Moving body and method for controlling same, and method for determining priority
A moving body has a control unit that determines priority relating to movement on the basis of prescribed rules, the control unit comparing, on the basis of the prescribed rules, a first determination value that is the determination value for the moving body, and a second determination value that is the determination value for another moving body, whereby the priority of the moving body is determined in relation to the other moving body.
1. A moving body comprising one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the moving body to:
determine priority/subordination relating to movement of the moving body relative to another moving body by comparing, based on a prescribed rule, first state information of the moving body and second state information of the other moving body,
wherein
the first state information comprises movable distance information indicating a first movable distance that the moving body is movable using a propulsion energy source of the moving body,
the second state information comprises movable distance information indicating a second movable distance that the other moving body is movable using a propulsion source of the other moving body,
the prescribed rule defines that the moving body is subordinate to the other moving body in response to determining that the second movable distance is shorter than the first movable distance, and
the one or more processors execute the computer-executable instructions to cause the moving body to set a route of the moving body based on the priority/subordination and control the moving body based on the route having been set.
2. The moving body according to claim 1 , wherein in a case in which a priority/subordination level of the moving body and a priority/subordination level of the other moving body are equal, the one or more processors execute the computer-executable instructions to cause the moving body to determine the priority/subordination based on the prescribed rule.
3. The moving body according to claim 1 , wherein the moving body is a flying body.
4. The moving body according to claim 1 , wherein the prescribed rule determines the priority/subordination based on a choice selected from among three or more choices having a priority/subordination relationship determined in advance,
the first state information is a choice selected by the moving body from among the three or more choices, and
the second state information is a choice selected by the other moving body from among the three or more choices.
5. The moving body according to claim 4 , wherein in a case in which the choice selected by the moving body and the choice selected by the other moving body are equal, the selection of a choice from among the three or more choices is performed again by the moving body and the other moving body.
6. The moving body according to claim 4 , wherein a first choice among the three or more choices is given priority over a second choice among the three or more choices,
the second choice is given priority over a third choice among the three or more choices, and
the third choice is given priority over the first choice.
7. The moving body according to claim 1 , wherein
the first state information further comprises first movement velocity information indicating a first movement velocity of the moving body,
the second state information further comprises second movement velocity information indicating a second movement velocity of the other moving body, and
in response to determining that the second movement velocity is lower than the first movement velocity, the one or more processors cause the moving body to determine that the moving body is subordinate to the other moving body.
8. The moving body according to claim 1 , wherein
the first state information further comprises first movement altitude information indicating a first movement altitude of the moving body,
the second state information further comprises second movement altitude information indicating a second movement altitude of the other moving body, and
in response to determining that the second movement altitude is lower than the first movement altitude, the one or more processors cause the moving body to determine that the moving body is subordinate to the other moving body.
9. The moving body according to claim 1 , wherein
the first state information further comprises capability information determined based on a capability of the moving body, and
the second state information further comprises second capability information determined based on a capability of the other moving body.
10. The moving body according to claim 1 , wherein the prescribed rule further specifies that the priority/subordination is determined further based on machine information determined based on an intended use of the moving body.
11. The moving body according to claim 10 , wherein
the machine information includes a machine classification,
the intended use of the moving body associated with a first machine classification among a plurality of the machine classifications is of a more public nature than the intended use of the moving body associated with a second machine classification among the plurality of machine classifications, and
in a case in which the machine information of the moving body indicates the first machine classification and the machine information of the other machine indicates the second machine classification, the one or more processors cause the moving body to determine that the moving body has priority over the other moving body.
12. The moving body according to claim 1 , wherein the prescribed rule further specifies that the priority/subordination is determined further based on passenger information determined based on presence or absence of a passenger in the moving body, and
in response to determining that the passenger information of the moving body indicates the presence of a passenger and the passenger information of the other moving body indicates the absence of a passenger, the one or more processors cause the moving body to determine that the moving body has priority over the other moving body.
13. The moving body according to claim 1 , wherein at a timing corresponding to a timing signal emitted from at least one of the moving body and the other moving body, the first state information is transmitted from the moving body to the other moving body and the second state information is transmitted from the other moving body to the moving body.
14. The moving body according to claim 1 , wherein at a timing corresponding to scheduled transmission timing information emitted from at least one of the moving body and the other moving body, the first state information is transmitted from the moving body to the other moving body and the second state information is transmitted from the other moving body to the moving body.
15. The moving body according to claim 1 , wherein
the first state information further comprises first remaining capacity information indicating a first remaining capacity of the propulsion energy source of the moving body,
the second state information further comprises second remaining capacity information indicating a second remaining capacity of the propulsion energy source of the other moving body, and
the one or more processors cause the moving body to determine that the moving body is subordinate to the other moving body in response to determining that the second remaining capacity of the other moving body is less than the first remaining capacity of the moving body.
