JP2021174064A - Traffic system - Google Patents

Abstract

To provide a traffic system capable of suppressing deterioration of accuracy in detecting an object.SOLUTION: A traffic system 1 includes a plurality of worker nodes 3 and one or more manager nodes 5. The worker node is arranged in a node arrangement object located on a road or at a position facing a road. The worker node includes a passage estimation information section, a peripheral information section, and an information transmission section. The manager node includes a manager reception section, a position estimation section, an interference determination section, and an instruction output section. The position estimation section sets priority in a plurality of position information included in a plurality of received traffic information, increases weighting of position information as the set priority is higher, and estimates a position of a peripheral object based on the plurality of weighted position information. The position estimation section estimates a position of the peripheral object after the instruction output section outputs an interference suppression instruction when it is determined that interference is to occur after a movement time.SELECTED DRAWING: Figure 1

Description

This disclosure relates to transportation systems.

Patent Document 1 discloses a technique related to a transportation system. The transportation system includes a plurality of nodes, and at least some of the nodes are equipped with sensors capable of detecting an object. The traffic system sends and receives information representing the detection result of an object and the like between the nodes.

U.S. Pat. No. 10084961

When a moving object is included in an object containing a plurality of nodes, if the sensors included in the respective nodes interfere with each other, the accuracy of the object detection result may decrease. In one aspect of the present disclosure, a traffic system capable of suppressing a decrease in object detection accuracy is provided.

One aspect of the present disclosure is a transportation system that includes a plurality of nodes and is capable of communicating between the plurality of nodes. The plurality of nodes includes a plurality of worker nodes (3) and one or more manager nodes (5). Worker nodes are placed on node-arranged objects located on or facing the road. Further, the worker node includes a progress estimation information unit (S10), a peripheral information unit (S20), and an information transmission unit (S30). The progress estimation information unit acquires the progress estimation information.

The progress estimation information is information for estimating the position of the node-arranged object on which the worker node is mounted after a predetermined time has elapsed. The peripheral information unit detects the position of the peripheral object existing around the node-arranged object by the sensor mounted on the worker node, and generates the position information. The position information is information indicating the position of a peripheral object. The information transmission unit generates traffic information and transmits the generated traffic information to the manager node. The traffic information includes progress estimation information, position information, object identification information, sensor identification information, and range identification information.

The object identification information is information for identifying a node-arranged object. The sensor identification information is information for identifying a sensor mounted on a node-arranged object. The range specifying information is information that identifies the detection range of the exploration sensor that is a sensor and transmits a predetermined exploration wave.

The manager node includes a manager reception unit (S110), a position estimation unit (S150, S170), an interference determination unit (S140), and an instruction output unit (S160). The manager receiver receives a plurality of traffic information from a plurality of worker nodes.

The position estimation unit sets a priority for each of the plurality of position information included in the plurality of traffic information received by the manager reception unit. The higher the detection accuracy, the higher the priority. The position estimation unit is configured to increase the weighting of the position information as the set priority is higher, and estimate the position of the peripheral object based on the plurality of weighted position information.

The interference determination unit determines whether or not interference occurs after a predetermined movement time for the same type of exploration sensors provided by different worker nodes arranged on different node-arranged objects. The instruction output unit is configured to output an interference suppression instruction for suppressing interference when it is determined that interference will occur after the movement time, and not to output an interference suppression instruction when it is determined that interference does not occur. Will be done.

When it is determined that the interference occurs after the movement time, the position estimation unit (S170) estimates the position of the peripheral object after the interference suppression instruction is output by the instruction output unit.
In the traffic system, which is one aspect of the present disclosure, when it is determined that interference occurs with a plurality of exploration sensors after the travel time, the manager node outputs an interference suppression instruction for suppressing the interference, and then outputs an interference suppression instruction to suppress the interference. Estimate the position of the object. If it is determined that the detection ranges of a plurality of exploration sensors do not interfere with each other after the movement time, the interference suppression instruction is not output. Therefore, when it is determined that interference occurs, the manager node estimates the position of surrounding objects in a situation where the influence of interference is suppressed by the interference suppression instruction, unlike the case where it is determined that interference does not occur. Can be done. As a result, it is possible to suppress a decrease in the detection accuracy of the object.

The block diagram which shows the structure of the transportation system of 1st Embodiment. A flowchart showing the processing executed by the worker node. A flowchart showing the processing executed by the manager node. An explanatory diagram for explaining a configuration example of the transportation system of the first embodiment. An explanatory diagram for explaining a priority setting example of the transportation system of the first embodiment. An explanatory diagram for explaining a configuration example of the transportation system of the second embodiment. An explanatory diagram for explaining a priority setting example of the transportation system of the second embodiment. The flowchart which shows the process which the manager node of 4th Embodiment executes. The flowchart which shows the process which the manager node of 5th Embodiment executes. The flowchart which shows the process which the manager node of 6th Embodiment executes. The flowchart which shows the process which the manager node of 7th Embodiment executes.

An exemplary embodiment of the present disclosure will be described with reference to the drawings. The term "match" as used herein is not limited to a match in a strict sense, and may not be a strict match as long as it has the same effect.

<First Embodiment>
1. 1. Configuration of Transportation System 1 The configuration of transportation system 1 will be described with reference to FIG. As shown in FIG. 1, the transportation system 1 includes a worker node 3 and a manager node 5. Although two worker nodes 3 are shown in FIG. 1 for convenience, the transportation system 1 may include a plurality of worker nodes 3 of 3 or more. Further, although one manager node 5 is shown in FIG. 1 for convenience, the transportation system 1 may include a plurality of manager nodes 5. The worker node 3 and the manager node 5 correspond to the nodes.

Any worker node 3 can communicate with other worker nodes 3 and the manager node 5 via the network 7. Further, any manager node 5 can communicate with the worker node 3 and other manager nodes 5 via the network 7.

The worker node 3 is arranged on the node-arranged object 9. The node-arranged object 9 is located on the road or facing the road. Examples of the node-arranged object 9 include vehicles, bicycles, pedestrians, road infrastructure, and the like. Road infrastructure can include various objects such as traffic lights, fixed objects installed at positions facing the road, and the like.

The worker node 3 includes a control unit 11, a sensor 13, and a transceiver 15. The control unit 11 includes a microcomputer having a CPU 17 and, for example, a semiconductor memory such as a RAM or a ROM (hereinafter referred to as a memory 19).

