Patent ID: 8566009
Filing Date: 2013-10-22
Classification: G05D,G06Q,G08G

Abstract:
1. A travel control apparatus for unmanned vehicles, which causes a plurality of unmanned vehicles to travel along respective travel routes, wherein: for each of the plurality of unmanned vehicles, a reservation-requested route not allowed to travel that is a part of a travel route from a current position to a travel stop position is generated, and when an already reserved route as a route allowed to travel in a range of the reservation-requested route is generated, each of the plurality unmanned vehicles is controlled to travel from the current position to a terminal position of the already reserved route, the travel control apparatus comprising: a reservation-requested route generation section which generates, for each of the plurality of unmanned vehicles, the reservation-requested route that is the part of travel route from the current position to the travel stop position and that has a position, as a terminal position, which does not interfere with an interference region on a map and is not a terminal position of the reservation-requested route for another vehicle, a deadlock judgment section which judges for each of the plurality of unmanned vehicles that the reservation-requested route for an own vehicle generated by the reservation-requested route generation section does not interfere with an already reserved route for the another vehicle, and that deadlock does not occur between the own vehicle and the another vehicle assuming that the already reserved route, in the range of the reservation-requested route for the own vehicle generated by the reservation-requested route generation section, is generated, that the assumed already reserved route is allowed to travel, and that the own vehicle travels to the terminal position of the assumed already reserved route, an already reserved route generation section which generates, for each of the plurality of unmanned vehicles, when the deadlock judgment section judges that deadlock does not occur between the own vehicle and the another vehicle, the already reserved route assumed to be allowed to travel in the range of the reservation-requested route for the own vehicle as the already reserved route allowed to travel, and a travel control section which controls each of the plurality of unmanned vehicles to travel from the current position to the terminal position of the already reserved route generated by the already reserved route generation section.