobile objects, and estimating one of the combinations of the time-series route candidates of the mobile objects as the optimum route.

First claim

What is claimed is:

1 . A route estimation system for estimating an optimum route of a plurality of mobile objects, comprising:
a shortest route generation unit that generates a time-series route candidate of a shortest route for each of the plurality of mobile objects; a detour route generation unit that generates a time-series route candidate of a detour route for each of the plurality of mobile objects; a route assignment evaluation value calculation unit that calculates a route assignment evaluation value of the time-series route candidate of the shortest route and a route assignment evaluation value of the time-series route candidate of the detour route for each of the plurality of mobile objects; a travel distance evaluation value calculation unit that calculates a travel distance evaluation value of the time series route candidate of the shortest route and a travel distance evaluation value of the time series route candidate of the detour route for each of the plurality of mobile objects; a route collision evaluation value calculation unit that calculates a route collision evaluation value of a combination of the time series route candidate of the shortest route and the time series route candidate of the detour route for each of the plurality of mobile objects; and an evaluation value comparison unit that compares a total value of the route assignment evaluation value, the travel distance evaluation value, and the route collision evaluation value for combinations of the time-series route candidates of the plurality of mobile objects, and estimates one of the combinations of the time-series route candidates of the plurality of mobile objects as the optimum route.

2 . The route estimation system according to claim 1 , wherein:
the travel distance evaluation value calculation unit adds a correction according to a difference in distance between the detour route and the shortest route when calculating the travel distance evaluation value of the time series route candidate of the detour route.

3 . The route estimation system according to claim 1 , wherein:
the route assignment evaluation value calculation unit sets a coefficient that the route assignment evaluation value becomes larger than a predetermined value when a plurality of time-series route candidates are selected for each of the plurality of mobile objects.

4 . The route estimation system according to claim 1 , wherein:
the travel distance evaluation value calculation unit calculates the travel distance evaluation value by setting a different coefficient for each of the plurality of mobile objects according to a priority that the travel distance evaluation value of one of the mobile objects having a higher priority becomes smaller.

5 . The route estimation system according to claim 1 , wherein:
the route collision evaluation value calculation unit sets a coefficient that the route collision evaluation value becomes larger than a predetermined value when the plurality of mobile objects collide with each other.

6 . The route estimation system according to claim 1 , wherein:
when the shortest route of each of the plurality of mobile objects does not overlap with each other, the shortest route is estimated as the optimum route.

7 . The route estimation system according to claim 1 , wherein:
when a plurality of combinations of the time-series route candidates of the plurality of mobile objects have a same total value, one of the combinations of the time-series route candidates of the plurality of mobile objects is estimated as the optimum route when the travel distance evaluation value of one of the mobile objects having a higher priority becomes lower.

8 . A non-transitory computer readable storage medium comprising instructions for execution by a computer, the instructions including a computer-implemented method for estimating an optimum route of a plurality of mobile objects, the instructions including:
generating a time-series route candidate of a shortest route for each of the plurality of mobile objects; generating a time-series route candidate of a detour route for each of the plurality of mobile objects; calculating a route assignment evaluation value of the time-series route candidate of the shortest route and a route assignment evaluation value of the time-series route candidate of the detour route for each of the plurality of mobile objects; calculating a travel distance evaluation value of the time series route candidate of the shortest route and a travel distance evaluation value of the time series route candidate of the detour route for each of the plurality of mobile objects; calculating a route collision evaluation value of a combination of the time series route candidate of the shortest route and the time series route candidate of the detour route for each of the plurality of mobile objects; and comparing a total value of the route assignment evaluation value, the travel distance evaluation value, and the route collision evaluation value for combinations of the time-series route candidates of the plurality of mobile objects, and estimating one of the combinations of the time-series route candidates of the plurality of mobile objects as the optimum route.

9 . A route estimation method for estimating an optimum route of a plurality of mobile objects, comprising:
generating a time-series route candidate of a shortest route for each of the plurality of mobile objects; generating a time-series route candidate of a detour route for each of the plurality of mobile objects; calculating a route assignment evaluation value of the time-series route candidate of the shortest route and a route assignment evaluation value of the time-series route candidate of the detour route for each of the plurality of mobile objects; calculating a travel distance evaluation value of the time series route candidate of the shortest route and a travel distance evaluation value of the time series route candidate of the detour route for each of the plurality of mobile objects; calculating a route collision evaluation value of a combination of the time series route candidate of the shortest route and the time series route candidate of the detour route for each of the plurality of mobile objects; and comparing a total value of the route assignment evaluation value, the travel distance evaluation value, and the route collision evaluation value for combinations of the time-series route candidates of the plurality of mobile objects, and estimating one of the combinations of the time-series route candidates of the plurality of mobile objects as the optimum route.

Assignees

• Denso Corp
• Univ Tohoku

Inventors

• Miki Akira
• Ohzeki Masayuki

Classifications

• G05D1/0291

  Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127) · CPC title

• G05D1/0289 Primary

  with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93) · CPC title

• G05D1/0212

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title

• G05D2201/0216

  Physics · mapped topic

• G01C21/3446

  Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags or using precalculated routes · CPC title