Each function of the control unit 11 is realized by the CPU 17 executing a program stored in the memory 19. Moreover, when this program is executed, the method corresponding to the program is executed. The control unit 11 may include one microcomputer or a plurality of microcomputers. The control unit 11 executes the process shown in FIG. 2, which will be described later.

The sensor 13 includes a movement detection sensor 131 and a peripheral detection sensor 132. The movement detection sensor 131 can detect the state of the node-arranged object 9. Examples of the state include a position, a moving direction, a moving speed, and the like. Examples of the movement detection sensor 131 include a GPS capable of detecting a position, a navigation device capable of detecting a movement direction, a vehicle speed sensor, an acceleration sensor, and the like.

The peripheral detection sensor 132 can detect peripheral objects. The peripheral object is an object existing around the node-arranged object 9. Peripheral objects include, for example, various parts such as vehicles, bicycles, pedestrians, animals, white lines on roads, walls near roads, and the like. The peripheral object may be a node-arranged object 9 in which another worker node 3 is arranged, or an object other than the node-arranged object 9.

Examples of the peripheral detection sensor 132 include a camera, a rider or laser radar using light, a millimeter wave radar or an ultrasonic sensor using electromagnetic waves other than light, and the like. In the following, predetermined exploration waves are electromagnetic waves other than light such as millimeter waves and ultrasonic waves, and exploration sensors are sensors using electromagnetic waves other than these light waves (that is, millimeter wave sensors and ultrasonic waves). It shall be a sensor, etc.). Further, the same type of exploration sensor is assumed to be an exploration sensor that uses the same type of exploration wave, such as millimeter wave sensors and ultrasonic sensors.

The detection result by the peripheral detection sensor 132 includes at least the positions of peripheral objects. The position may be an absolute position or a relative position with respect to a predetermined reference point. The position may be represented by the coordinates, or may be represented by the distance and the direction to the peripheral object as seen from the peripheral detection sensor 132.

The transceiver 15 communicates with the other worker node 3 and the manager node 5 via the network 7. The communication may be wireless communication or wired communication.
The manager node 5 includes a control unit 41 and a transceiver 43. The control unit 41 includes a microcomputer having a CPU 45 and, for example, a semiconductor memory such as a RAM or a ROM (hereinafter referred to as a memory 47).

Each function of the control unit 41 is realized by the CPU 45 executing a program stored in the memory 47. Moreover, when this program is executed, the method corresponding to the program is executed. The control unit 41 may include one microcomputer or a plurality of microcomputers. The control unit 41 executes the process shown in FIG. 3, which will be described later.

The transceiver 43 communicates with the worker node 3 and other manager nodes 5 via the network 7. The communication may be wireless communication or wired communication.
2. Processing 2_1. Processes Executed by Worker Nodes 3 Processes executed by each worker node 3 repeatedly at predetermined time intervals will be described with reference to FIG.

In step 10 of FIG. 2 (hereinafter referred to as S) 10, the control unit 11 detects the state of the node-arranged object 9 on which the worker node 3 is mounted by using the movement detection sensor 131, and includes the detected state. Generate progress estimation information. The progress estimation information is information used for estimating the position of the node-arranged object 9 (that is, the position of the worker node 3) at a time point after a predetermined time has elapsed from a certain time point.
The progress estimation information includes, for example, a position, a moving direction, a moving speed, and the like.

In S20, the control unit 11 detects peripheral objects using the peripheral detection sensor 132 and generates position information. The position information is information indicating the position of a peripheral object.
In S30, the control unit 11 generates traffic information IA. In addition to the progress estimation information (hereinafter, progress estimation information IB) and position information (hereinafter, position information IC) generated in the above-mentioned processes of S10 and S20, the traffic information IA further includes an object identification information ID and a sensor identification information IE. , Range specific information IF, type specific information IG, etc. may be included. The object identification information ID is information for identifying the node-arranged object 9 in which each worker node 3 is arranged. The sensor identification information IE is information for identifying each peripheral detection sensor 132 included in the worker node 3.

The range specifying information IF is information for specifying the detection range of the exploration sensor among the sensors 13 included in the worker node 3. The type identification information IG is information for specifying the type of the sensor 13 included in the worker node 3. The sensor identification information IE may be used in place of the range specific information IF and the type specific information IG. In the present embodiment, the traffic information IA includes the progress estimation information IB, the position information IC, the object identification information ID, and the sensor identification information IE, and the sensor identification information IE replaces the range identification information IF and the type identification information IG. Used.

The present disclosure is not limited to this, and for example, information indicating the detection range itself of the exploration sensor may be included in the traffic information IA as the range specifying information IF. Further, for example, information indicating the type of the sensor 13 included in the worker node 3 itself may be included in the traffic information IA as the type identification information IG.

The worker node 3 which is the generation source of the traffic information IA can be specified by the object identification information ID. The position information IC is associated with at least the sensor identification information IE of the peripheral detection sensor 132 used to detect the position information IC. The peripheral detection sensor 132 that has detected the position information IC can be identified by the sensor identification information IE associated with the position information IC.

The position information IC includes, for each peripheral detection sensor 132 used for detecting the position information IC, several position information ICs of peripheral objects detected by the peripheral detection sensor 132.

For example, suppose that a worker node 3 includes a camera and a millimeter-wave radar as peripheral detection sensors 132, and each peripheral detection sensor 132 detects one peripheral object. In this example, the position information IC of one peripheral object detected by the camera and the position information IC of one peripheral object detected by the millimeter wave radar are the position information ICs included in the traffic information IA. One peripheral object detected by each peripheral detection sensor 132 may be the same peripheral object or a different peripheral object.

Then, the control unit 11 transmits the generated traffic information IA. The transmission target includes at least the manager node 5. The transmission target may include another worker node 3.

In S40, the control unit 11 executes a process of receiving the integrated information. The integrated information is information transmitted by the manager node 5 described later.
In S50, the control unit 11 executes the process based on the integrated information. The control unit 11 executes a predetermined process according to the position of the peripheral object shown in the integrated map information included in the integrated information. For example, when the worker node 3 is mounted on a vehicle (that is, when the node-arranged object 9 is a vehicle), the control unit 11 instructs the vehicle, which is the node-arranged object 9, to control to evacuate from the peripheral objects. You may.

As a result, the vehicle, which is the node-arranged object 9, executes the instructed action. Further, the control unit 11 may instruct the driver, which is the node-arranged object 9, to perform a process of notifying the driver of the existence of a peripheral object.

