Patent Publication Number: US-2021166186-A1

Title: Information processing device, moving device, information processing system, method, and program

Description:
TECHNICAL FIELD 
     The present disclosure relates to an information processing device, a moving device, an information processing system, a method, and a program. More specifically, the present disclosure relates to an information processing device, a moving device, an information processing system, a method, and a program for efficiently performing various types of processing involving movement of vehicles that deliver packages, taxis, or delivery robots, such as collection and delivery of packages, or pickup and drop of people. 
     BACKGROUND ART 
     Vehicles or taxis that carry packages or people, or delivery robots that automatically travel in factories or offices move to various positions and load and unload the packages, people, or other goods at the destination. In the case of performing such processing, the efficiency greatly varies depending on how to set a movement route and a sequence of movement and other processing such as loading and unloading of the packages or people. 
     For example, as an optimization system for processing involving a route search, there is a system that sets a route (arc) connecting a plurality of bases (nodes) and nodes in a movement range of a moving device such as a vehicle, and calculating a shortest route connecting nodes at which processing such as loading and unloading of packages is performed. 
     For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2008-230816) discloses a configuration to determine an optimum processing sequence, using a database that stores an inter-node distance between a departure point node and an arrival point node, a travel time between nodes, and the like. 
     However, for example, a new package delivery request may be generated while a vehicle that delivers a package is executing processing according to a certain one processing sequence, for example, package delivery processing. In such a case, if delivery of the new package is started after the processing sequence being executed is completed, the processing efficiency may be significantly reduced. 
     CITATION LIST 
     Patent Document 
     
         
         Patent Document 1: Japanese Patent Application Laid-Open No. 2008-230816 
       
    
     SUMMARY OF THE INVENTION 
     Problems to be Solved by the Invention 
     The present disclosure has been made in view of the above-described problem, and an objective is to provide an information processing device, a moving device, an information processing system, a method, and a program for enabling generation and execution of an optimum processing sequence in which new processing is incorporated in a sequence being executed at any time even in a case where the new processing is generated while a vehicle such as a package delivery vehicle is executing processing according to a predetermined processing sequence. 
     Solutions to Problems 
     The first aspect of the present disclosure resides in 
     an information processing device including: 
     a task management unit configured to describe movement processing between registered nodes set on a movement route of a moving device and processing at a registered node as tasks that are data including a node identifier and a processing type, and generate a task sequence in which the tasks are chronologically arranged, and moreover, 
     to generate a moving device corresponding task sequence that is a task sequence corresponding to each moving device on the basis of the generated task sequence, in which 
     the task management unit executes moving device corresponding task sequence update processing of inserting a task included in a new additional task sequence generated on the basis of a request that is a processing execution request into the moving device corresponding task sequence being executed in the moving device. 
     Moreover, the second aspect of the present disclosure resides in 
     a moving device that executes processing according to a moving device corresponding task sequence that is a task sequence corresponding to the moving device, 
     the moving device corresponding task sequence being a sequence generated in the moving device or an external server, and being a task sequence in which tasks each including a node identifier and a processing type are chronologically arranged, for movement processing between registered nodes set on a movement route of the moving device and processing at a registered node, and 
     in a case where a new additional task sequence is generated, the moving device configured to execute an updated moving device corresponding task sequence obtained by inserting a task included in the additional task sequence into the moving device corresponding task sequence. 
     Moreover, the third aspect of the present disclosure resides in 
     an information processing system including: a terminal configured to transmit a request that is a processing execution request; a task management server configured to receive the request from the terminal; and a moving device configured to execute processing, in which 
     the task management server, in response to the request, 
     describes movement processing between registered nodes set on a movement route of the moving device and processing at a registered node as tasks that are data including a node identifier and a processing type, and generates a moving device corresponding task sequence that is a task sequence corresponding to each moving device in which the tasks are chronologically arranged, and 
     inserts a task included in a new additional task sequence generated on the basis of a request that is a processing execution request into the moving device corresponding task sequence being executed in the moving device to generate an updated moving device corresponding task sequence, and 
     the moving device 
     executes processing according to the updated moving device corresponding task sequence including the task included in the additional task sequence. 
     Moreover, the fourth aspect of the present disclosure resides in 
     an information processing method executed in an information processing device, the information processing method including: 
     by a task management unit, 
     a task sequence generation step of describing movement processing between registered nodes set on a movement route of a moving device and processing at a registered node as tasks that are data including a node identifier and a processing type, and generating a task sequence in which the tasks are chronologically arranged; and 
     a moving device corresponding task sequence generation step of generating a moving device corresponding task sequence that is a task sequence corresponding to each moving device on the basis of the generated task sequence, 
     in the moving device corresponding task sequence generation step, 
     executing moving device corresponding task sequence update processing of inserting a task included in an additional task sequence generated on the basis of a request that is a processing execution request into the moving device corresponding task sequence being executed in the moving device. 
     Moreover, the fifth aspect of the present disclosure resides in 
     a program for causing an information processing device to execute information processing, the program for causing 
     a task management unit to execute: 
     a task sequence generation step of describing movement processing between registered nodes set on a movement route of a moving device and processing at a registered node as tasks that are data including a node identifier and a processing type, and generating a task sequence in which the tasks are chronologically arranged; and 
     a moving device corresponding task sequence generation step of generating a moving device corresponding task sequence that is a task sequence corresponding to each moving device on the basis of the generated task sequence, 
     in the moving device corresponding task sequence generation step, 
     moving device corresponding task sequence update processing of inserting a task included in an additional task sequence generated on the basis of a request that is a processing execution request into the moving device corresponding task sequence being executed in the moving device. 
     Note that the program according to the present disclosure is, for example, a program that can be provided by a storage medium or a communication medium provided in a computer readable format to an information processing device or a computer system that can execute various program codes. By providing such a program in the computer readable format, processing according to the program is implemented on the information processing device or the computer system. 
     Still other objects, features, and advantages of the present disclosure will become clear from more detailed description based on examples and attached drawings of the present disclosure to be described below. Note that a system in the present specification is a logical aggregate configuration of a plurality of devices, and is not limited to devices having respective configurations within the same housing. 
     Effects of the Invention 
     According to a configuration of an example of the present disclosure, a configuration to generate a task sequence in which a node identifier of a node and a processing type are recorded and moreover dynamically update the task sequence in response to generation of an additional task, and cause a moving device to execute the updated task sequence, thereby enabling generation of a task sequence and task processing without waste is implemented. 
     Specifically, for example, regarding movement processing between registered nodes and processing at a registered node, a task sequence in which tasks each including a node identifier and a processing type are chronologically arranged is generated, and moreover a moving device corresponding task sequence corresponding to each moving device is generated. In a case where a new additional task sequence is generated, moving device corresponding task sequence update processing of inserting a task included in the additional task sequence into the existing moving device corresponding task sequence is executed. 
     With the configuration, the configuration to generate a task sequence in which a node identifier of a node and a processing type are recorded and moreover dynamically update the task sequence in response to generation of an additional task, and cause a moving device to execute the updated task sequence, thereby enabling generation of a task sequence and task processing without waste is implemented. 
     Note that the effects described in the present specification are merely examples and are not limited, and additional effects may be exhibited. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a diagram for describing a calculation processing configuration of an optimum sequence using nodes and routes between nodes. 
         FIG. 2  is a diagram for describing a calculation processing configuration of an optimum sequence using nodes and routes between nodes. 
         FIG. 3  is a diagram for describing a calculation processing configuration of an optimum sequence using nodes and routes between nodes. 
         FIG. 4  is a diagram for describing a calculation processing configuration of an optimum sequence using nodes and routes between nodes. 
         FIG. 5  is a diagram illustrating a configuration example of an information processing system according to the present disclosure. 
         FIG. 6  is a diagram for describing a configuration example of a task management server that calculates an optimum task sequence. 
         FIG. 7  is a flowchart for describing a processing sequence when the task management server receives a task request from a request transmission device such as a user terminal. 
         FIG. 8  is a diagram for describing a specific example of a task sequence generated by a task management unit. 
         FIG. 9  is a diagram for describing a specific example of a vehicle corresponding task sequence generated by the task management unit. 
         FIG. 10  is a flowchart for describing a detailed sequence of processing in step S 103  of the flowchart illustrated in  FIG. 7 . 
         FIG. 11  is a flowchart for describing a processing sequence of the task management server when receiving a task completion notification from a vehicle that executes the vehicle corresponding task sequence. 
         FIG. 12  is a diagram illustrating a display example of a display unit of the task management server. 
         FIG. 13  is a diagram for describing a request and a task sequence in a package delivery example using a package delivery vehicle. 
         FIG. 14  is a diagram for describing a request and a task sequence in an example using a taxi. 
         FIG. 15  is a diagram for describing a vehicle corresponding task sequence in the example using a taxi. 
         FIG. 16  is a diagram for describing a request and a task sequence in an example of a product sales robot that cruises on a floor of an office or the like. 
         FIG. 17  is a diagram for describing a vehicle corresponding task sequence in the example of a product sales robot that cruises on a floor of an office or the like. 
         FIG. 18  is a diagram for describing a specific example of processing of adding a new task sequence based on a new request to a vehicle corresponding task sequence being executed in a vehicle and updating the vehicle corresponding task sequence. 
         FIG. 19  is a diagram for describing a processing procedure of adding an (2) additional task sequence to an (1) existing vehicle corresponding task sequence. 
         FIG. 20  is a diagram for describing a processing procedure of adding an (2) additional task sequence to an (1) existing vehicle corresponding task sequence. 
         FIG. 21  is a diagram for describing a processing procedure of adding an (2) additional task sequence to an (1) existing vehicle corresponding task sequence. 
         FIG. 22  is a diagram for describing a processing procedure of adding an (2) additional task sequence to an (1) existing vehicle corresponding task sequence. 
         FIG. 23  is a flowchart for describing a processing procedure of inserting an additional task sequence based on a new request to an existing vehicle corresponding task sequence. 
         FIG. 24  is a diagram for describing a specific example of processing of updating a vehicle corresponding task sequence in consideration of a task priority. 
         FIG. 25  is a diagram for describing a processing procedure of adding an (2) additional task sequence to an (1) existing vehicle corresponding task sequence in consideration of a task priority. 
         FIG. 26  is a diagram for describing a processing procedure of adding an (2) additional task sequence to an (1) existing vehicle corresponding task sequence in consideration of a task priority. 
         FIG. 27  is a diagram for describing a processing procedure of adding an (2) additional task sequence to an (1) existing vehicle corresponding task sequence in consideration of a task priority. 
         FIG. 28  is a diagram for describing a processing procedure of adding an (2) additional task sequence to an (1) existing vehicle corresponding task sequence in consideration of a task priority. 
         FIG. 29  is a flowchart for describing a processing procedure of inserting an additional task sequence based on a new request to an existing vehicle corresponding task sequence in consideration of a task priority. 
         FIG. 30  is a diagram for describing a specific sequence of cost matching processing executed by the task management unit of the task management server. 
         FIG. 31  is a diagram for describing a specific example of the cost matching processing. 
         FIG. 32  is a diagram for describing a specific example of the cost matching processing. 
         FIG. 33  is a diagram for describing a specific example of the cost matching processing. 
         FIG. 34  is a diagram for describing a specific example of cost matching processing. 
         FIG. 35  is a diagram for describing a specific example of the cost matching processing. 
         FIG. 36  is a diagram for describing a specific example of the cost matching processing. 
         FIG. 37  is a diagram for describing a hardware configuration example of an information processing device. 
     
