Route control program generation device, route control program generation method and program
A route control program generation device constructs a group of a plurality of environment models with different states in which the states of the plurality of environment models are changed in various manners. The environment model is constituted by a first moving body that is a control target and is present on a track divided into a plurality of sections, and a second moving body other than the control target, and searches for a state transition order where it is possible to achieve a request for causing the first moving body to move to a prescribed section by causing the first moving body to move to a destination while causing a state of one environment model to transition to a state of another environment model in response to the request. The route control program generation device constructs the group to match a prescribed restriction condition based on the restriction condition.
1. A route control program generation device comprising:
a non-transitory tangible medium storing a program; and
a processor configured to execute the program to cause the route control program generation device to:
construct a group of a plurality of environment models with different states by changing the sections where a first moving body and a second moving body are present and the sections booked for each of the first moving body and the second moving body by performing the booking of the sections for the first moving body and the second moving body, cancellation of the booking and moving of the first moving body and the second moving body from the booked sections to other booked sections, wherein the environment model is constituted by a track divided into a plurality of sections, the first moving body that is a control target moving on the track and the second moving body other than the control target, and wherein a state of the environment model is determined by the sections where each of the first moving body and the second moving body is present and the sections booked for each of the first moving body and the second moving body;
set a request constituted by a safety condition and a goal condition;
search for an order to reach a state of an environment model that satisfies the request for moving the first moving body to a prescribed section that is a goal without bringing the first moving body into a deadlock state with respect to the second moving body while changing a state of an environment model included in the group to a state of another environment model, wherein the group is constructed using the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition, wherein the search for the order comprises performing a state transition to a next state of the environment model until the next state that satisfies the request is achieved;
generate a route control program based on the order; and
output the route control program to a monitor to control a movement of the first moving body, the second moving body, or both by a railway system or a new transportation system; and
cause, based on the route control program, at least one of moving, waiting or both of the first moving body, moving, waiting or both of the second moving body to move, blocking of at least one section of the plurality of sections, cancelling of booking of one or more sections of the plurality of sections, or any combination thereof.
2. The route control program generation device according to claim 1 ,
wherein the searching is performed while performing the transition to the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition.
3. The route control program generation device according to claim 1 , wherein the restriction condition is that the number of the sections to be booked is equal to or less than a prescribed value for at least one of the first moving body and the second moving body.
4. The route control program generation device according to claim 1 , wherein the restriction condition is that the number of the sections that are able to be booked at the same time for one state transition is equal to or less than a prescribed value for at least one of the first moving body and the second moving body.
5. The route control program generation device according to claim 1 , wherein the restriction condition is that the sections in a traveling direction are able to be booked while the other sections are not able to be booked for at least one of the first moving body and the second moving body.
6. The route control program generation device according to claim 1 , wherein the restriction condition is that the sections up to a prescribed value counted from the currently present section in a traveling direction are able to be booked while the other sections are not able to be booked for at least one of the first moving body and the second moving body.
7. The route control program generation device according to claim 1 ,
wherein when elapse of a time corresponding to a change in state of the environment model when the first moving body or the second moving body moves to an adjacent one of the sections once is defined as one logical time period,
the restriction condition is that an upper limit of the number of times booking and cancellation of the booking that are executed in the one logical time period is provided for at least one of the first moving body and the second moving body.
8. The route control program generation device according to claim 7 , wherein when not able to search for the order to reach the state of the environment model that satisfies the request, the group of environment models is constructed by increasing an upper limit of the number of times of the execution, and the order to reach the state of the environment model that satisfies the request is searched for.
9. The route control program generation device according to claim 1 ,
wherein when elapse of a time corresponding to a change in state of the environment model when the first moving body or the second moving body moves to an adjacent one of the sections once is defined as one logical time period,
the restriction condition is that execution of both the booking and the cancellation of the booking for one of the sections is inhibited in the one logical time period for at least one of the first moving body and the second moving body.
10. The route control program generation device according to claim 1 ,
wherein when elapse of a time corresponding to a change in state of the environment model when the first moving body or the second moving body moves to an adjacent one of the sections once is defined as one logical time period,
the restriction condition is that execution of both the booking and the cancellation of the booking for one of the sections is inhibited in the one logical time period.
11. The route control program generation device according to claim 1 , wherein the environment model includes a plurality of second moving bodies.
12. A route control program generation method comprising:
constructing a group of a plurality of environment models with different states by changing the sections where a first moving body and a second moving body are present and the sections booked for each of the first moving body and the second moving body by performing the booking of the sections for the first moving body and the second moving body, cancellation of the booking and moving of the first moving body and the second moving body from the booked sections to other booked sections, wherein the environment model is constituted by a track divided into a plurality of sections, the first moving body that is a control target moving on the track and the second moving body other than the control target, and wherein a state of the environment model is determined by the sections where each of the first moving body and the second moving body is present and the sections booked for each of the first moving body and the second moving body;
setting a request constituted by a safety condition and a goal condition;
searching for an order to reach a state of an environment model that satisfies the request for moving the first moving body to a prescribed section that is a goal without bringing the first moving body into a deadlock state with respect to the second moving body while changing a state of an environment model included in the group to a state of another environment model, wherein the group is constructed using the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition, wherein the search for the order comprises performing a state transition to a next state of the environment model until the next state that satisfies the request is achieved;
generating a route control program based on the order; and
outputting the route control program to a monitor to control a movement of the first moving body, the second moving body, or both by a railway system or a new transportation system; and
causing, based on the route control program, at least one of moving, waiting or both of the first moving body, moving, waiting or both of the second moving body to move, blocking of at least one section of the plurality of sections, cancelling of booking of one or more sections of the plurality of sections, or any combination thereof.
13. The route control program generation method according to claim 12 , wherein in the searching of the order, the searching is performed with transition to the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition.
14. A non-transitory computer readable medium of a computer storing a program, the program when executed by a processor of the computer causes the computer to perform one or more steps comprising:
constructing a group of a plurality of environment models with different states by changing the sections where a first moving body and a second moving body are present and the sections booked for each of the first moving body and the second moving body by performing the booking of the sections for the first moving body and the second moving body, cancellation of the booking and moving of the first moving body and the second moving body from the booked sections to other booked sections, wherein the environment model is constituted by a track divided into a plurality of sections, the first moving body that is a control target moving on the track and the second moving body other than the control target, and wherein a state of the environment model is determined by the sections where each of the first moving body and the second moving body is present and the sections booked for each of the first moving body and the second moving body;
setting a request constituted by a safety condition and a goal condition;
searching for an order to reach a state of an environment model that satisfies the request for moving the first moving body to a prescribed section that is a goal without bringing the first moving body into a deadlock state with respect to the second moving body while changing a state of an environment model included in the group to a state of another environment model, wherein in the constructing of the group, the group is constructed using the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition, wherein the search for the order comprises performing a state transition to a next state of the environment model until the next state that satisfies the request is achieved;
generating a route control program based on the order; and
outputting the route control program to a monitor to control a movement of the first moving body, the second moving body, or both by a railway system or a new transportation system; and
causing, based on the route control program, at least one of moving, waiting or both of the first moving body, moving, waiting or both of the second moving body to move, blocking of at least one section of the plurality of sections, cancelling of booking of one or more sections of the plurality of sections, or any combination thereof.
15. The non-transitory computer readable medium according to claim 14 ,
wherein in the searching of the order, the searching is performed with transition to the state of the environment model that matches a prescribed restriction condition on the basis of the restriction condition.