The integrated information may include action instructions, as will be described later. The action instruction may be an action instruction to the node-arranged object 9. Examples of the action include, when the node-arranged object 9 is a vehicle, an action of evacuating from the peripheral object specified by the action instruction, an action of notifying the driver of the existence of the peripheral object, and the like. The control unit 11 may instruct the node-arranged object 9 to take an action according to the action instruction.

2_2. Processing executed by the manager node 5 A processing executed repeatedly by the manager node 5 at predetermined time intervals will be described with reference to FIG.

In S100 of FIG. 3, the control unit 41 receives a plurality of traffic information IAs from the plurality of worker nodes 3 by using the transceiver 43.
In S110, the control unit 41 identifies the target node and extracts the position information IC related to the target object from the plurality of position information ICs included in the plurality of traffic information IAs. The target node is at least a part of the worker node 3. The target object is a peripheral object existing around the target node.

For example, the control unit 41 may specify the worker node 3 arranged in the vehicle as the target node. The control unit 41 previously stores information in which the object identification information ID and the type of the node-arranged object 9 (that is, vehicle, bicycle, road infrastructure, etc.) specified by the object identification information ID are associated with each other in the memory 47. I remember in. However, the target node may be a worker node 3 mounted on any kind of node-arranged object 9.

The target node may be singular or plural. When there are a plurality of target nodes, the manager node 5 can execute the process of S110-172 for each target node. Further, the target object may be singular or plural for one target node. When there are a plurality of target objects, the manager node 5 can execute the process of S110-S172 for each target object.

For example, the control unit 41 extracts a position information IC included in a predetermined target area centered on the target node as a position information IC related to the target object, with one worker node 3 as the target node. The target object referred to here may be singular or plural. The target area may be a circular area having a predetermined radius. The radius may be, for example, several meters to several hundreds of meters. However, the radius and shape of the region are not limited to this.

Further, the control unit 41 uses the same target object (that is, a certain 1) for a plurality of position information ICs included in a predetermined relatively narrow individual area among the plurality of position information ICs related to the above-mentioned target object. It is extracted as a position information IC regarding (one target object). The solid region may be a circular region with a predetermined radius. The radius may be, for example, several tens of minutes from 1 m to several m. However, the radius and shape of the individual area are not limited to this. Further, the process of extracting the position information IC relating to the same target object is not limited to this.

In S120, the control unit 41 determines whether or not the interference flag is set. The interference flag is a flag that is set when it is determined that interference occurs in S140, which will be described later, and is reset when the release condition is satisfied in S200. The interference flag is stored in the memory 47. The control unit 41 shifts the process to S170 when the interference flag is set, and shifts the process to S130 when the interference flag is not set.

In S130, the control unit 41 estimates the position of the worker node 3 that has transmitted the traffic information IA including the progress estimation information IB after the predetermined travel time T based on the progress estimation information IB. The travel time T may be, for example, about several milliseconds to several hundred milliseconds. However, the travel time T is not limited to this.

In the present embodiment, the control unit 41 moves based on the progress estimation information IB only for the worker node 3 provided with the exploration sensor among the worker nodes 3 that have transmitted the traffic information IA including the progress estimation information IB. Estimate the position after time T.

In S140, the control unit 41 determines whether or not interference occurs after the movement time T for the same type of exploration sensors mounted on the different node-arranged objects 9.
The control unit 41 is, for example, from the position after the movement time T of the worker node 3 equipped with the exploration sensor estimated in S130, after the movement time T of the worker node 3 equipped with the same type of exploration sensor (for example, millimeter wave sensors). Extract the position. In the present embodiment, the control unit 41 stores the range correspondence information in the memory 47. The range correspondence information is information in which the sensor identification information IE, the detection range of the exploration sensor specified by the sensor identification information IE, and the sensor type are associated with each other. Based on the range correspondence information, the control unit 41 can specify the detection range of the exploration sensor included in each of the worker nodes 3 having the same type of exploration sensor.

The control unit 41 is based on the position of the worker node 3 having the same type of exploration sensor after the travel time T and the detection range of these exploration sensors, and at least the detection range of the same type of exploration sensor after the travel time T. When some of them overlap, it is determined that interference occurs in the exploration sensor after the travel time T. The control unit 41 shifts the process to S160 when it is determined that interference occurs after the movement time T, and shifts the process to S150 when it determines that interference does not occur after the move time T.

Here, in S150, the position of the object is specified by so-called sensor fusion. As the sensor fusion, various methods can be adopted. The following is an example of sensor fusion, but sensor fusion is not limited thereto.

First, the control unit 41 sets a priority for each of the plurality of position information ICs included in the plurality of traffic information IA received in S100. Specifically, in the present embodiment, the control unit 41 sets a priority for each of a plurality of position information ICs related to the same target object (that is, one target object) extracted in S120 described above. do. The higher the detection accuracy, the higher the priority. The priority is a numerical value and is expressed using a percentage in this embodiment.

In this step, in which the control unit 41 shifts to the case where it is determined that interference by the search wave sensor does not occur after the movement time T, the priority of a predetermined mode is given to each of the plurality of position information ICs related to the same target object. (Hereinafter referred to as the standard priority) is set. The reference priority may be set in any mode as long as it is a predetermined mode. In the present embodiment, the reference priority is a priority on which the detection accuracy of a plurality of position information ICs relating to the same target object is the same. That is, the control unit 41 uniformly sets the priorities for each of the plurality of position information ICs related to the same target object so that the total of the set priorities is 100%.

For example, assuming that the total number of position information ICs related to the same target object (that is, one target object) is M, each of the position information ICs (i) (for example, i is an integer from 1 to M) That is, the priority of (1 / M) × 100% is set for each of IC (1) and IC (M).

The method of expressing the priority is not limited to the percentage, and may be expressed by numerical values indicating rankings such as 1, 2, 3 ... In order from the one with the highest priority. Assuming that the detection accuracy of the plurality of position information ICs for the same target object is the same, the control unit 41 gives each of the ICs (1) to ICs (M) a priority (that is, uniform) of all ranks of 1. Priority) may be set in the same way as when using the percentage.

Subsequently, the control unit 41 increases the weighting of the position information IC as the set priority is higher, and estimates the position of the peripheral object (that is, the same target object) based on the plurality of weighted position information ICs. do. In the present embodiment, the position information IC (i) is represented by the coordinates (x (i), y (i)). The control unit 41 estimates the positions (X, Y) of the same target object using the priority P (i)% expressed as a percentage according to the equation (1).

The total number M of the position information ICs for which the priority is set may be a predetermined number (for example, Ma). For example, Ma position information ICs are described above in order of proximity to the target node. The priority may be set as such.