    
    
     MODE FOR CARRYING OUT THE INVENTION 
     Hereinafter, an information processing device, a moving device, an information processing system, a method, and a program of the present disclosure will be described in detail with reference to the drawings. Note that the description will be given according to the following items. 
     1. Calculation of optimum sequence using nodes and routes between nodes and problems 
     2. Configuration example of information processing system and information processing device of present disclosure 
     3. Task management processing executed by task management server 
     4. Specific example of task sequence based on request and vehicle corresponding task sequence 
     5. Specific example of processing of adding new task sequence based on new request to vehicle corresponding task sequence being executed in vehicle to update vehicle corresponding task sequence 
     6. Specific example of processing of updating vehicle corresponding task sequence considering task priority 
     7. Details of cost matching processing for determining to which vehicle corresponding task sequence new task sequence is to be additionally inserted 
     8. Configuration example of information processing device 
     9. Conclusion of configurations of present disclosure 
     [1. Calculation of Optimum Sequence Using Nodes and Routes Between Nodes and Problems] 
     First, calculation of an optimum sequence using nodes and routes between nodes and problems will be described with reference to  FIG. 1  and the subsequent drawings. 
     For example, as described above, as an optimization system for processing involving a route search, a system is known, which stores data setting a route (arc) connecting a plurality of bases (nodes) and nodes in a movement range of a moving device such as a vehicle in a storage unit such as a database, and calculating a shortest route connecting nodes at which processing such as loading and unloading of people or packages is performed, using the data (registered data). 
     However, for example, a new package delivery request may be generated while a vehicle that delivers a package is executing processing according to a certain one processing sequence, for example, package delivery processing. In such a case, if delivery of the new package is started after the processing sequence being executed is completed, the processing efficiency may be significantly reduced. 
     A specific example will be described with reference to  FIG. 1  and the subsequent drawings.  FIG. 1  illustrates a plurality of nodes (P1, P2, . . . , and P9) registered in a database (DB) in advance, and route (arcs) connecting the nodes. The nodes P1 to P9 are existing registered nodes having position information registered in the DB. 
     In a case where a task by a delivery vehicle  10  that delivers a package is generated, the task including loading a package a at node P1 and delivering the package a to a destination A,  11  at node P9 that is a delivery destination, a task management server that executes task management processing calculates a shortest route from the node P1 to the node P9 and sets a task sequence including a plurality of tasks such as package loading and unloading processing and movement processing. The delivery vehicle  10  executes this task sequence. 
     The task management server calculates the task sequence that enables completion of processing in the shortest time. For example, as illustrated in  FIG. 2 , the task sequence is a task sequence of loading the package a at the node P1, moving to nodes P4, P7, P8, and P9, and unloading the package a at the destination A,  11  at the node P9. 
     However, there are some cases where a new package delivery request is generated while the delivery vehicle  10  is executing the task sequence. In such a case, if delivery of the new package is started after the processing sequence being executed is completed, the processing efficiency may be significantly reduced. 
     A specific example is illustrated in  FIG. 3 . 
       FIG. 3  illustrates a state in which the delivery vehicle  10  has loaded the package a at the node P1 and has moved to the node P4. In this state, a new package delivery request is generated. The request is a request of loading a package b at the node P3 and delivering the package b to a destination B,  12  at node P6. 
     Here, if the delivery vehicle  10  performs processing of moving from the node P9 to the nodes P6 and P3, loading the package b at the node P3, moving to the node P6, and unloading the package b at the destination B,  12  at the node P6, after completing the already set task sequence, that is, the task sequence of moving to the nodes P4, P7, P8, and P9 and unloading the package a at the destination A,  11  at the node P9 according to the route described with reference to  FIG. 2 , the overall processing efficiency is significantly decreased. 
     In such a case, the processing of the present disclosure executes task sequence update processing of inserting an additional task sequence into the task sequence being executed by the delivery vehicle  10 , and causes the delivery vehicle  10  to execute the updated task sequence. 
     Specifically, for example, a new updated task sequence as illustrated in  FIG. 4  is generated and executed by the delivery vehicle  10 . 
     The task sequence illustrated in  FIG. 4  is a sequence that the delivery vehicle  10  located at the node P4 moves to the nodes P5, P2, and P3, loads the package b at the node P3, moves to the node P6, unloads the package b at the destination B,  12  at the node P6, and further moves to the node  9 , and unloads the package a at the destination A,  11  at the node P9. 
     In the processing of the present disclosure, even if a vehicle is executing a predetermined task sequence, and in the case where a new task in response to a new request is generated, an updated task sequence in which the new task is incorporated in the task sequence being executed is generated, and the vehicle is caused to execute the new updated task sequence, at any time. By performing such processing, processing without waste can be performed. 
     [2. Configuration Example of Information Processing System and Information Processing Device of Present Disclosure] 
     Next, a configuration example of an information processing system and an information processing device of the present disclosure will be described. 
       FIG. 5  is a diagram illustrating a configuration example of an information processing system according to the present disclosure. 
     The information processing system has a configuration in which a task management server  101  that executes the processing of calculating the optimum task sequence, and the like, a user terminal  102  of a user who requests various tasks, for example, use of a taxi, and a vehicle  103  such as a taxi that actually executes a task, for example, picks up the user and moves, are connected by a network  105 . 
     Note that, in the example to be described below, an example in which the vehicle  103  as the moving device is mainly a taxi or a package delivery vehicle will be described. However, the moving device of the present disclosure is not limited to the taxi or the package delivery vehicle, and includes various moving means such as a self-propelled robot moving in a factory or an office, and a robot with a driver. 
     Furthermore,  FIG. 5  illustrates the user terminal  102  configured by a smartphone as an example of a device through which a task request is input and which transmits the request to the task management server  101 . However, the device that transmits a task request can be a terminal capable of inputting and transmitting the task request, which may be a personal computer or a tablet or may be an information processing device such as a management system equipped in the factory or the office. 
     Furthermore, the example to be described below will be given on the assumption that the task management server  101  performs processing of optimizing the task sequence, that is, processing of determining the optimum task sequence. However, the vehicle  103  as the moving device may calculate the optimum task sequence. 
     Next, a configuration example of an information processing device that calculates an optimum task sequence, that is, the task management server  101  in the present example will be described with reference to  FIG. 6 . 
     As illustrated in  FIG. 6 , the task management server  101  includes a request processing unit  121 , a task management unit  122 , a vehicle management unit  123 , a communication unit  124 , a request database (DB)  131 , a task DB  132 , a vehicle DB  133 , and a map DB  134 . 
     The task management server  101  receives various task requests from the user terminal via the communication unit  124 . 
     The request processing unit  121  registers request content of the task request received from the user terminal together with request attribute information such as a terminal ID of the request transmission terminal and a request reception time in the request DB  131 . Note that the user terminal transmits the position information of the user terminal and time information together with specific content of the request, such as the task request of “take a taxi from the current position”. The processing is executed by an application being executed on the user terminal. That is, the application generates a packet storing the task content, time information, position information, and the like as a payload and transmits the packet to the task management server  101 . 
     The task management unit  122  of the task management server  101  generates a task sequence for executing the request on the basis of the request stored in the request DB  131 . 
     The final task sequence generated here is a vehicle-unit task sequence that prescribes which vehicle executes the processing in what order, that is, a vehicle corresponding task sequence. A specific example of the task sequence generation processing will be described in detail below. 
     Note that the processing will be described as the “vehicle corresponding task sequence” because an example using a vehicle will be described below. However, the processing of the present disclosure can be applied to various moving devices such as robots other than vehicles, and a moving device-unit task sequence will be called “moving device corresponding task sequence”. 
     The task sequence generated by the task management unit  122  is stored in the task DB  132 . 
     The vehicle management unit  123  manages a vehicle that is an entity for executing a task. For example, the vehicle management unit  123  receives a task status being executed in each vehicle or the like from the each vehicle via the communication unit  124  in addition to the position of each vehicle, and stores the received information in the vehicle DB  133 . Moreover, the information is also provided to the task management unit  122 , and the task management unit  122  performs processing of assigning a task to each vehicle on the basis of the information. 
     The map DB  134  stores registration information of the nodes, the routes (arcs), and the like described above with reference to  FIGS. 1 to 4  in addition to map data associated with the position information. 
     The task management unit  132  generates the optimum task sequence, using the node information stored in the map DB  134  and the nodes added as needed. 
     The vehicle that will execute the task sequence is notified of the optimum task sequence generated by the task management unit  132 , and the vehicle executes processing according to the task sequence. Note that, as described above, the task sequence prescribes processing of moving (move) between nodes, processing of loading packages or picking up people (load), processing of unloading packages or dropping people (unload), processing of standby (wait), and the like. The specific task sequence will be described in detail below. 
     The vehicle transmits a task execution status, completion information, position information, and the like to the task management server  101 . 
     The task management unit  122  grasps a progress status or completion status of a task according to the received information from the vehicle, and deletes the completed task and task sequence from the task DB  132 . 
     [3. Task Management Processing Executed by Task Management Server] 
     Next, task management processing executed by the task management server  101  will be described with reference to  FIG. 7  and the subsequent drawings. 
     The flowchart illustrated in  FIG. 7  is a flowchart for describing a processing sequence when the task management server  101  receives a task request from a request transmission device such as a user terminal. 
     Note that the processing according to the flowchart to be described below is executed under control of a control unit (data processing unit) including a CPU having a program execution function according to a program stored in a storage unit of the information processing device such as the task management server  101 , for example. 
     Hereinafter, processing of each step of the flow illustrated in  FIG. 7  will be described. 
     (Step S 101 ) 
     First, the task management server  101  receives the task request in step S 101 . The task management server  101  receives the task request from the request transmission device such as the user terminal via the communication unit  124 . 
     The task request is input to the request management unit  121 , and the request content of the task request is registered together with the request attribute information such as the terminal ID of the request transmission terminal and the request reception time in the request DB  131 . 
     (Step S 102 ) Next, in step S 102 , a new task sequence based on the request is generated. 
     This processing is executed by the task management unit  122 . 
     In step S 102 , the task management unit  122  divides the task request received in step S 101  into, for example, minimum-unit task sequences to generate one or more task sequences. 
     A specific example of the task sequence generated by the task management unit  122  will be described with reference to  FIG. 8 . 
     The upper table in  FIG. 8  illustrates the following three data: 
     (1) request; 
     (2) task sequence; and 
     (3) vehicle corresponding task sequence. 
     The (1) request is a request received from the request transmission terminal such as the user terminal. Here, the following request is described as an example. 
     Request=“Deliver packages a, b, and c from P1 to P2, P3, and P4, respectively” 
     Note that, in reality, the request received from the user terminal does not include the node identifiers such as P1 to P4. These node identifiers are acquired by the request processing unit  121  or the task management unit  122  from the map DB  134  on the basis of the position information obtained from the received request or the like. 
     The task management unit  122  first generates the task sequence in step S 102  of the flow illustrated in  FIG. 7  in response to the request. In step S 102 , the task management unit  122  generates one or more task sequences for executing the request, for example, one or more minimum-unit task sequences. 
     The task management unit  122  generates the following three task sequences illustrated in  FIG. 8 ( 2 ) as the one or more minimum-unit task sequences for executing the request: 
     Request=“Deliver packages a, b, and c from P1 to P2, P3, and P4, respectively”. 
     Task sequence 1=load (P1, a), move (P2), unload (P2, a) 
     Task sequence 2=load (P1, b), move (P2), move (P3), unload (P3, b) 
     Task sequence 3=load (P1, c), move (P4), unload (P4, c) 
     Each task sequence is configured as a sequence of task elements such as load (P1, a) and move (P2). 
     load (P1, a) is a task element indicating processing of loading (load) the package a at the node P1. 
     move (P2) is a task element indicating processing of moving (move) from the current node to the node P2. 
     unload (P2, a) is a task element indicating processing of unloading (unload) the package a at the node P2. 
     The task element is data including configurations of [processing type (node identifier, processing target)]. To the processing type, moving (move), loading and unloading a person or a package (load) and (unload), standby (wait), or the like are set, as described above. 
     The node identifier is an identifier of a node such as P1 or P2. The position information corresponding to the node identifier is recorded in the map DB  134 . It is also possible to register an additional node, which is not registered in the map DB  134  in advance, to the map DB  134  one after another. 
     The lower diagram in  FIG. 8  illustrates a specific processing example of the three task sequences illustrated in the (2) task sequence in the upper table in  FIG. 8 . 
     As is understood from the diagram, Task sequence 1=load (P1, a), move (P2), unload (P2, a) is a sequence of loading (load) a package a at the node P1, moving (move) to the node P2, and unloading (unload) the package a at the node P2. 
     Task sequence 2=load (P1, b), move (P2), move (P3), unload (P3, b) is a sequence of loading (load) a package b at the node P1, moving (move) to the node P2, further moving (move) to the node P3, and unloading (unload) the package b at the node P3. 
     Task sequence 3=load (P1, c), move (P4), unload (P4, c) is a sequence of loading (load) a package c at the node P1, moving (move) to the node P4, and unloading (unload) the package c at the node P4. 
     In step S 102  of the flow in  FIG. 7 , the task management unit  122  generates the one or more minimum-unit task sequences for executing the request in response to the received request, as described above. 
     (Step S 103 ) 
     Next, in step S 103 , the task management unit  122  converts the new task sequence generated in response to the request in step S 102  into a vehicle corresponding sequence. 
     This is processing of converting the new task sequence generated in step S 102  into a vehicle-unit task sequence of a vehicle that actually executes the task sequence, that is, the vehicle corresponding task sequence. 
     Note that, in a case where the vehicle has already been executing another vehicle corresponding task sequence, processing of adding the new vehicle corresponding sequence based on the new task sequence to the vehicle corresponding sequence being executed to update the existing vehicle corresponding sequence is performed. 
     In the processing of generating and updating the vehicle corresponding task sequence, a vehicle capable of executing the new task sequence at the lowest cost is selected and the processing is executed in consideration of the current position of each vehicle, the task being executed in each vehicle, and the like. Alternatively, the processing is executed in consideration of the task priority. 