16. The moving body according to claim 1 , wherein
the prescribed rule further defines that the priority/subordination is determined further based on first loaded object information determined based on a first value of a first loaded object in the moving body and second loaded object information determined based on a second value of a second loaded object in the other moving body, and
in response to determining that the second value of the second loaded object is lower than the first value of the first loaded object, the one or more processors cause the moving body to determine that the moving body has priority over the other moving body.
17. A moving body comprising one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the moving body to:
determine priority/subordination relating to movement of the moving body relative to another moving body by comparing, based on a prescribed rule, first capability information of the moving body and second capability information of the other moving body,
wherein
the first capability information comprises maximum output information indicating a first maximum velocity of the moving body,
the second capability information comprises maximum output information indicating a second maximum velocity of the other moving body,
the one or more processors cause the moving body to determine, based on the prescribed rule, that the moving body is subordinate to the other moving body in response to determining that the second maximum velocity is lower than the first maximum velocity,
the moving body and the other moving body are flying bodies, and
the one or more processors execute the computer-executable instructions to cause the moving body to set a flight route of the moving body based on the priority/subordination and control the moving body based on the flight route having been set.
18. The moving body according to claim 17 , wherein the one or more processors cause the moving body to determine that the moving body is subordinate to the other moving body in response to determining that the second maximum velocity of the other moving body is lower than the first maximum velocity of the moving body.
19. A moving body comprising one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the moving body to:
determine a priority/subordination relating to movement of the moving body relative to another moving body by comparing, based on a prescribed rule, first state information of the moving body and second state information of the other moving body,
wherein
the first state information comprises movable distance information indicating a first movable distance that the moving body is movable using a propulsion energy source of the moving body,
the second state information comprises movable distance information indicating a second movable distance that the other moving body is movable using a propulsion source of the other moving body,
at a timing at which a distance between the moving body and the other moving body becomes less than a prescribed distance, the first state information is transmitted from the moving body to the other moving body and the second state information is transmitted from the other moving body to the moving body, and
the one or more processors execute the computer-executable instructions to cause the moving body to set a route of the moving body based on the priority/subordination and move the moving body based on the route having been set.
20. A moving body control method comprising:
determining first state information associated with a moving body;
determining second state information associated with another moving body; and
determining priority/subordination relating to movement of the moving body relative to the other moving body by comparing, based on a prescribed rule, the first state information and the second state information,
wherein
the first state information comprises movable distance information representing a first movable distance that the moving body is movable using a propulsion energy source of the moving body,
the second state information comprises movable distance information representing a second movable distance that the other moving body is movable using a propulsion source of the other moving body, and
the determining of the priority/subordination comprises
determining that the moving body is subordinate to the other moving body in response to determining, based on the comparing, that the second movable distance is shorter than the first movable distance,
setting a route of the moving body based on the priority/subordination, and
controlling the moving body based on the route having been set.
21. The moving body control method according to claim 20 , further comprising determining a priority/subordination level concerning movement of a plurality of moving bodies including the moving body and the other moving body,
wherein in response to determining that the priority/subordination level of the moving body and the priority/subordination level of the other moving body are equal, the determining of the second state information and the determining of the priority/subordination are performed.
22. The moving body control method according to claim 20 , further comprising a selecting, as the prescribed rule, one of a plurality of prescribed rules.
23. A moving body comprising one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the moving body to:
compare, based on a prescribed rule, first state information of the moving body along a predetermined determination axis and second state information of another moving body along the predetermined determination axis; and
determine priority/subordination relating to movement of the moving body relative to the other moving body based on the predetermined determination axis,
wherein
the first state information comprises movable distance information indicating a first movable distance that the moving body is movable using a propulsion energy source of the moving body,
the second state information comprises movable distance information indicating a second movable distance that the other moving body is movable using a propulsion source of the other moving body, and
the one or more processors cause the moving body
to determine that the moving body is subordinate to the other moving body in response to determining that the second movable distance is shorter than the first movable distance,
to set a route of the moving body based on the priority/subordination, and
to control the moving body based on the route.
24. A priority/subordination determination method, wherein priority/subordination concerning movement of a plurality of moving bodies including a first moving body and a second moving body, is determined based on a predetermined determination axis, the method comprising:
determining first state information, along the determination axis, associated with the first moving body;
acquiring second state information determined by the second moving body along the determination axis with the first moving body;
comparing, by the first moving body based on a prescribed rule, the first state information and the second state information; and
determining the priority/subordination relating to movement of the first moving body relative to the second moving body based on the determination axis,
wherein
the first state information comprises movable distance information indicating a first movable distance that the moving body is movable using a propulsion energy source of the moving body,
the second state information comprises movable distance information indicating a second movable distance that the other moving body is movable using a propulsion source of the other moving body, and
the determining of the priority/subordination comprises
determining that moving body is subordinate to the other moving body in response to determining that the second movable distance is less than the first movable distance,
setting a route of the moving body based on the priority/subordination, and
controlling the moving body based on the route having been set.