The control unit 41 estimates the positions (X, Y) of the same target object, and then shifts the process to S180.
On the other hand, in S160, which shifts to the case where interference is determined to occur in the same type of exploration sensor after the movement time T in S140, the control unit 41 outputs an interference suppression instruction. Further, the control unit 41 sets the interference flag.

The interference suppression instruction is an instruction for suppressing the occurrence of interference in the same type of exploration sensor after the travel time T. The interference suppression instruction is output when it is determined in S140 that interference will occur after the movement time T, and is not output when it is determined that interference does not occur. For example, in the present embodiment, the control unit 41 outputs (that is, stores) an interference suppression instruction to a predetermined storage area included in the memory 47.

The interference sensor referred to below is the exploration sensor when it is determined in S140 that interference occurs in the same type of exploration sensor after the travel time T. In the present embodiment, the control unit 41 suppresses interference by instructing the control unit 41 to set the priority of the position information IC detected by the interference sensor to be lower than the priority when it is determined that interference does not occur after the movement time T. As an instruction.

For example, in the interference suppression instruction, the priority of the position information IC detected by the interference sensor is b% of the priority when it is determined that interference does not occur after the movement time T (that is, the above-mentioned reference priority a). Is an interference suppression instruction. b is a numerical value less than 100, for example, 80, 50, 0, etc.

In the present embodiment, as described above, the reference priority a when it is determined that interference does not occur after the movement time T is uniformly set for the plurality of position information ICs. In other words, the above-mentioned interference suppression instruction sets the priority of the plurality of position information ICs detected by the interference sensor to another position information IC (that is, the position information IC detected by the peripheral detection sensor 132 other than the interference sensor). ) Is an instruction to set lower than the priority.

In S170, the control unit 41 estimates the position (X, Y) of the same target object by so-called sensor fusion, as in S150. However, in this step, the control unit 41 newly sets priorities for the plurality of position information ICs according to the interference suppression instruction output to the memory 47, and estimates the positions (X, Y) of the same target object.

Specifically, as described above, when the interference suppression instruction is an instruction in which the priority of the position information IC detected by the interference sensor is b% of the reference priority a (for example, the unit is%), control is performed. The unit 41 sets the priority of the position information IC detected by the interference sensor to c (for example, the unit is%) according to the equation (2).

The control unit 41 sets the priority of the position information IC detected by the peripheral detection sensor 132 other than the interference sensor to d (for example, the unit is%) according to the equation (3). In addition, K is the number of interference sensors.

Then, the control unit 41 estimates the positions (X, Y) of the same target object using the priority P (i)% expressed as a percentage according to the equation (1).
In S180, the control unit 41 generates integrated information and transmits it to the worker node 3. The destination worker node 3 may be a target node or a worker node 3 other than the target node. The integrated information includes integrated map information as described above. The integrated map information is information indicating the position (X, Y) of the estimated object (that is, the above-mentioned target object) as in the above-mentioned S150 and S170. As in S150 and S170 described above, means weighting a plurality of position information ICs according to their priorities.

The integrated information may include, for example, an action instruction in addition to the integrated map information or in place of the integrated map information. The action instruction is an instruction for causing the worker node 3 which is the transmission destination to execute a predetermined process according to the position of the object shown on the integrated map and the position of the worker node 3 which is the transmission destination. When the worker node 3 is mounted on a vehicle, the predetermined processing may include, for example, evacuation processing from the object shown on the integrated map, notification of the object to the driver, and the like.

In S190-S210, the control unit 41 resets the interference flag when the release condition described later is satisfied.
In S190, the control unit 41 determines whether or not the interference flag is set. The control unit 41 shifts the process to S200 when the interference flag is set, and ends this process when the interference flag is not reset.

In S200, the control unit 41 determines whether or not the predetermined release condition is satisfied. The cancellation condition is a condition for canceling the validity of the interference suppression instruction output as described above. In other words, the release condition is a condition for invalidating the interference suppression instruction.

The release condition may be, for example, that a predetermined time (hereinafter, suppression time) has elapsed since the interference flag was set. The suppression time may be longer than the travel time T, for example, 1.5 times or twice the travel time T. However, the cancellation conditions are not limited to this.

The control unit 41 shifts the process to S210 when the release condition is satisfied, and ends this process when the release condition is not satisfied.
In S210, the control unit 41 resets the interference flag. As a result, when it is determined that interference occurs after the movement time T (that is, when an affirmative determination is made in S140), the interference flag is set and an interference suppression instruction is output. This interference suppression instruction is continuously output from the time when the interference suppression instruction is output until the suppression time elapses. The control unit 41 ends this process.

2_3. Operation With respect to the transportation system 1 described above, the generation of integrated information will be described with reference to FIGS. 4 to 5. As an example for explanation, the transportation system 1 includes one manager node 5 arranged on the server 4 and three worker nodes 3A-3C.

The worker node 3A is arranged on the A object (for example, a vehicle) as the node-arranged object 9A, and includes a millimeter wave sensor and a rider as a peripheral detection sensor 132. The worker node 3B is arranged on a B object (for example, a vehicle) as a node-arranged object 9B, and includes a millimeter-wave sensor as a peripheral detection sensor 132. The worker node 3C is arranged on a C object (for example, a road infrastructure) as a node-arranged object 9C, and includes a camera as a peripheral detection sensor 132.

In the manager node 5, the control unit 41 estimates the position of the D object 100 with the node-arranged object 9A as the target node and the D object 100 (for example, a person) as the target object, and estimates the position (X,) of the D object 100. It is assumed that integrated information including Y) (that is, integrated map information) is generated.

The control unit 41 uses the IC (1) as the position information IC regarding the D object 100, which is the same target object, from among the plurality of position information ICs included in the plurality of traffic information IA transmitted from the worker nodes 3A-3C. ) -IC (4) is extracted. Here, it is assumed that the millimeter wave sensor included in the worker node 3A and the millimeter wave sensor included in the worker node 3B are determined as interference sensors. That is, the total number M of the position information ICs is 4, and the number K of the interference sensors is 2.

Next, the control unit 41 sets a reference priority for the position information ICs (1) and ICs (4). Here, it is assumed that the reference priority of a% (that is, a = 25) is uniformly set for all the position information ICs (1) and ICs (4).

Subsequently, the control unit 41 sets the priority P (1) -P (4) of the position information ICs (1) -IC (4) according to the equations (2) and (3) as shown in FIG. Identify.
Then, the control unit 41 uses the position information ICs (1) -IC (4) and the corresponding priorities P (1) -P (4) based on the equation (1) to form a D object. Estimate 100 positions (X, Y).