     Specific processing for the vehicle corresponding task sequence based on the cost, that is, cost matching processing, or sequence generation processing based on the priority will be described below in detail. 
     A specific example of the vehicle corresponding task sequence generated by the task management unit  122  in step S 103  will be described with reference to  FIG. 9 . 
     The upper table in  FIG. 9  illustrates the following three data, similarly to  FIG. 8 : 
     (1) request; 
     (2) task sequence; and 
     (3) vehicle corresponding task sequence. 
     The lower diagram in  FIG. 9  illustrates the two vehicle corresponding task sequences illustrated in the (3) vehicle corresponding task sequence, that is, details of the vehicle corresponding task sequences of vehicle 1 and vehicle 2. 
     The (1) request illustrated in the upper table in  FIG. 9  is the same as the request described with reference to  FIG. 8 , and is a request received from the request transmission terminal such as the user terminal. Here, the following request is described as an example. 
     Request=“Deliver packages a, b, and c from P1 to P2, P3, and P4, respectively” 
     The (2) task sequence illustrated in the upper table in  FIG. 9  is the task sequence described above with reference to  FIG. 8 , and is the following three task sequences generated on the basis of the (1) request. 
     Task sequence 1=load (P1, a), move (P2), unload (P2, a) 
     Task sequence 2=load (P1, b), move (P2), move (P3), unload (P3, b) 
     Task sequence 3=load (P1, c), move (P4), unload (P4, c) 
     In step S 103  of the flow in  FIG. 7 , the three task sequences are assigned to the vehicle capable of executing the task sequences at the minimum cost, and the vehicle corresponding task sequence indicating a task sequence to be executed by the vehicle is generated. 
     The result is the two vehicle corresponding sequences illustrated in the (3) vehicle corresponding task sequence in  FIG. 9 . That is, the following two vehicle corresponding task sequences: 
     Vehicle 1 corresponding task sequence=move (P1), load (P1, a), load (P1, b), move (P2), unload (P2, a), move (P3), unload (P3, b); and 
     Vehicle 2 corresponding task sequence=load (P1, c), move (P4), unload (P4, c). 
     The lower diagram in  FIG. 9  illustrates a specific processing example of these vehicle corresponding task sequences. 
     As is understood from the drawing, vehicle 1 corresponding task sequence=move (P1), load (P1, a), load (P1, b), move (P2), unload (P2, a), move (P3), unload (P3, b) is a sequence of the vehicle 1 first moving (move) to the node P1, loading (load) packages a and b at the node P1, moving (move) to the node P2, unloading (unload) the package a at the node P2, further moving (move) to the node P3, and unloading (unload) the package b at the node P3. 
     Note that the vehicle A is not located at the node P1 at the time of task request, and thus the first task element of the task sequence is set to moving [move (P1)] to the node P1. 
     Vehicle 2 corresponding task sequence=load (P1, c), move (P4), unload (P4, c) is a sequence of loading (unload) a package c at the node P1, moving (move) to the node P4, and unloading (unload) the package c at the node P4. 
     In step S 103  of the flow illustrated in  FIG. 7 , the task sequence generated by the task management unit  122  in step S 102  is converted into the vehicle-unit task sequence, that is, the vehicle corresponding task sequence. 
     In the conversion processing, selection of the vehicle that enables the most efficient processing and setting of the processing sequence are executed. Specifically, sequence generation processing considering the cost and task priority is performed. Specific processing for the vehicle corresponding task sequence based on the cost, that is, cost matching processing, or sequence generation processing based on the priority will be described below in detail. 
     Next, a detailed sequence of the processing in step S 103  described above with reference to the flowchart illustrated in  FIG. 7  will be described with reference to the flow illustrated in  FIG. 10 . 
     As described above with reference to  FIG. 7 , in step S 103 , the task management unit  122  converts the new task sequence generated in response to the request in step S 102  into the vehicle corresponding sequence. 
     This is processing of converting the new task sequence generated in step S 102  into a vehicle-unit task sequence of a vehicle that actually executes the task sequence, that is, the vehicle corresponding task sequence. The flow illustrated in  FIG. 10  corresponds to the detailed sequence of step S 103 . Processing of each step of the flow illustrated in  FIG. 10  will be described. 
     (Step S 121 ) 
     First, in step S 121 , the task management unit  122  acquires a plurality of existing vehicle corresponding task sequences set for vehicles. 
     The existing vehicle corresponding task sequences set for vehicles are stored in the task DB  132 , and the task management unit  122  acquires the plurality of existing vehicle corresponding task sequences set for vehicles from the task DB  132 . 
     (Step S 122 ) 
     Next, in step S 122 , the task management unit  122  calculates the cost of the case of inserting a new task sequence to each of the plurality of acquired vehicle corresponding task sequences. 
     (Step S 123 ) 
     Next, in step S 123 , the task management unit  122  inserts the new task sequence into one existing vehicle corresponding task sequence that minimizes the cost to update the existing vehicle corresponding task sequence. 
     Note that, in some cases, a new vehicle corresponding task sequence based on the new task sequence is generated without inserting the new task sequence into the existing vehicle corresponding task sequence. 
     What types of vehicle corresponding task sequence is to be generated is determined according to the cost or the priority of the task. 
     Specific processing for the vehicle corresponding task sequence based on the cost, that is, cost matching processing, or sequence generation processing based on the priority will be described below in detail. 
       FIG. 11  is a flowchart for describing a processing sequence of the task management server  101  when receiving a task completion notification from the vehicle that executes the vehicle corresponding task sequence. 
     Processing of each step illustrated in the flow will be sequentially described. 
     (Step S 151 ) 
     First, in step S 151 , the task management server  101  receives the task completion notification from the vehicle that executes the vehicle corresponding task sequence. 
     (Step S 152 ) 
     Next, in step S 152 , the task management unit  122  of the task management server  101  deletes the task for which the completion report has been made from the vehicle corresponding task sequence registered in the task DB  132 . 
     (Step S 153 ) 
     Next, in step S 153 , the task management unit  122  of the task management server  101  notifies the vehicle of execution of the new vehicle corresponding task sequence on the basis of generation of the new vehicle corresponding task sequence. 
     By such processing, communication is performed between the task management server  101  and the vehicle that is the task execution entity, and tasks corresponding to requests are sequentially executed. 
     Note that the task management server  101  includes an input unit operable by an operator and an output unit such as a display unit on which a task status can be confirmed. 
       FIG. 12  illustrates a display example of the display unit of the task management server  101 . 
     The example illustrated in  FIG. 12  is an example of display data displayed on the display unit of the task management server  101 . 
     Current information of each vehicle is displayed in real time on the display unit of the task management server  101 . Movement of each vehicle is displayed as an animation and the task currently being executed is displayed on the display unit. Furthermore, when a vehicle is specified (pointed at with a cursor), the task sequence being currently executed by the vehicle can be confirmed. 
     [4. Specific Example of Task Sequence Based on Request and Vehicle Corresponding Task Sequence] 
     Next, a specific example of a task sequence generated by the task management server  101  on the basis of a request and a vehicle corresponding task sequence will be described. 
     The following three specific examples will be sequentially described with reference to  FIG. 13  and the subsequent drawings. 
     (Case 1) Example of Package Delivery Using a Package Delivery Vehicle 
     Request=Package delivery (package collection positions concentrated (loads concentrated), delivery destinations scattered (unloads scattered), no cruise) 
     (Case 2) Example of Using a Taxi 
     Request=cruise and dispatch (pickup position scattered (load scattered), drop position scattered (unload scattered), cruise, call) 
     (Case 3) Example of a Product Sales Robot that Cruises on a Floor of an Office, or the Like 
     Request=cruise and dispatch (execute cruise and respond to call (no load, no unload)) 
     First, 
     (Case 1) Example of package delivery using a package delivery vehicle will be described with reference to  FIG. 13 . 
     The request is delivery of a package. 
     This is a processing example of a case where package collection positions are concentrated (loads concentrated) and delivery destinations are scattered (unloads scattered), and the vehicle does not perform processing of cruising at nodes. 
       FIG. 13  illustrates the following three data: 
     (1) request; 
     (2) task sequence; and 
     (3) vehicle corresponding task sequence. 
     The (1) request is, for example, a request received from the request transmission terminal such as a user terminal. Here, the request is the following request: 
     Request=“Deliver packages a, b, and c from P1 to P2, P3, and P4, respectively” 
     As described above, in reality, the node identifiers of P1 to P4 and the like are not included in the request received from the user terminal, for example. The node identifier is a node identifier acquired by the request processing unit  121  or the task management unit  122  from the map DB  134  on the basis of the position information obtained from the received request or the like. 
     The task management unit  122  of the task management server  101  generates one or more minimum-unit task sequences for executing the request in response to the request. 
     The following three task sequences illustrated in  FIG. 13 ( 2 ) are generated: 
     Task sequence 1=load (P1, a), move (P2), unload (P2, a) 
     Task sequence 2=load (P1, b), move (P2), move (P3), unload (P3, b) 
     Task sequence 3=load (P1, c), move (P4), unload (P4, c) 
     Task sequence 1=load (P1, a), move (P2), unload (P2, a) is a sequence of loading (load) a package a at the node P1, moving (move) to the node P2, and unloading (unload) the package a at the node P2. 
     Task sequence 2=load (P1, b), move (P2), move (P3), unload (P3, b) is a sequence of loading (load) a package b at the node P1, moving (move) to the node P2, further moving (move) to the node P3, and unloading (unload) the package b at the node P3. 
     Task sequence 3=load (P1, c), move (P4), unload (P4, c) is a sequence of loading (load) a package c at the node P1, moving (move) to the node P4, and unloading (unload) the package c at the node P4. 
     Moreover, the task management unit  122  of the task management server  101  assigns the three task sequences to the vehicle capable of executing the task sequences at the minimum cost, and generates the vehicle corresponding task sequence indicating a task sequence to be executed by the vehicle. 
     The result is the following two vehicle corresponding task sequences illustrated in (3) vehicle corresponding task sequence in  FIG. 13 . 
     Vehicle 1 corresponding task sequence=move (P1), load (P1, a), load (P1, b), move (P2), unload (P2, a), move (P3), unload (P3, b); and 
     Vehicle 2 corresponding task sequence=load (P1, c), move (P4), unload (P4, c). 
     Vehicle 1 corresponding task sequence=move (P1), load (P1, a), load (P1, b), move (P2), unload (P2, a), move (P3), unload (P3, b) is a sequence of the vehicle 1 first moving (move) to the node P1, loading (load) packages a and b at the node P1, moving (move) to the node P2, unloading (unload) the package a at the node P2, further moving (move) to the node P3, and unloading (unload) the package b at the node P3. 
     Note that the vehicle A is not located at the node P1 at the time of task request, and thus the first task element of the task sequence is set to moving [move (P1)] to the node P1. 
     Vehicle 2 corresponding task sequence=load (P1, c), move (P4), unload (P4, c) is a sequence of loading (unload) a package c at the node P1, moving (move) to the node P4, and unloading (unload) the package c at the node P4. 
     The task management server  101  generates the task sequence on the basis of the request, and further generates the vehicle corresponding task sequence that is the task sequence to be executed by each vehicle on the basis of the generated task sequence, as described above. 
     Next, 
     (Case 2) Example of using a taxi 
     will be described with reference to  FIG. 14 . 
     The request is cruise and dispatch. 
     This is a processing example in which the pickup positions are scattered (load scattered), the drop positions are also scattered (unload scattered), cruise is required, and call is made. 
       FIG. 14  illustrates the following three data, similarly to  FIG. 13 : 
     (1) request; 
     (2) task sequence; and 
     (3) vehicle corresponding task sequence. 
     Here, the (1) request is predetermined “cruise” and “dispatch” as the request received from the request transmission terminal such as the user terminal, for example. Here, the “dispatch” request is the following request: 
     Request=“Pick up a at P1 and drop a at P2”. 
     Note that, as described above, in reality, the node identifiers of P1 and the like are not included in the request received from the user terminal, for example. The node identifier is a node identifier acquired by the request processing unit  121  or the task management unit  122  from the map DB  134  on the basis of the position information obtained from the received request or the like. 
     The task management unit  122  of the task management server  101  generates one or more minimum-unit task sequences for executing the request in response to the request. 
     The following two task sequences illustrated in  FIG. 14 ( 2 ) are generated: 
     Task sequence 1 (corresponding to cruise)=move (P1), move (P2), . . . , move (P20), move (P1). 
     Task sequence 2 (corresponding dispatch)=load (P1, a), move (P2), unload (P2, a). 
     Task sequence 1 (corresponding to cruise)=move (P1), move (P2), . . . , move (P20), move (P1) is a task sequence of moving and cruising at the node P1 to node P20 in order. 
     Task sequence 2 (corresponding dispatch)=load (P1, a), move (P2), unload (P2, a) is a sequence of picking up (load) a customer a at the node P1, moving (move) to the node P2, and dropping (unload) the customer a at the node P2. 
     Moreover, the task management unit  122  of the task management server  101  assigns the two task sequences to the vehicle capable of executing the task sequences at the minimum cost, and generates the vehicle corresponding task sequence indicating a task sequence to be executed by the vehicle. 
     The result is the following two vehicle corresponding task sequences illustrated in (3) vehicle corresponding task sequence in  FIG. 14 . 
     Vehicle 1 corresponding task sequence=move (P1), load (P1, a), move (P2), unload (P2, a), move (P3), move (P4), . . . ; and 
     Vehicle 2 corresponding task sequence=move (P11), move (P12), . . . . 
     The two vehicle corresponding task sequences will be described with reference to  FIG. 15 . As illustrated in the lower section in  FIG. 15 , while both the vehicle 1 and the vehicle 2 are cruising, a dispatch task (task sequence 2) has occurred, and thus the dispatch task (task sequence 2) needs to be inserted into the vehicle corresponding task sequence of either the vehicle 1 or the vehicle 2. 
     The vehicle 1 is currently located at P6 and in a state before the vehicle 1 starts moving to P7 according to the cruise task. Meanwhile, the vehicle 2 is currently located at P11 and in a state before the vehicle 2 starts moving to P12 according to the cruise task. 
     The current position P6 of the vehicle 1 is close to P1 where the customer a is picked up, and the cost required to execute the dispatch task is low. Therefore, the task sequence corresponding to dispatch is inserted into the vehicle 1 corresponding task sequence. 
     As a result, the vehicle 1 corresponding task sequence=move (P1), load (P1, a), move (P2), unload (P2, a), move (P3), move (P4), . . . illustrated in the upper table in  FIG. 15  is generated. 
     As illustrated in the lower section in  FIG. 15 , the vehicle 1 cancels the next task element move (P7) of the cruise task and executes the dispatch task sequence, that is, the task sequence=move (P1), load (P1, a), move (P2), unload (P2, a). After that, the vehicle 1 returns to the cruise task from P2 and starts moving to P3. 
     Meanwhile, the vehicle 2 that does not execute the dispatch task continuously executes the cruise task. 
     In this way, in the present processing example, 
     while the vehicle 1 is cruising according to the vehicle 1 corresponding task sequence=move (P1), load (P1, a), move (P2), unload (P2, a), move (P3), move (P4), . . . , 
     the task sequence 2 (corresponding dispatch)=load (P1, a), move (P2), unload (P2, a) 
     is inserted to the vehicle 1 corresponding task sequence to update the vehicle corresponding task sequence, and the vehicle 1 executes the generated new vehicle corresponding task sequence. 
     This sequence is a sequence of the vehicle 1 moving (move) to the node P1 during cruise, then picking up (load) the customer a at the node P1, moving (move) to the node P2, unloading (unload) the customer a at the node P2, and then returning to the cruise processing. 
     The task management server  101  generates the task sequence on the basis of the request, and further generates the vehicle corresponding task sequence that is the task sequence to be executed by each vehicle on the basis of the generated task sequence, as described above. 
     Next, 
     (Case 3) Example of a product sales robot that cruises on a floor of an office, or the like will be described with reference to  FIG. 16 . 
     The request is cruise and dispatch, and is a processing example of normally executing cruise, and heading to a call position in response to a generated call, one after another. 
