Vehicle control system and computing device

1. A vehicle control system comprising:

in-vehicle devices each mounted on a corresponding one of a plurality of vehicles; and

a computing device, wherein

the in-vehicle device receives a vehicle allocation plan including time and travel route information from the computing device,

the computing device includes

a storage unit that stores a vehicle allocation request, map information, and occupation information,

the vehicle allocation request includes constraints on a first place, a second place, and time,

the map information includes information relating to connection of roads on which a vehicle travels,

the occupation information includes a section and time of a road that is occupied and unavailable for traveling, and

the computing device further includes

a route generation unit that calculates a route from the first place to the second place together with time information by using the occupation information and the map information and creates the vehicle allocation plan, the route satisfying constraints on the time and not passing through a road that is unavailable for traveling and included in the occupation information,

a trajectory generation unit that calculates a trajectory for a first vehicle on the route calculated by the route generation unit,

a comparison unit that calculates a section and time of a road occupied by the first vehicle and unavailable for another vehicle to travel based on the trajectory of the first vehicle generated by the trajectory generation unit, and

an occupation management unit that adds the section and the time calculated by the comparison unit into the occupation information, and

the in-vehicle devices further include a notification unit that notifies the computing device of information relating to traveling on the route, and

the computing device further includes a delay processing unit that, when determining that traveling of a notification vehicle is delayed as compared with the vehicle allocation plan, updates the occupation information based on the delay of the notification vehicle and causes the route generation unit to recreate the vehicle allocation plan, the notification vehicle being a vehicle on which the in-vehicle device that notifies the computing device of the information relating to traveling on the route is mounted.

2. The vehicle control system according to claim 1 , wherein

the in-vehicle device controls a vehicle on which the in-vehicle device is mounted based on the vehicle allocation plan or outputs the vehicle allocation plan to the vehicle on which the in-vehicle device is mounted.

3. The vehicle control system according to claim 1 , wherein

the information relating to traveling on the route includes at least one of position information of the notification vehicle, time when the notification vehicle arrives at the first place, and time when the notification vehicle arrives at the second place.

4. The vehicle control system according to claim 1 , wherein

when the delay processing unit determines that the traveling of the notification vehicle that is a vehicle on which the in-vehicle device that notifies the computing device of the information relating to traveling on the route is mounted is earlier than the vehicle allocation plan, the occupation information is updated based on the notification of the notification vehicle and the route generation unit recreates the vehicle allocation plan.

5. The vehicle control system according to claim 1 , wherein

the section has a granularity equal to or finer than a vehicle traveling zone.

6. A computing device that is communicable with a plurality of in-vehicle devices each mounted on a corresponding one of vehicles and receiving a vehicle allocation plan including time and travel route information, the computing device comprising:

a storage unit that stores a vehicle allocation request, map information, and occupation information, wherein

the vehicle allocation request includes constraints on a first place, a second place, and time,

the map information includes information relating to connection of roads on which a vehicle travels,

the occupation information includes a section and time of a road that is occupied and unavailable for traveling, and

the computing device further comprising:

a route generation unit that calculates a route from the first place to the second place together with time information by using the occupation information and the map information and creates the vehicle allocation plan, the route satisfying constraints on the time and not passing through a road that is unavailable for traveling and included in the occupation information;

a trajectory generation unit that calculates a trajectory for a first vehicle on the route calculated by the route generation unit;

a comparison unit that calculates a section and time of a road occupied by the first vehicle and unavailable for another vehicle to travel based on the trajectory of the first vehicle generated by the trajectory generation unit;

an occupation management unit that adds the section and the time calculated by the comparison unit into the occupation information;

a server communication unit that transmits the vehicle allocation plan to the in-vehicle devices mounted on the vehicles, and wherein

the plurality of in-vehicle devices further include a notification unit that notifies the computing device of information relating to traveling on the route, and

the computing device further includes a delay processing unit that, when determining that traveling of a notification vehicle is delayed as compared with the vehicle allocation plan, updates the occupation information based on the delay of the notification vehicle and causes the route generation unit to recreate the vehicle allocation plan, the notification vehicle being a vehicle on which the in-vehicle device that notifies the computing device of the information relating to traveling on the route is mounted.