3. 3. Effect (1A) In S160, the manager node 5 outputs an interference suppression instruction when it is determined in S140 that interference occurs in a plurality of exploration sensors after the movement time T, and when it is determined that interference does not occur. Does not output interference suppression instructions. When it is determined in S170 that interference occurs after the movement time T, the manager node 5 determines the position (for example, coordinates (X,)) of a peripheral object (that is, the above-mentioned target object) after the interference suppression instruction is output. Y)) is estimated.

When it is determined that interference occurs, the manager node 5 can estimate the position of a peripheral object in a situation where the influence of interference is suppressed by the interference suppression instruction, unlike the case where it is determined that interference does not occur. can. Further, since the interference suppression instruction is output before the interference occurs (that is, before the movement time T), it is possible to prepare in advance for suppressing the influence of the interference before the interference occurs. That is, after the movement time T in which interference is predicted to occur, the positions of peripheral objects can be estimated in a situation where the influence of interference is suppressed by the interference suppression instruction.

As described above, the traffic system 1 of the present embodiment predicts the interference first, and if the interference occurs in the future (that is, after the travel time T), the countermeasure is taken before the interference occurs (that is,). It is a system that outputs an interference suppression instruction). As a result, since the countermeasures have already been taken at the timing when the interference occurs (that is, the operation according to the interference suppression instruction is performed), the deterioration of the detection accuracy can be suppressed.

(1B) There is a high possibility that the detection accuracy of the position information IC detected by the interference sensor after the movement time T is lowered. In S160, the manager node 5 sets the priority of each of the plurality of position information ICs detected by the interference sensor among the plurality of position information ICs to be lower than the priority when it is determined that interference does not occur. The instruction is output as an interference suppression instruction. Therefore, when it is determined that interference occurs, the manager node 5 can perform weighting so as to suppress the influence of the interference (that is, the decrease in detection accuracy) and estimate the position of the peripheral object.

(1C) The control unit 41 is a position information IC included in a plurality of received traffic information IA when it is determined in S150 that interference does not occur after the travel time T, and represents the position of the same peripheral object. A reference priority is set for each of the plurality of position information ICs. As described above, the reference priority is uniformly set for each of the plurality of position information ICs representing the positions of the same peripheral objects. Therefore, as a result, when it is determined that interference occurs after the movement time T, the priority of the position information IC detected by the interference sensor is set to the priority of the position information IC detected by another sensor other than the interference sensor. Can be set lower than.

(1D) In S200, the control unit 41 determines in S200 whether or not the cancellation condition is satisfied after the interference suppression instruction output in S160 is output, and when the cancellation condition is satisfied (that is, in S210). , The above-mentioned interference flag is reset to invalidate the interference suppression instruction. In other words, the interference suppression instruction is valid from the time when the interference suppression instruction is output until the cancellation condition is satisfied. Therefore, by appropriately setting the cancellation conditions, it is possible to prepare for suppressing the influence of interference that may occur in the near future before the interference occurs.

(1E) In S200, the control unit 41 sets a release condition that, for example, a predetermined suppression time has elapsed since the interference flag was set. As a result, after the release condition is satisfied, the interference suppression instruction becomes invalid, and a plurality of position information ICs are used as usual (that is, the position information IC by the peripheral detection sensor 132 which was an interference sensor is also used). The position of the target object can be estimated accurately.

In the above-described embodiment, S10 corresponds to the process as the progress estimation information unit, S20 corresponds to the process as the peripheral information unit, and S30 corresponds to the process as the information transmission unit. Further, S110 corresponds to the processing as the manager receiving unit, S150 and S170 correspond to the processing as the position estimation unit, S140 corresponds to the processing as the interference determination unit, and S160 corresponds to the processing as the instruction output unit. do.

<2. Second Embodiment>
Since the basic configurations of the second and subsequent embodiments are the same as those of the first embodiment, the differences will be described below. The same reference numerals as those in the first embodiment indicate the same configurations, and the preceding description will be referred to.

The transportation system 1 of the first embodiment includes a plurality of worker nodes 3, and the worker node 3 includes a progress estimation information unit, a peripheral information unit, and an information transmission unit. On the other hand, in the transportation system 2 of the second embodiment, the worker node 3 is a worker node 3 different from the worker node 3 of the first embodiment, and includes only a progress estimation information unit and an information transmission unit. May be included.

In the following, the worker node 3 of the first embodiment is referred to as the first worker node 3_1, and the worker node 3 which is different from the first worker node 3_1 and includes only the progress estimation information unit and the information transmission unit is referred to as the second worker node 3. Let's call it worker node 3_2. That is, the plurality of worker nodes 3 included in the transportation system 2 include a first worker node 3_1 and a second worker node 3_2 different from the first worker node 3_1.

The second worker node 3_2 can be a mobile phone such as a smartphone carried by a person. The second worker node 3_2 includes various sensors such as a GPS that detects the position of the second worker node 3_2, an acceleration sensor that can detect the moving speed of the second worker node 3_2, and the like.

The second worker node 3_2 acquires information representing the position of the node-arranged object 9_2 (for example, a person having a mobile phone) in which the second worker node 3_2 is arranged as a position information IC. That is, the information representing the position of the second worker node 3_2 as a peripheral object is acquired as the position information IC. The second worker node 3_2 generates information including at least the position information IC and the object identification information ID of the node-arranged object 9_2 in which the second worker node 3_2 is arranged as the above-mentioned traffic information IA. Then, the second worker node 3_2 is configured to transmit the traffic information IA to the manager node 5.

In the manager node 5, the control unit 41 performs the same processing as shown in FIG. 3 described above. However, in S110, the control unit 41 receives the traffic information IA from the worker node 3 including both the first worker node 3_1 and the second worker node 3_2, respectively. Then, the control unit 41 extracts a plurality of position information ICs representing the same target object from these traffic information IAs as in the first embodiment described above, and based on these plurality of position information ICs, the target object. Estimate the position of.

2. Operation With respect to the transportation system 2 described above, the generation of integrated information will be described with reference to FIGS. 6-7. As an example for explanation, the transportation system 1 includes one manager node 5 arranged on the server 4 and four worker nodes 3. The four worker nodes 3 include three first worker nodes 3_1A-3_1C and one second worker node 3_2.