     The upper section in  FIG. 16  illustrates data during execution of normal cruise processing before a call is generated, and the lower section in  FIG. 16  illustrates data after the call is generated and the following three data: 
     (1) request; 
     (2) task sequence; and 
     (3) vehicle corresponding task sequence. 
     The (1) request during execution of normal cruise processing before a call is generated illustrated in the upper table in  FIG. 16  is “equally cruise at all of points”, and the task management unit  122  of the task management server  101  generates the following task sequence illustrated in (2) in the upper table in FIG.  16 : 
     Task sequence 1 (corresponding to cruise)=move (P1), move (P2), . . . , move (P20), move (P1). 
     Task sequence 1 (corresponding to cruise)=move 
     (P1), move (P2), . . . , move (P20), move (P1) is a task sequence of moving and cruising at the node P1 to node P20 in order. 
     Moreover, the task management unit  122  of the task management server  101  assigns the task sequence to a vehicle and generates the vehicle corresponding task sequence indicating a task sequence to be executed by the vehicle. 
     The result is the following vehicle corresponding task sequence illustrated in (3) vehicle corresponding task sequence in the upper table in  FIG. 16 . 
     Vehicle 1 corresponding task sequence=move (P2), move (P3), move (P4) 
     The task management server receives the following request while the vehicle 1 is executing the vehicle 1 corresponding task sequence: 
     Request=Call from point P13. 
     The task management unit  122  of the task management server  101  generates the following task sequence illustrated in (2) in the lower table in  FIG. 16  in response to the request: 
     Task sequence 2 (corresponding to call)=move (P13). 
     Moreover, the task management unit  122  of the task management server  101  assigns the task sequence 2 to a vehicle and generates the vehicle corresponding task sequence indicating a task sequence to be executed by the vehicle. 
     The result is the following vehicle corresponding task sequence illustrated in (3) vehicle corresponding task sequence in the lower table in  FIG. 16 . 
     Vehicle 1 corresponding task sequence=move (Px), move (Py), . . . , move (P13) 
     Px and Py are positions determined on the basis of the current location of the vehicle 1 during cruise and are determined on the basis of the shortest movement route from the current location of the vehicle 1 to P13. 
     The vehicle corresponding task sequence will be described with reference to  FIG. 17 . As illustrated in the lower section in  FIG. 17 , the vehicle  12  is cruising, the current location is P1, and the vehicle  12  is scheduled to cruise in the order of P2 to P3 to P4. 
     The vehicle corresponding task sequence at this point is the vehicle 1 corresponding task sequence below: 
     Vehicle 1 corresponding task sequence=move (P2), move (P3), move (P4) 
     as illustrated in the upper section ( 3   a ) in  FIG. 17 . 
     The task management server receives the following request while the vehicle 1 is executing the vehicle 1 corresponding task sequence: 
     Request=Call from point P13. 
     The task management unit  122  of the task management server  101  inserts the task sequence for executing the task of call processing into the vehicle 1 corresponding task sequence in response to the request to generate the updated vehicle 1 corresponding task sequence. 
     The result is the following vehicle corresponding task sequence illustrated in (3b) vehicle corresponding task sequence in the upper section in  FIG. 17 : 
     Vehicle 1 corresponding task sequence=move (P2), move (P7), move (P8), move (P13), move (P14), . . . . 
     The move (P2), move (P7), move (P8), move (P13) in the vehicle corresponding task sequence are elements for moving on the shortest route from the current location (P1) of the vehicle 1 during execution of cruise to P13. 
     The task management server  101  instantly generates the task sequence in response to a new request, and further generates the vehicle corresponding task sequence that is the task sequence to be executed by each vehicle on the basis of the generated task sequence, as described above. 
     [5. Specific Example of Processing of Adding New Task Sequence Based on New Request to Vehicle Corresponding Task Sequence being Executed in Vehicle to Update Vehicle Corresponding Task Sequence] 
     Next, a specific example of processing of adding a new task sequence based on a new request to a vehicle corresponding task sequence being executed in a vehicle to update the vehicle corresponding task sequence will be described with reference to  FIG. 18  and the subsequent drawings. 
       FIG. 18  illustrates the following data: 
     (1) existing vehicle corresponding task sequence; and 
     (2) additional task sequence. 
     The (1) existing vehicle corresponding task sequence is a vehicle corresponding task sequence being currently executed by the vehicle 1. 
     The (2) additional task sequence is a task sequence generated on the basis of a new request, and the task management unit  122  of the task management server  101  performs processing of inserting the (2) additional task sequence into the (1) existing vehicle corresponding task sequence. 
     The processing of adding the additional task sequence to the existing vehicle corresponding task sequence, that is, a procedure of the processing of updating the vehicle corresponding task sequence will be described with reference to  FIG. 18  and the subsequent drawings. Note that, in the update process, the task elements of the existing vehicle corresponding task sequence and the additional task sequence are sequentially changed. Here, description will be given under the following settings: 
     (1) existing vehicle corresponding task sequence=task sequence A; and 
     (2) additional task sequence=task sequence B, 
     as illustrated in the drawings including data of update processes of the sequences. 
     The task sequences are the following sequences, as illustrated in  FIG. 18 : 
     (1) existing vehicle corresponding task sequence=load (P1, package 1), move (P6), move (P7), move (P8), move (P13), unload (P13, package 1); and 
     (2) additional task sequence=load (P1, package 2), move (P2), move (P3), move (P4), move (P9), move (P10), unload (P10, package 2). 
     The (1) existing vehicle corresponding task sequence is a task sequence of loading (load) the package 1 at P1, moving to P6, P7, P8, and P13, and unloading (unload) the package 1 at P13. 
     The (2) additional task sequence is a task sequence of loading (load) the package 2 at P1, moving to P2, P3, P4, P9, and P10, and unloading (unload) the package 2 at P10. 
     A processing procedure of adding the (2) additional task sequence to the (1) existing vehicle corresponding task sequence will be described with reference to  FIG. 19  and the subsequent drawings. 
     First, the move task elements (moving task elements) are deleted from the additional task sequence as illustrated in step S 201  in  FIG. 19 . By the processing, the (2) the additional task sequence is changed as follows: 
     (2) additional task sequence=load (P1, package 2), unload (P10, package 2). 
     Next, as illustrated in step S 202  in  FIG. 20 , the existing vehicle task sequence is searched in order from the first element, for an element having a position matching the position (Pn) of an element of the additional task sequence in order from the first element, and the element of the additional task sequence is inserted after the element of the existing vehicle task sequence, the element matching the position of the additional task sequence. 
     Note that the inserted task element is deleted from the (2) additional task sequence. 
     First, an element of the existing vehicle task sequence having the position matching the position (P1) of the first element load (P1, package 2) of the additional task sequence is the first element load (P1, package 1) of the existing vehicle task sequence. 
     Therefore, the first element load (P1, package 2) of the additional task sequence is inserted after the first element load (P1, package 1) of the existing vehicle task sequence. 
     As a result of the processing, as illustrated in the lower table in  FIG. 20 , the (1) existing vehicle corresponding task sequence and the (2) additional task sequence are changed as follows: 
     (1) existing vehicle corresponding task sequence=load (P1, package 1), load (P1, package 2), move (P6), move (P7), move (P8), move (P13), unload (P13, package 1); and 
     (2) additional task sequence=unload (P10, package 2). 
     Note that the processing in step S 202  is sequentially executed for all the task elements included in the additional task sequence. In this processing, in a case where there are no more elements included in the additional task sequence, the processing is terminated. In a case where the task element remains, the processing in step S 203  in  FIG. 21  is executed. 
     In the case where the task element remains in the additional task sequence, next, the processing in step S 203  in  FIG. 21  is performed. That is, in the case where there is no element in the existing vehicle task sequence, the element having the position matching the position (Pn) of an element of the additional task sequence, a necessary route is added after the final element of the existing vehicle task sequence, and the element of the additional task sequence is inserted. 
     There is no element of the existing vehicle task sequence, the element having the position matching the position (P10) of the first element unload (P10, package 2) of the additional task sequence. Therefore, a necessary route is added after the final element of the existing vehicle task sequence, and the first element unload (P10, package 2) of the additional task sequence is inserted into the end. 
     As a result of the processing, as illustrated in the lower table in  FIG. 21 , the (1) existing vehicle corresponding task sequence and the (2) additional task sequence are changed as follows: 
     (1) existing vehicle corresponding task sequence (update completed)=load (P1, package 1), load (P1, package 2), move (P6), move (P7), move (P8), move (P13), unload (P13, package 1), move (P14), move (P15), move (P10), unload (P10, package 2); and 
     (2) additional task sequence=none 
     Note that, in both the existing vehicle corresponding task sequence and the additional task sequence after update is completed, 
     the task element=unload (P13, package 1), and 
     the task elements=move (P14), move (P15), move (P10), unload (P10, package 2) 
     are added elements. Among the elements, move (P14), move (P15), and move (P10) are elements added as the necessary route, and unload (P10, package 2) is the element that remained in the original additional task sequence. 
     As a result, a finally updated vehicle corresponding task sequence is completed as illustrated in  FIG. 22 . The updated vehicle corresponding task sequence is a task sequence of loading the packages 1 and 2 at P1, moving to P6, P7, P8, and P13, unloading (unload) the package 1 at P13, further moving to P14, P15, and P10, and unloading (unload) the package 2 at P10, as illustrated in the lower map in  FIG. 22 . 
     The updated task sequence is a task sequence capable of executing the original existing vehicle corresponding task sequence and the new additional task sequence together. 
     The processing described with reference to  FIGS. 18 to 22 , that is, the processing procedure of inserting an additional task sequence based on a new request into an existing vehicle corresponding task sequence will be described with reference to the flowchart in  FIG. 23 . 
     The flowchart illustrated in  FIG. 23  is executed by the task management unit  122  of the task management server  101 . 
     Note that, in the flow illustrated in  FIG. 23 , 
     A=existing vehicle corresponding task sequence, and 
     B=additional task sequence, and 
     the task elements of A=existing vehicle corresponding task sequence are a1, a2, a3, . . . , and an from the beginning, and the task sequences of B=additional task sequence are b1, b2, b3, . . . , and bm from the beginning. 
     Hereinafter, processing of each step of the flow will be described. 
     (Step S 301 ) 
     First, in step S 301 , all the move task elements (moving task elements) are deleted from the task elements of the additional task sequence B. 
     The task elements of the task sequence B after the deletion are b1, b2, . . . and b1. 
     This processing corresponds to the processing described above with reference to  FIG. 19 . 
     (Steps S 302  and S 303 ) 
     Next, in step S 302 , 
     i=1 and j=1 are set, and 
     in step S 303 , 
     t=a i  is set. That is, t is the task element selected in order from the beginning of A=existing vehicle corresponding task sequence. 
     These processes are initial settings of parameters. 
     (Step S 304 ) 
     Next, in step S 304 , 
     whether or not the position (locate) of the task element t (=a i ) selected in order from the beginning of the existing vehicle corresponding task sequence A matches the position (locate) of the task element (b j ) of the task sequence B from which the move task elements (moving task elements) have been deleted is determined 
     In the case where the positions match, the processing proceeds to step S 305 . 
     In the case where the positions do not match, the processing proceeds to step S 311 . 
     (Step S 305 ) 
     In step S 304 , in a case where it is determined that the position (locate) of the task element t (=a i ) selected in order from the beginning of the existing vehicle corresponding task sequence A matches the position (locate) of the task element (b j ) of the task sequence B from which the move task elements (moving task elements) have been deleted, the processing in step S 305  is executed. 
     In step S 305 , the task element (b j ) of the task sequence B is inserted immediately after the task element t (=a i ) of the existing vehicle corresponding task sequence A. 
     This processing corresponds to the processing described above with reference to  FIG. 20 . 
     (Steps S 306  and S 307 ) 
     Next, in step S 306 , 
     t=b j  is set, and 
     in step S 307 , 
     j=j+1 is set. 
     That is, the parameter is updated to change the element to be selected from the additional task sequence B after the move task elements are deleted to the next element. 
     (Step S 308 ) 
     Next, in step S 308 , 
     determination processing according to the following determination expression is performed: 
     j&gt;1. This is determination processing as to whether or not an unprocessed element remains in the additional task sequence B after the move task elements are deleted. 
     In the case where the above determination expression is not satisfied, it is determined that the unprocessed task element remains, and the processing returns to step S 304 . In the case where the above determination expression is satisfied, it is determined that no unprocessed task element remains, and the processing is terminated. 
     (Step S 311 ) 
     On the other hand, in step S 304 , in a case where it is determined that the position (locate) of the task element t (=a i ) selected in order from the beginning of the existing vehicle corresponding task sequence A does not match the position (locate) of the task element (b i ) of the task sequence B from which the move task elements (moving task elements) have been deleted, the processing in step S 311  is executed. 
     In step S 311 , processing of updating the parameter i of the task element t (=a i ) of the existing vehicle corresponding task sequence A to the next element, that is, processing of: 
     i=i+1 
     is executed. 
     (Step S 312 ) 
     Next, in step S 312 , 
     determination processing according to the following determination expression is performed: 
     j&gt;n. This is determination processing as to whether or not a succeeding task element remains in the existing vehicle corresponding task sequence A. 
     In the case where the above determination expression is not satisfied, it is determined that the succeeding task element remains, and the processing returns to step S 303 . In the case where the above determination expression is satisfied, it is determined that no succeeding task element remains, and the processing proceeds to step S 313 . 
     (Step S 313 ) 
     In the case where the determination expression in step S 312  is satisfied, and it is determined that no succeeding task element remains in the existing vehicle corresponding task sequence A, the processing in step S 313  is executed. 
     In step S 313 , the move task elements (moving task elements) (=m 1 , m 2 , . . . , m k ) from the position (locate) of the tail task element of the existing task sequence A to the position (locate) of the task element (b j ) of the task sequence B are added after the tail task element of the existing vehicle corresponding task sequence A, and the task element (b j ) of the task sequence B is added to the end. 
     This processing corresponds to the processing described above with reference to  FIG. 21 . 
     (Step S 314 ) 
     Next, in step S 314 , 
     j=j+1 
     is set. 
     That is, the parameter is updated to change the element to be selected from the additional task sequence B after the move task elements are deleted to the next element. 
     (Step S 315 ) 
     Next, in step S 315 , 
     determination processing according to the following determination expression is performed: 
     j&gt;1. This is determination processing as to whether or not an unprocessed element remains in the additional task sequence B after the move task elements are deleted. 
     In the case where the above determination expression is not satisfied, it is determined that the unprocessed task element remains, and the processing returns to step S 304 . In the case where the above determination expression is satisfied, it is determined that no unprocessed task element remains, and the processing is terminated. 
     By executing the processing according to the flow, it is possible to add a new additional task sequence to the existing vehicle corresponding task sequence to generate one updated vehicle corresponding task sequence. 
     [6. Specific Example of Processing of Updating Vehicle Corresponding Task Sequence Considering Task Priority] 
     Next, a specific example of updating a vehicle corresponding task sequence in consideration of a task priority in the case of adding a new task sequence based on a new request to the vehicle corresponding task sequence being executed in a vehicle to update the vehicle corresponding task sequence will be described with reference to  FIG. 24  and the subsequent drawings. 
       FIG. 24  illustrates the following data: 
     (1) existing vehicle corresponding task sequence; 
     and
         (2) additional task sequence.       

     The (1) existing vehicle corresponding task sequence is a vehicle corresponding task sequence being currently executed by the vehicle 1. 
     The (2) additional task sequence is a task sequence generated on the basis of a new request, and the task management unit  122  of the task management server  101  performs processing of inserting the (2) additional task sequence into the (1) existing vehicle corresponding task sequence. 
     Arrangement of the task elements of the following two task sequences: 
     (1) existing vehicle corresponding task sequence=task sequence A; and 
     (2) additional task sequence=task sequence B, illustrated in  FIG. 24  are similar to those described above with reference to  FIG. 18 . 
     However, in the present example, priority information (pri) is set for the task elements (load, unload) of loading and unloading a package. 
     The existing vehicle corresponding task sequence=task sequence A in the present example has the following task elements: 
     load (P1, package 1, pri=1); and 
     unload (P13, package 1, pri=1), and 
     these task elements mean processing of loading the package 1 at P1 and processing of unloading the package 1 at P13, and moreover, mean that the priority of these tasks is 1. 
     Meanwhile, the additional task sequence=task sequence B has the following task elements: 
     load (P1, package 2, pri=10); and 
     unload (P10, package 2, pri=10), and 
     these task elements mean processing of loading the package 2 at P1 and processing of unloading the package 2 at P10, and moreover, mean that the priority of these tasks is 10. 
     A higher value of the priority (pri) means a higher priority. That is, in the present example, loading and unloading of the package 2, which are the additional tasks, have high priority. 
     The task sequences are the following sequences, as illustrated in  FIG. 24 : 
     (1) existing vehicle corresponding task sequence=load (P1, package 1, pri=1), move (P6), move (P7), move (P8), move (P13), unload (P13, package 1, pri=1); and 
     (2) additional task sequence=load (P1, package 2, pri=10), move (P2), move (P3), move (P4), move (P9), move (P10), unload (P10, package 2, pri=10). 
     The (1) existing vehicle corresponding task sequence is a task sequence of loading (load) the package 1 at P1, moving to P6, P7, P8, and P13, and unloading (unload) the package 1 at P13. 
     The (2) additional task sequence is a task sequence of loading (load) the package 2 at P1, moving to P2, P3, 
     P4, P9, and P10, and unloading (unload) the package 2 at P10. 
     Note that the loading and unloading of the package 2 of the additional task sequence has higher priority than the loading and unloading of the package 1 of the existing vehicle corresponding task sequence. 
     A processing procedure of adding the (2) additional task sequence to the (1) existing vehicle corresponding task sequence in consideration of the priority will be described with reference to  FIG. 25  and the subsequent drawings. 
     First, the move task elements (moving task elements) are deleted from the additional task sequence as illustrated in step S 401  in  FIG. 25 . By the processing, the (2) the additional task sequence is changed as follows: 
     (2) additional task sequence=load (P1, package 2, pri=10), unload (P10, package 2, pri=10). 
     Next, as illustrated in step S 402  in  FIG. 26 , the existing vehicle task sequence is searched in order from the first element, for an element having a priority less than the priority (pri) of an element of the additional task sequence in order from the first element, and the element of the additional task sequence is inserted before the detected element of the existing vehicle task sequence. Moreover, a necessary route is inserted. 
     Note that the inserted task element is deleted from the (2) additional task sequence. 
     First, an element of the existing vehicle task sequence having the priority less than the priority (pri) of the first element load (P1, package 2, pri=10) of the additional task sequence is the first element load (P1, package 1, pri=1) of the existing vehicle task sequence. 
     Therefore, the first element load (P1, package 2, pri=10) of the additional task sequence is inserted before the first element load (P1, package 1, pri=10) of the existing vehicle task sequence. Moreover, a necessary route is inserted. 
     As a result of the processing, as illustrated in the lower table in  FIG. 26 , the (1) existing vehicle corresponding task sequence and the (2) additional task sequence are changed as follows: 
     (1) existing vehicle corresponding task sequence=load (P1, package 2, pri=10), move (P2), move (P3), move (P4), move (P9), move (P10), unload (P10, package 2, pri=10), load (P1, package 1, pri=1), move (P6), move (P7), move (P8), move (P13), unload (P13, package 1, pri=1); and 
     (2) additional task sequence=unload (P10, package 2, pri=10). 
     Next, processing illustrated in step S 403  in  FIG. 27  is performed. That is, a route element between adjacent elements of the element of the vehicle corresponding task sequence being updated and the element of the inserted additional task sequence is additionally inserted. 
     As a result of the processing, as illustrated in the lower table in  FIG. 27 , the (1) existing vehicle corresponding task sequence and the (2) additional task sequence are changed as follows: 
     (1) existing vehicle corresponding task sequence (update completed)=load (P1, package 2, pri=10), move (P2), move (P3), move (P4), move (P9), move (P10), unload (P10, package 2, pri=10), move (P5), move (P4), move (P3), move (P2), move (P1), load (P1, package 1, pri=1), move (P6), move (P7), move (P8), move (P13), unload (P13, package 1, pri=1); and 
     (2) additional task sequence=none 
     Note that the processing in steps S 402  to S 403  is sequentially executed for all the task elements included in the additional task sequence. 
     Note that, in both the existing vehicle corresponding task sequence and the additional task sequence after update is completed, the following task elements: 
     task elements=load (P1, package 2, pri=10), move (P2), move (P3), move (P4), move (P9), move (P10), unload (P10, package 2, pri=10) 
     are the tasks added by the additional task sequence including the high priority task in step S 402 . Moreover, 
     the task elements=move (P5), move (P4), move (P3), move (P2), move (P1) 
     are the route elements additionally inserted in step S 403 . That is, the task elements are the route elements between adjacent elements of the element of the vehicle corresponding task sequence being updated and the element of the inserted additional task sequence. 
     As a result, a finally updated vehicle corresponding task sequence is completed as illustrated in  FIG. 28 . The updated vehicle corresponding task sequence is a task sequence of loading the package 2 at P1, moving to P2, P3, P4, P9, and P10, unloading (unload) the package 2 at P10, further moving to P5, P4, P3, P2, and P1, loading the package 1 at P1, moving to P6, P7, P8, and P13, and unloading (unload) the package 1 at P13, as illustrated in the lower map in  FIG. 28 . 
     The updated task sequence is a task sequence capable of executing the original existing vehicle corresponding task sequence and the new additional task sequence together. 
     The processing described with reference to  FIGS. 24 to 28 , that is, the processing procedure of inserting an additional task sequence based on a new request into an existing vehicle corresponding task sequence in consideration of the task priority will be described with reference to the flowchart in  FIG. 29 . 
     The flowchart illustrated in  FIG. 29  is executed by the task management unit  122  of the task management server  101 . 
     Note that, in the flow illustrated in  FIG. 29 , 
     A=existing vehicle corresponding task sequence, and 
     B=additional task sequence, and 
     the task elements of A=existing vehicle corresponding task sequence are a1, a2, a3, . . . , and an from the beginning, and the task sequences of B=additional task sequence are b1, b2, b3, . . . , and bm from the beginning. 
     Hereinafter, processing of each step of the flow will be described. 
     (Step S 501 ) 
     First, in step S 501 , all the move task elements (moving task elements) are deleted from the task elements of the additional task sequence B. 
     The task elements of the task sequence B after the deletion are b1, b2, . . . and b1. 
     This processing corresponds to the processing described above with reference to  FIG. 25 . 
     (Steps S 502  and S 503 ) 
     Next, in step S 502 , 
     i=0 and j=0 are set, and 
     in step S 503 , 
     t=a i  is set. That is, t is the task element selected in order from the beginning of A=existing vehicle corresponding task sequence. 
     These processes are initial settings of parameters. 
     (Step S 504 ) 
     Next, in step S 504 , 
     whether or not the priority (pri) of the task element (=b j ) of the task sequence B from which the move task elements (moving task elements) have been deleted is higher than the next (=next to a i ) priority (pri) of the task element t selected in order from the beginning of the existing vehicle corresponding task sequence A is determined. 
     In the case where the priority is high, the processing proceeds to step S 511 . 
     In the case where the priority is not high, the processing proceeds to step S 505 . 
     (Step S 505 ) 
     In step S 504 , in the case where it is determined that the priority (pri) of the task element (=b j ) of the task sequence B from which the move task elements (moving task elements) have been deleted is not higher than the next (=next to a i ) priority (pri) of the task element t selected in order from the beginning of the existing vehicle corresponding task sequence A, the processing proceeds to step S 505 . 
     In step S 505 , whether or not the position (locate) of the task element t (=a i ) selected in order from the beginning of the existing vehicle corresponding task sequence A matches the position (locate) of the task element (b j ) of the task sequence B from which the move task elements (moving task elements) have been deleted is determined. 
     In the case where the positions match, the processing proceeds to step S 506 . 
     In the case where the positions do not match, the processing proceeds to step S 521 . 
     (Step S 506 ) 
     In step S 505 , in a case where it is determined that the position (locate) of the task element t (=a i ) selected in order from the beginning of the existing vehicle corresponding task sequence A matches the position (locate) of the task element (b j ) of the task sequence B from which the move task elements (moving task elements) have been deleted, the processing in step S 506  is executed. 
     In step S 506 , the task element (b j ) of the task sequence B is inserted immediately after the task element t (=a i ) of the existing vehicle corresponding task sequence A. 
     (Steps S 507  and S 508 ) 
     Next, in step S 507 , 
     t=b j  is set, and 
     in step S 508 , 
     j=j+1 is set. 
     That is, the parameter is updated to change the element to be selected from the additional task sequence B after the move task elements are deleted to the next element. 
     (Step S 509 ) 
     Next, in step S 509 , 
     determination processing according to the following determination expression is performed: 
     j&gt;1. This is determination processing as to whether or not an unprocessed element remains in the additional task sequence B after the move task elements are deleted. 
     In the case where the above determination expression is not satisfied, it is determined that the unprocessed task element remains, and the processing returns to step S 504 . In the case where the above determination expression is satisfied, it is determined that no unprocessed task element remains, and the processing is terminated. 
     (Step S 511 ) 
     On the other hand, in step S 504 , in the case where it is determined that the priority (pri) of the task element (=b j ) of the task sequence B from which the move task elements (moving task elements) have been deleted is higher than the next (=next to a i ) priority (pri) of the task element t selected in order from the beginning of the existing vehicle corresponding task sequence A, the processing proceeds to step S 511 . 
     In step S 511 , the move task elements (moving task elements) (=m 1 , m 2 , . . . , m k ) from the position (locate) of the task element t (=a i ) of the existing task sequence A to the position (locate) of the task element (b j ) of the task sequence B from which the move task elements (moving task elements) have been deleted are added immediately after the task element t (=a i ) of the existing vehicle corresponding task sequence A, and the task element (b) of the task sequence B is added to the end. 
     This processing is the processing described above with reference to  FIG. 26 . 
     (Steps S 512  and S 513 ) 
     Next, in step S 512 , 
     t=b j  is set, and 
     in step S 513 , 
     j=j+1 is set. 
     That is, the parameter is updated to change the element to be selected from the additional task sequence B after the move task elements are deleted to the next element. 
     (Step S 514 ) 
     Next, in step S 514 , 
     determination processing according to the following determination expression is performed: 
     j&gt;1. This is determination processing as to whether or not an unprocessed element remains in the additional task sequence B after the move task elements are deleted. 
     In the case where the above determination expression is not satisfied, it is determined that the unprocessed task element remains, and the processing returns to step S 504 . In the case where the above determination expression is satisfied, it is determined that no unprocessed task element remains, and the processing proceeds to step S 515 . 
     (Step S 515 ) 
     In step S 515 , a move task element (moving task element) sequence from the position (locate) of the task element t (=b j ) added to the existing vehicle corresponding task sequence A to the position (locate) of the task element a i  are added and the processing is terminated. 
     This processing is the processing described above with reference to  FIG. 27 . 
     (Step S 521 ) 
     On the other hand, in step S 505 , in a case where it is determined that the position (locate) of the task element t (=a i ) selected in order from the beginning of the existing vehicle corresponding task sequence A does not match the position (locate) of the task element (b j ) of the task sequence B from which the move task elements (moving task elements) have been deleted, the processing in step S 521  is executed. 
     In step S 521 , processing of updating the parameter i of the task element t (=a i ) of the existing vehicle corresponding task sequence A to the next element, that is, processing of: 
     i=i+1 
     is executed. 
     (Step S 522 ) 
     Next, in step S 522 , 
     determination processing according to the following determination expression is performed: 
     i=n. This is determination processing as to whether or not a succeeding task element remains in the existing vehicle corresponding task sequence A. 
     In the case where the above determination expression is not satisfied, it is determined that the succeeding task element remains, and the processing returns to step S 505 . In the case where the above determination expression is satisfied, it is determined that no succeeding task element remains, and the processing proceeds to step S 523 . 
     (Step S 523 ) 
     In the case where the determination expression in step S 522  is satisfied, and it is determined that no succeeding task element remains in the existing vehicle corresponding task sequence A, the processing in step 
     S 523  is executed. 
     In step S 523 , the move task elements (moving task elements) (=m 1 , m 2 , . . . , m k ) from the position (locate) of the tail task element of the existing task sequence A to the position (locate) of the task element (b j ) of the task sequence B are added after the tail task element of the existing vehicle corresponding task sequence A, and the task element (b j ) of the task sequence B is added to the end. 
     (Step S 524 ) 
     Next, in step S 524 , 
     j=j+1 
     is set. 
     That is, the parameter is updated to change the element to be selected from the additional task sequence B after the move task elements are deleted to the next element. 
     (Step S 525 ) 
     Next, in step S 525 , 
     determination processing according to the following determination expression is performed: 
     j&gt;1. This is determination processing as to whether or not an unprocessed element remains in the additional task sequence B after the move task elements are deleted. 
     In the case where the above determination expression is not satisfied, it is determined that the unprocessed task element remains, and the processing returns to step S 523 . In the case where the above determination expression is satisfied, it is determined that no unprocessed task element remains, and the processing is terminated. 
     By executing the processing according to the flow, it is possible to add a new additional task sequence to the existing vehicle corresponding task sequence to generate one updated vehicle corresponding task sequence according to the rule of antecedently executing a task with high priority. 
     [7. Details of Cost Matching Processing for Determining to which Vehicle Corresponding Task Sequence New Task Sequence is to be Additionally Inserted] 
     Next, details of cost matching processing for determining to which vehicle corresponding task sequence the new task sequence is to be additionally inserted will be described. 
     As described above with reference to the flow in  FIG. 7 , when a new request is generated, for example, the task management unit  122  of the task management server  101  generates the minimum-unit task sequence in step S 102  in the flow in  FIG. 7  on the basis of the request, and then assigns the task sequence to the vehicle capable of executing the task sequence at the minimum cost and generates the vehicle corresponding task sequence indicating the task sequence to be executed by the vehicle in step S 103 . 
     In step S 103  of the flow illustrated in  FIG. 7 , the task sequence generated by the task management unit  122  in step S 102  is converted into the vehicle-unit task sequence, that is, the vehicle corresponding task sequence. 
     In the conversion processing, selection of the vehicle that enables the most efficient processing and setting of the processing sequence are executed. Specifically, sequence generation processing considering the cost and task priority is performed. Specific processing for the vehicle corresponding task sequence based on the cost, that is, a specific example of the cost matching processing will be described. 
     A specific sequence of the cost matching processing executed by the task management unit  122  of the task management server  101  will be described with reference to  FIG. 30 . 
     The task management unit  122  performs the processing in order of steps S 601  to S 603  in  FIG. 30 , determines the vehicle capable of executing the task sequence at the minimum cost, and generates the vehicle corresponding task sequence to be executed by the vehicle. 
     Step S 601  presents an issue raised when generating a new task sequence based on a new request. That is, 
     the issue is to which vehicle corresponding task sequence the new task sequence is to be added. 
     A specific method for solving this issue is matching cost calculation processing illustrated in step S 602 . 
     The matching cost calculation processing is executed in the following procedures as illustrated in step S 602  in  FIG. 30 . 
     The matching cost is calculated by weighted linear combination of the following three cost values: 
     (1) cost add  increased cost=incremental (movement) time cost by inserting the new task sequence to the current vehicle corresponding task sequence; 
     (2) cost dis : current load corresponding cost=(a distance average of the center of gravity of load and unload points of the currently handling tasks and load and unload points to be added) (an average vehicle speed); and 
     (3) cost now : current task corresponding cost=total time cost to complete the currently handling task sequence. 
     The matching cost is calculated by the above-described weighted linear combination of the three cost values. 
     That is, the matching cost (cost) is calculated by the following (Expression 1): 
       cost= w   add ×cost add   +w   dis ×cost dis   +w   now ×cost now    (Expression 1).
 