The first worker node 3_1A is arranged on an A object (for example, a vehicle) as a node-arranged object 9_1A, and includes a millimeter-wave sensor and a rider as a peripheral detection sensor 132. The first worker node 3_1B is arranged on a B object (for example, a vehicle) as a node-arranged object 9_1B, and includes a millimeter-wave sensor as a peripheral detection sensor 132. The first worker node 3_1C is arranged on a C object (for example, a road infrastructure) as a node-arranged object 9_1C, and includes a camera as a peripheral detection sensor 132.

The second worker node 3_2 is a mobile phone, and is provided by a D object (for example, a person) as the node-arranged object 9_2.
In the manager node 5, the control unit 41 sets the first worker node 3_1A as the target node, the second worker node 3_2 (that is, the person who is the D object) as the target object, and the position (for example, coordinates) of the second worker node 3_2. (X, Y)) is estimated. Then, the control unit 41 shall generate integrated information including the estimated position (that is, integrated map information) of the second worker node 3_2.

For example, as shown in FIG. 7, the control unit 41 has an IC (1) out of a plurality of position information ICs included in the plurality of traffic information IA transmitted from the first worker node 3_1A-3_1C and the second worker node 3_2. ) -IC (5) is extracted. ICs (1) and ICs (5) are position information ICs relating to the second worker node 3_2, which is the same target object. Here, it is assumed that the millimeter wave sensor included in the first worker node 3_1A and the millimeter wave sensor included in the first worker node 3_1B are determined as interference sensors. That is, the total number M of the position information ICs is 5, and the number K of the interference sensors is 2.

The control unit 41 specifies the priority P (1) -P (5) of the position information ICs (1) -IC (5) as shown in FIG. 7 according to the equations (2) and (3).
Then, the control unit 41 uses the position information ICs (1) -IC (5) and the corresponding priorities P (1) -P (5) based on the equation (1) to be the target object. The position of the second worker node 3_2 is estimated. The control unit 41 transmits integrated information including the estimated position to the target node.

In this way, the traffic system 2 is a device that does not detect peripheral information, such as a mobile phone, and is capable of detecting the current position, the moving speed, and the moving speed. It may be used as a worker node 3_2). As a result, the position of the object as integrated information (that is, integrated map information) can be estimated based on more position information ICs, so that the accuracy of the position of the object as integrated information can be improved. The second worker node 3_2 may be, for example, a device mounted on a vehicle or the like that does not detect peripheral information.

<3. Third Embodiment>
In the third embodiment, unlike the first embodiment shown in FIG. 3, the control unit 41 is not shown, but in the above-mentioned S160, when it is determined that interference occurs after the movement time T, it is detected by the interference sensor. An instruction for setting the lowest priority of the position information IC is output as an interference suppression instruction. In S170, the control unit 41 estimates the position of the peripheral object without using the position information IC having the lowest priority, with the weighting of the position information IC having the lowest priority set to 0.

For example, in the above-mentioned S160, the control unit 41 outputs an instruction to set the priority of the position information IC detected by the interference sensor to 0% as an interference suppression instruction, and in the above-mentioned S170, the priority is 0%. The weighting of the position information IC set in may be set to 0. Setting the weighting to 0 means, in other words, not using the position information IC for estimating the position of the target object.

When the priority is expressed in order, the control unit 41 outputs an instruction to set the priority of the position information IC detected by the interference sensor to the lowest level as an interference suppression instruction in the above-mentioned S160. In S170 described above, the weighting of the position information IC whose priority is set to the lowest may be set to 0.

As a result, since the position information IC detected by the interference sensor is not used for estimating the position of the target object, it is possible to suppress a decrease in the detection accuracy of the object.
<4. Fourth Embodiment>
In the fourth embodiment, the worker node 3 is configured to stop the transmission of the traffic information IA to the manager node 5 when it receives the traffic information stop instruction for stopping the transmission of the traffic information IA.

In the manager node 5, the control unit 41 executes S162 instead of S160, as shown in FIG. 8, unlike FIG. 3 of the first embodiment. Further, S172 is executed instead of S170.

In S162, the control unit 41 is configured to transmit a traffic information stop instruction as an interference suppression instruction to the worker node 3 including the referent sensor. The referent sensor referred to here shall be all of the interference sensors. The interference sensor is an exploration sensor that is determined to cause interference after the travel time T, as described above.

After the interference suppression instruction is output, the traffic information IA including the position information IC detected by the interference sensor is not transmitted from the worker node 3 provided with the interference sensor to the manager node 5.

In the subsequent S172, the control unit 41 sets a reference priority for a plurality of position information ICs for the same object detected by a sensor other than the interference sensor in the same manner as in the above-mentioned S150, and sets the position of the target object ( X, Y) is estimated. Since the position information IC detected by the interference sensor is not used for estimating the position of the target object by the control unit 41, it is possible to suppress a decrease in the detection accuracy of the object.

In the above-described embodiment, S162 corresponds to the instruction output unit.
<5. Fifth Embodiment>
In the fifth embodiment, the worker node 3 including the exploration sensor among the plurality of worker nodes 3 is configured to stop the output of the exploration wave when it receives the exploration wave stop instruction for stopping the output of the exploration wave. When the output of the exploration wave is stopped, the position information generated by the exploration sensor whose output of the exploration wave is stopped is not generated. Therefore, the traffic information IA transmitted from the worker node 3 provided with the exploration sensor includes the position information generated by the exploration sensor. Is not included.

In the manager node 5, unlike the fourth embodiment of FIG. 8, the control unit 41 executes S164 instead of S162, as shown in FIG.
In S164, the control unit 41 is configured to transmit a search wave stop instruction as an interference suppression instruction to the worker node 3 including the referent sensor. The referent sensor referred to here is slightly different from the fourth embodiment, and refers to all or all but one of the interference sensors. For example, all of the interference sensors may be referredent sensors, and the search wave stop instruction may be output as an interference suppression instruction to all of the interference sensors.

After the interference suppression instruction is output, the traffic information IA including the position information IC detected by the referent sensor is not transmitted from the worker node 3 including the referent sensor to the manager node 5.

In the subsequent S172, the control unit 41 estimates the position (X, Y) of the target object as in the fourth embodiment. Since the position information IC detected by the interference sensor is not used for estimating the position of the target object by the control unit 41, it is possible to suppress a decrease in the detection accuracy of the object.

The referent sensor may be all but one of the interference sensors. After the interference suppression instruction is output, interference does not occur in one of the above-mentioned sensors that is not the referent sensor among the interference sensors. Then, the traffic information IA including the position information IC detected by the sensor is transmitted from the worker node 3 including the above-mentioned one sensor.