     Note that 
     w add  is a weight (multiplication parameter) for cost add , 
     w dis  is a weight (multiplication parameter) for cost dis , and 
     w now  is a weight (multiplication parameter) for cost now . 
     In step S 602 , a matching cost (cost) in the case of additionally inserting the additional task sequence into the vehicle corresponding task sequence set to each vehicle at the present moment, that is, the matching cost corresponding to each vehicle is calculated according to (Expression 1) above. 
     In step S 103 , the vehicle with the minimum matching cost is selected as a target to which the new additional task sequence is to be added. 
     The task management unit  122  of the task management server  101  determines the vehicle to which the new task sequence is to be assigned and the vehicle corresponding task sequence to be an addition target by such cost matching processing. 
     A specific processing example will be described with reference to  FIG. 31  and the subsequent drawings. 
       FIG. 31  illustrates the following data: 
     (1) additional task sequence; 
     (A) vehicle corresponding task sequence of vehicle A; and 
     (B) vehicle corresponding task sequence of vehicle B. 
     The (1) additional task sequence is an additional task sequence generated on the basis of a new request. The additional task sequence needs to be assigned to either the vehicle A or the vehicle B, and the task management unit  122  of the task management server  101  calculates the matching cost described with reference to  FIG. 30 , determines which of the vehicle A or the vehicle B is more cost effective to assign the additional task sequence, and inserts the additional task sequence to the vehicle corresponding task sequence of the vehicle with a lower cost. 
     Note that the vehicle A is currently executing the vehicle corresponding task sequence illustrated in  FIG. 31 ( 2 ), and the vehicle B is executing the vehicle corresponding task sequence illustrated in  FIG. 31 ( 3 ). 
     The lower section in  FIG. 31  illustrates specific processing sequences of the following three task sequences: 
     (1) additional task sequence; 
     (A) vehicle corresponding task sequence of the vehicle A; and 
     (B) vehicle corresponding task sequence of the vehicle B. Note that (0, 0) to (40, 20) or the like described at each node represents distances (km) in an x direction and in a y direction from a point P. For example, (20, 10) illustrated at P8 represents that the position of P8 is 20 km in the x direction and 10 km in the y direction from P1. 
     The (1) additional task sequence=load (P1, package X), move (P2), move (P3), move (P4), move (P9), move (P10), unload (P10, package X) 
     is a task sequence of loading a package X at P1, moving to P2, P3, P4, P9, and P10, and unloading the package X at P10. 
     The (A) vehicle corresponding task sequence of the vehicle A=move (P3), move (P4), move (P5), unload (P5, package A) is a task sequence of moving to P3, P4, and P5, and unloading a package A at P5. 
     The (B) vehicle corresponding task sequence of the vehicle B=move (P12), unload (P12, package B), move (P11), load (P11, package C), move (P6), unload (P6, package C) is a task sequence of moving to P12, unloading a package B at P12, moving to P11, unloading a package C at P11, moving to P6, and unloading the package C at P6. 
     First, the matching cost calculation processing for the vehicle A will be described with reference to  FIGS. 32 and 33 . 
     The upper table in  FIG. 32  illustrates the following data: 
     (1) additional task sequence; 
     (A) vehicle corresponding task sequence of the vehicle A; and 
     (a1) cost add  (increased cost) of the vehicle A. 
     The (1) additional task sequence is an additional takaku sequence described with reference to  FIG. 31 . That is, 
     the (1) additional task sequence=load (P1, package X), move (P2), move (P3), move (P4), move (P9), move (P10), unload (P10, package X), and is a task sequence of loading a package X at P1, moving to P2, P3, P4, P9, and P10, and unloading the package X at P10. 
     The (A) vehicle corresponding task sequence of the vehicle A is a vehicle corresponding task sequence of the vehicle A described with reference to  FIG. 31 . The vehicle A is located at the position of P2, as illustrated in the lower section in  FIG. 32 . The vehicle corresponding task sequence of the vehicle A at this point is as follows. That is, 
     (A) vehicle corresponding task sequence of the vehicle A=move (P3), move (P4), move (P5), unload (P5, package A) is a task sequence of moving to P3, P4, and P5, and unloading a package A at P5. 
     (a1) cost add  (increased cost) of the vehicle A is the increased cost=incremental (movement) time cost by inserting a new task sequence to the current vehicle corresponding task sequence, as described above with reference to  FIG. 30 . 
     When the additional task sequence, that is, the additional task sequence illustrated in (1) in the table in  FIG. 32  is added to the current vehicle corresponding task sequence of the vehicle A, that is, the vehicle corresponding task sequence of the vehicle A illustrated in (A) in the table in  FIG. 32 , the vehicle corresponding task sequence of the vehicle A is updated as follows, as illustrated in (a1) in the table in  FIG. 32 : 
     (a1) updated vehicle corresponding task sequence of the vehicle A=move (P3), move (P4), move (P5), unload (P5, package A), move (P4), move (P3), move (P2), move (P1), load (P1, package X), move (P2), move (P3), move (P4), move (P9), move (P10), unload (P10, package X). 
     This sequence is a task sequence of moving from P2 to P3, P4, and P5, unloading the package A at P5, then moving to P4, P3, P2, and P1, loading the package X at P1, then, moving to P2, P3, P4, P9, and P10, and unloading the package X at P10, as illustrated in the lower map in  FIG. 32 . 
     The cost add  (increased cost) of the vehicle A is calculated using the following data: 
     the current vehicle corresponding task sequence of the vehicle A illustrated in (A); and 
     the updated vehicle corresponding task sequence of the vehicle A illustrated in (a1), 
     in the table in  FIG. 32 . 
     This processing will be described. 
     The speed of the vehicle A is 40 km. 
     Increased tasks by changing the current vehicle corresponding task sequence of the vehicle A in (A) to the updated vehicle corresponding task sequence of the vehicle A in (a1) are as follows: 
     (1) Increased moving (move) task=move (P4), move (P3), move (P2), move (P1), move (P2), move (P3), move (P4), move (P9), move (P10); and 
     (2) increased package loading and unloading (load, unload) task=load (P1, package X), unload (P10, package X). 
     Since the distance between two adjacent nodes illustrated in  FIG. 32  is 10 km and the speed of the vehicle A is 40 km, a travel time between adjacent nodes by the vehicle A is 10/40=0.25 hours (h). 
     Since the above “(1) increased moving (move) task” includes nine times of movement between adjacent nodes, the total travel time is 
       0.25×9=2.25 h.
 