That is, since the position information IC used for estimating the position of the target object can be increased as compared with the case where all of the interference sensors are the referent sensors, the position of the target object can be estimated more accurately. Can be done.

In the above-described embodiment, S164 corresponds to the instruction output unit.
<6. 6th Embodiment>
In the sixth embodiment, the worker node 3 including the exploration sensor among the plurality of worker nodes 3 is configured to change the frequency of the exploration wave when receiving the frequency change instruction for changing the frequency of the exploration wave. When the frequency of the exploration wave is changed, a position information IC is generated by the exploration sensor whose frequency is changed, and the position generated by the exploration sensor is included in the traffic information IA transmitted from the worker node 3 equipped with the exploration sensor. Contains information.

In the manager node 5, unlike the fourth embodiment of FIG. 8, the control unit 41 executes S166 instead of S162, as shown in FIG.
In S166, the control unit 41 is configured to transmit a frequency change instruction as an interference suppression instruction to the worker node 3 including the referent sensor. The referent sensor referred to here may be all of the interference sensors, or may be all of the rest except one of the interference sensors. For example, all of the interference sensors may be used as referent sensors, and frequency change instructions may be output as interference suppression instructions to all of the interference sensors.

For example, the above-mentioned range correspondence information is information in which the sensor identification information IE, the detection range of the exploration sensor specified by the sensor identification information IE, the sensor type, and the frequency of the exploration wave sensor included in the worker node 3 are associated with each other. It may be.

The control unit 41 may be configured to change the frequencies of the interference sensors so that they do not match each other based on the range correspondence information. Interference is suppressed by changing the frequency of the interference sensor.

After the interference suppression instruction is output, as described above, the traffic information IA including the position information IC detected by the referent sensor after the frequency change is transmitted to the manager node 5 from the worker node 3 provided with the referent sensor. Will be sent. Since interference is suppressed by changing the frequency, the position information IC detected by the referent sensor is suppressed from deteriorating in detection accuracy.

In the subsequent S172, the control unit 41 estimates the position (X, Y) of the target object as in the fourth embodiment. Since the position information IC in which the deterioration of the detection accuracy is suppressed by changing the frequency is used for estimating the position of the target object, it is possible to suppress the deterioration of the detection accuracy of the object.

The referent sensor may be all but one of the interference sensors. Since the position information IC used for estimating the position of the target object can be increased as compared with the case where all of the interference sensors are the referent sensors, the position of the target object can be estimated accurately. ..

In the above-described embodiment, S166 corresponds to the instruction output unit.
<7. 7th Embodiment>
In the seventh embodiment, when the worker node 3 including the exploration sensor among the plurality of worker nodes 3 receives the polarization change instruction for changing the polarization characteristic (for example, the polarization direction) of the exploration wave, the exploration wave It is configured to change the polarization characteristics. When the polarization characteristic of the exploration wave is changed, a position information IC is generated by the exploration sensor whose polarization characteristic is changed, and the traffic information IA transmitted from the worker node 3 equipped with the exploration sensor is subjected to the exploration. Includes location information generated by the sensor.

In the manager node 5, unlike the fourth embodiment of FIG. 8, the control unit 41 executes S168 instead of S162, as shown in FIG.
In S168, the control unit 41 is configured to transmit a polarization change instruction as an interference suppression instruction to the worker node 3 including the referent sensor. The referent sensor may be all of the interference sensors, or may be all but one of the interference sensors. For example, all of the interference sensors may be used as referent sensors, and frequency change instructions may be output as interference suppression instructions to all of the interference sensors.

For example, the above-mentioned range correspondence information corresponds to the sensor identification information IE, the detection range of the exploration sensor specified by the sensor identification information IE, the sensor type, and the polarization characteristic of the exploration wave sensor included in the worker node 3. It may be attached information.

The control unit 41 changes the polarization characteristics of the interference sensors so that they do not match each other based on the range correspondence information. Interference is suppressed by changing the polarization characteristics of the interference sensor.

After the interference suppression instruction is output, as described above, the traffic information IA including the position information IC detected by the referent sensor whose polarization characteristics have been changed is transmitted from the worker node 3 provided with the referent sensor. It is transmitted to the manager node 5. Since interference is suppressed by changing the polarization characteristics, the position information IC detected by the referent sensor is suppressed from deteriorating in detection accuracy.

In the subsequent S172, the control unit 41 estimates the position (X, Y) of the target object as in the fourth embodiment. Since the position information IC in which the deterioration of the detection accuracy is suppressed by changing the polarization characteristics is used for estimating the position of the target object, it is possible to suppress the deterioration of the detection accuracy of the object.

The referent sensor may be all but one of the interference sensors. Since the position information IC used for estimating the position of the target object can be increased as compared with the case where all of the interference sensors are the referent sensors, the position of the target object can be estimated accurately. ..

In the above-described embodiment, S168 corresponds to the instruction output unit.
<8. Other embodiments>
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and can be implemented in various modifications.

(1) In the above-described embodiment, the reference priority is set uniformly for the plurality of position information ICs, but the reference priority may be set non-uniformly for the plurality of position information ICs. For example, for the position information IC detected by the peripheral detection sensor 132 with high detection accuracy, a higher priority than the position information IC detected by the peripheral detection sensor 132 with low detection accuracy is set as the reference priority. You may.

(2) In the above-described embodiment, the vehicles on which the worker nodes 3 are arranged are traveling so as to face each other, and an example in which the peripheral detection sensors 132 mounted on these vehicles interfere with each other is shown. However, the interference of the peripheral detection sensor 132 is not limited to this. Although not shown, the interference of the peripheral detection sensor 132 may include, for example, interference by the peripheral detection sensor 132 arranged in one or more vehicles traveling in different lanes. The different lanes may be lanes that are parallel to each other or lanes that are not parallel to each other, for example, perpendicular to each other.

(3) The worker node 3 may perform a part or all of the processing executed by the manager node 5. For example, the worker node 3 estimates the position of a peripheral object with itself as a target node by using a plurality of position information ICs using the traffic information IA generated by itself and the traffic information IA transmitted from another worker node 3. You may.

(4) The controls 11, 41 and methods thereof described in the present disclosure are provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. It may be realized by a dedicated computer. Alternatively, the controls 11, 41 and methods thereof described in the present disclosure may be realized by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the controls 11, 41 and methods thereof described in the present disclosure include a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured by the combination of. The computer program may also be stored on a computer-readable non-transitional tangible recording medium as an instruction executed by the computer. The method for realizing the functions of the respective parts included in the control units 11 and 41 does not necessarily include software, and all the functions may be realized by using one or a plurality of hardware. ..

(5) A plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. .. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. In addition, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment.

(6) In addition to the above-mentioned traffic systems 1 and 2, the manager node 5, the worker node 3, the first worker node 3_1, the second worker node 3_2, the control unit 11, the control unit 41, and the traffic systems 1 and 2 are the constituent elements. The present disclosure is realized in various forms such as a higher-level system, a program for operating the control units 11 and 41, a non-transitional actual recording medium such as a semiconductor memory in which this program is recorded, a position measurement method, and the like. You can also do it.

1, 2 ... Transportation system, 3 ... Worker node, 5 ... Manager node, 9 ... Node arrangement object, 11 ... Control unit, 13 ... Sensor, 132 ... Peripheral detection sensor, 15 ... Transmitter, 17 ... CPU, 19 ... Memory, 41 ... control unit, 43 ... transmitter / receiver, 45 ... CPU, 47 ... memory.

Claims (8)

A transportation system having a plurality of nodes and capable of communicating between the plurality of nodes.
The plurality of nodes include a plurality of worker nodes (3) and at least one manager node (5).
The worker node is placed on a node-arranged object located on or facing the road.
The worker node is
A progress estimation information unit (S10) for acquiring progress estimation information for estimating the position of the node-arranged object on which the worker node is mounted after a predetermined time has elapsed, and a progress estimation information unit (S10).
A peripheral information unit (S20) that detects the position of a peripheral object existing around the node-arranged object by a sensor mounted on the worker node and generates position information indicating the position of the peripheral object.
The progress estimation information, the position information, the object identification information for identifying the node-arranged object, the sensor identification information for identifying the sensor mounted on the node-arranged object, and the sensor are predetermined. It is provided with a range specifying information for specifying a detection range of an exploration sensor that transmits an exploration wave, and an information transmission unit (S30) that generates information including the information as traffic information and transmits the traffic information to the manager node. ,
The manager node
A manager receiving unit (S110) that receives a plurality of the traffic information from the plurality of worker nodes, and
For each of the plurality of position information included in the plurality of traffic information received by the manager receiving unit, a higher priority is set as the detection accuracy is higher, and the higher the set priority is, the higher the position is. A position estimation unit (S150, S170) configured to increase the weighting of information and estimate the position of the peripheral object based on the plurality of weighted position information.
Interference determination unit (S140) for determining whether or not interference occurs after a predetermined movement time for the same type of exploration sensor included in different worker nodes arranged on different node-arranged objects.
It is configured to output the interference suppression instruction for suppressing the interference when it is determined that the interference occurs after the movement time, and not to output the interference suppression instruction when it is determined that the interference does not occur. The instruction output unit (S160, S162, S164, S166, S168) is provided.
When the position estimation unit (S170) determines that the interference occurs after the movement time, the position estimation unit (S170) estimates the position of the peripheral object after the interference suppression instruction is output by the instruction output unit. .. The transportation system according to claim 1.
The worker node includes the first worker node and a second worker node different from the first worker node, with the worker node as the first worker node.
The second worker node acquires information representing the position of the node-arranged object in which the second worker node is arranged as the position information representing the position of the second worker node as the peripheral object, and obtains the position. Information including information and identification information of the node-arranged object in which the second worker node is arranged is generated as the traffic information, and the traffic information is transmitted to the manager node.
In the manager node
The manager receiving unit is a traffic system that receives the traffic information from the worker node including both the first worker node and the second worker node. The transportation system according to claim 1 or 2.
In the manager node
Among the plurality of position information, the instruction output unit sets the priority of the position information detected by the interference sensor, using the exploration sensor determined to cause the interference after the movement time as the interference sensor. An instruction to set the priority lower than the priority when it is determined that the interference does not occur after the movement time is output as the interference suppression instruction.
When it is determined that the interference occurs after the movement time, the position estimation unit sets the priority for each of the plurality of position information according to the interference suppression instruction, and estimates the position of the peripheral object. Transportation system. The transportation system according to claim 3.
When it is determined that the interference occurs after the movement time, the instruction output unit outputs an instruction for setting the priority of the position information detected by the interference sensor to the lowest level as the interference suppression instruction.
The position estimation unit estimates the position of the peripheral object without using the position information having the lowest priority, with the weighting of the position information having the lowest priority set to 0. .. The transportation system according to claim 1 or 2.
When the worker node receives a traffic information stop instruction for stopping the transmission of the traffic information, the worker node is configured to stop the transmission of the traffic information to the manager node by the information transmitting unit.
In the manager node
The instruction output unit uses the exploration sensor, which is determined to cause the interference after the movement time, as an interference sensor, and all or all but one of the interference sensors as referent sensors. A traffic system that transmits the traffic information stop instruction as the interference suppression instruction to the worker node including the target sensor. The transportation system according to claim 1 or 2.
Among the plurality of worker nodes, the worker node including the exploration sensor is configured to stop the output of the exploration wave by the exploration sensor when receiving an exploration wave stop instruction for stopping the output of the exploration wave. Ori,
In the manager node
The instruction output unit uses the exploration sensor, which is determined to cause the interference after the movement time, as an interference sensor, and all or all but one of the interference sensors as referent sensors. A traffic system that transmits the exploration wave stop instruction as the interference suppression instruction to the worker node including the target sensor. The transportation system according to claim 1 or 2.
Among the plurality of worker nodes, the worker node including the exploration sensor is configured to change the frequency of the exploration wave by the exploration sensor when receiving a frequency change instruction for changing the frequency of the exploration wave. ,
In the manager node
The instruction output unit (S166) uses the exploration sensor, which is determined to cause the interference after the movement time, as an interference sensor, and all or all but one of the interference sensors as instruction target sensors. , A traffic system that transmits the frequency change instruction as the interference suppression instruction to the worker node including the instruction target sensor. The transportation system according to claim 1 or 2.
Among the plurality of worker nodes, the worker node including the exploration sensor changes the polarization characteristic of the exploration wave by the exploration sensor when it receives a polarization change instruction for changing the polarization characteristic of the exploration wave. Is configured to
In the manager node
The instruction output unit (S168) uses the exploration sensor, which is determined to cause the interference after the movement time, as an interference sensor, and all or all but one of the interference sensors as instruction target sensors. , A traffic system that transmits the polarization change instruction as the interference suppression instruction to the worker node including the instruction target sensor.

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