     Furthermore, times required for the package loading (load) processing and the package unloading (unload) processing are 0.2 h. 
     As a result, the incremental time (=cost add  (increased cost)) required for the task processing by changing the current vehicle corresponding task sequence of the vehicle A in  FIG. 32(A)  to the updated vehicle corresponding task sequence of the vehicle A in (a1) can be calculated by the following expression: 
       The cost add  (increased cost) of the vehicle  A =moving (move) task increased time+package loading processing (load) task increased time+package unloading processing (unload) task increased time 
       =0.25×9+0.2+0.2
 
       = 2 . 65 . 
     Next, processing of calculating cost dis  (current load corresponding cost) of the vehicle A will be described. As described above with reference to  FIG. 30 , 
     the cost dis  (current load corresponding cost)=(the distance average of the center of gravity of load and unload points of the currently handling tasks and load and unload points to be added)÷(the average vehicle speed). 
     (The center of gravity of load and unload points of the currently handing tasks) will be described. 
     The (A) vehicle corresponding task sequence of the vehicle A=move (P3), move (P4), move (P5), unload (P5, package A) is a task sequence of moving to P3, P4, and P5, and unloading the package A at P5. In this task sequence, the load and unload task is only unload (P5, package A). Therefore, 
     (the center of gravity of load and unload points of the currently handing tasks) is the position of P5, which is (40, 0). 
     A (load point to be added) is the P1 position (0, 0), and 
     An (unload point to be added) is the P10 position (40, 10). 
     The (distance between the center of gravity (40, 0) of the load and unload points of the currently handling tasks and the load point to be added P1 (0, 0)) is 40 km, and 
     (the distance between the center of gravity (40, 0) of the load and unload points of the currently handling tasks and the unload point to be added P10 (40, 10)) is 10 km. Therefore, the cost dis  (current load corresponding cost) of the vehicle A can be calculated according to the following expression as illustrated in  FIG. 33 ( a   2 ): 
       The cost dis  (current load corresponding cost) of the vehicle  A =(the distance average of the center of gravity of the load and unload points of the currently handling tasks and the load and unload points to be added)÷(the average vehicle speed)
 
       =((40+10)/2)/40=0.625. 
     Next, the cost now  (current task corresponding cost) of the vehicle A will be described. 
     As described above with reference to  FIG. 30 , 
     the cost now  (current task corresponding cost)=the total time cost to complete the currently handling task sequence. 
     The currently handling task sequence is the vehicle corresponding task sequence of the vehicle A in (A) illustrated in  FIG. 32 or 33 , and is 
     the (A) vehicle corresponding task sequence of the vehicle A=move (P3), move (P4), move (P5), unload (P5, package A). That is, the currently handling task sequence is a task sequence of moving to P3, P4, and P5 and unloading the package A at P5. 
     The currently handling task sequence includes three moving (move) tasks including three times of movement between adjacent nodes with 10 km, and one time of package loading or unloading (load or unload). In a case of a time device running speed=40 km for executing the three times of movement between adjacent nodes with 10 km, 
       (3×10)/40=0.75 h.
 
     Furthermore, the time required for the one time of package loading or unloading (load or unload) is 0.2 h. 
     Therefore, the total time cost to complete the vehicle corresponding task sequence currently handled by the vehicle A, that is, the cost now  (current task corresponding cost) can be calculated by the following expression, as illustrated in  FIG. 33 ( a   3 ): 
       the cost now  (current task corresponding cost)=(3×10)/40+0.2=0.95.
 
     As described above with reference to  FIG. 30 , the matching cost is calculated by the above-described weighted linear combination of the three cost values. 
     That is, the matching cost (cost) is calculated by the following (Expression 1): 
       cost= w   add ×cost add   +w   dis ×cost dis   +w   now ×cost now   (Expression 1).
 
     Note that 
     w add  is a weight (multiplication parameter) for cost add , 
     w dis  is a weight (multiplication parameter) for cost dis , and 
     w now  is a weight (multiplication parameter) for cost now . 
     Here, weighting coefficients corresponding to the respective costs are all 1, that is, 
         w   add   =w   dis   =w   now =1 
     are set as illustrated in  FIG. 33 ( a   4 ). With the setting, the matching cost (cost) of the vehicle A is calculated by the following expression: 
       cost= w   add ×cost add   +w   dis ×cost dis   +w   now ×cost now  
 
       =1×2.65+1×0.625+1×0.95
 
       = 4 . 225   (Expression A)
 
     The matching cost (cost) of the vehicle A in the case of adding the additional task sequence in  FIG. 33 ( 1 ) to the vehicle corresponding task sequence of the current vehicle A in  FIG. 33(A)  becomes 4.225, which is the value calculated according to the above (Expression A). 
     Next, the matching cost calculation processing for the vehicle B will be described with reference to  FIGS. 34 and 35 . 
     The upper table in  FIG. 34  illustrates the following data: 
     (1) additional task sequence; 
     (B) vehicle corresponding task sequence of the vehicle B; and 
     (b1) cost add  (increased cost) of the vehicle B. 
     The (1) additional task sequence is an additional takaku sequence described with reference to  FIG. 31 . That is, 
     the (1) additional task sequence=load (P1, package X), move (P2), move (P3), move (P4), move (P9), move (P10), unload (P10, package X), and is a task sequence of loading a package X at P1, moving to P2, P3, P4, P9, and P10, and unloading the package X at P10. 
     The (B) vehicle corresponding task sequence of the vehicle B is a vehicle corresponding task sequence of the vehicle B described with reference to  FIG. 31 . The vehicle B is located at the position of P13, as illustrated in the lower section in  FIG. 34 . The vehicle corresponding task sequence of the vehicle B at this point is as follows. That is, 
     the (B) vehicle corresponding task sequence of the vehicle B=move (P12), unload (P12, package B), move (P11), load (P11, package C), move (P6), unload (P6, package C) is a task sequence of moving to P12, unloading a package B at P12, moving to P11, unloading a package C at P11, moving to P6, and unloading the package C at P6. 
     (b1) cost add  (increased cost) of the vehicle B is the increased cost=incremental (movement) time cost by inserting a new task sequence to the current vehicle corresponding task sequence, as described above with reference to  FIG. 30 . 
     When the additional task sequence, that is, the additional task sequence illustrated in (1) in the table in  FIG. 34  is added to the current vehicle corresponding task sequence of the vehicle B, that is, the vehicle corresponding task sequence of the vehicle B illustrated in (B) in the table in  FIG. 34 , the vehicle corresponding task sequence of the vehicle B is updated as follows, as illustrated in (b1) in the table in  FIG. 34 : 
     (b1) updated vehicle corresponding task sequence of the vehicle B=move (P12), unload (P12, package B), move (P11), load (P11, package C), move (P6), unload (P6, package C), move (P1), load (P1, package X), move (P2), move (P3), move (P4), move (P9), move (P10), unload (P10, package X). 
     This sequence is a task sequence of moving from P13 to P12 and P11, unloading the package C at P11, then moving to P6 and P1, loading the package X at P1, then, moving to P2, P3, P4, P9, and P10, and unloading the package X at P10, as illustrated in the lower map in  FIG. 34 . 
     The cost add  (increased cost) of the vehicle B is calculated using the following data: 
     the current vehicle corresponding task sequence of the vehicle B illustrated in (B); and 
     the updated vehicle corresponding task sequence of the vehicle B illustrated in (b1), 
     in the table in  FIG. 34 . 
     This processing will be described. 
     The speed of the vehicle B is 40 km. 
     Increased tasks by changing the current vehicle corresponding task sequence of the vehicle B in (B) to the updated vehicle corresponding task sequence of the vehicle B in (b1) are as follows: 
     (1) Increased moving (move) task=move (P1), move (P2), move (P3), move (P4), move (P9), move (P10); and 
     (2) increased package loading and unloading (load, unload) task=load (P1, package X), unload (P10, package X). 
     Since the distance between two adjacent nodes illustrated in  FIG. 34  is 10 km and the speed of the vehicle B is 40 km, a travel time between adjacent nodes by the vehicle B is 10/40=0.25 hours (h). 
     Since the above “(1) increased moving (move) task” includes six times of movement between adjacent nodes, the total travel time is 
       0.25×6=1.5 h.
 
     Furthermore, times required for the package loading (load) processing and the package unloading (unload) processing are 0.2 h. 
     As a result, the incremental time (=cost add  (increased cost)) required for the task processing by changing the current vehicle corresponding task sequence of the vehicle B in  FIG. 34(B)  to the updated vehicle corresponding task sequence of the vehicle B in (b1) can be calculated by the following expression: 
     The cost add  (increased cost) of the vehicle B=moving (move) task increased time+package loading processing (load) task increased time+package unloading processing (unload) task increased time 
       =0.25×6+0.2+0.2
 
       = 1 . 9   
     Next, processing of calculating cost dis  (current load corresponding cost) of the vehicle B will be described. As described above with reference to  FIG. 30 , 
     the cost dis  (current load corresponding cost)=(the distance average of the center of gravity of load and unload points of the currently handling tasks and load and unload points to be added) (the average vehicle speed). 
     (The center of gravity of load and unload points of the currently handing tasks) will be described. 
     The (B) vehicle corresponding task sequence of the vehicle B=move (P12), unload (P12, package B), move (P11), load (P11, package C), move (P6), unload (P6, package C) is a task sequence of moving to P12, unloading the package B at P12, moving to P11, unloading the package C at P11, moving to P6, and unloading the package C at P6. In this task sequence, the load and unload tasks are the three tasks of unload (P12, package B), load (P11, package C), and unload (P6, package C). 
     Therefore, (the center of gravity of load and unload points of the currently handing tasks) is the gravity position of the three points of P12, P11, and P6, as illustrated on the lower map in  FIG. 34 , and is (3.33, 16.67). 
     A (load point to be added) is the P1 position (0, 0), and 
     An (unload point to be added) is the P10 position (40, 10). 
     The (distance between the center of gravity (3.33, 16.67) of the load and unload points of the currently handling tasks and the load point to be added P1 (0, 0)) is about 17 km, and 
     (the distance between the center of gravity (3.33, 16.67) of the load and unload points of the currently handling tasks and the unload point to be added P10 (40, 10)) is about 37 km. Therefore, the cost dis  (current load corresponding cost) of the vehicle B can be calculated according to the following expression as illustrated in  FIG. 35 ( b 2): 
       The cost dis  (current load corresponding cost) of the vehicle  B =(the distance average of the center of gravity of the load and unload points of the currently handling tasks and the load and unload points to be added)÷(the average vehicle speed)
 
       =((17+37)/2)/40=27. 
     Next, the cost now  (current task corresponding cost) of the vehicle B will be described. 
     As described above with reference to  FIG. 30 , 
     the cost now  (current task corresponding cost)=the total time cost to complete the currently handling task sequence. 
     The currently handling task sequence is the vehicle corresponding task sequence of the vehicle B in (B) illustrated in  FIG. 34 or 35 , and 
     the (B) vehicle corresponding task sequence of the vehicle B=move (P12), unload (P12, package B), move (P11), load (P11, package C), move (P6), unload (P6, package C) is a task sequence of moving to P12, unloading the package B at P12, moving to P11, unloading the package C at P11, moving to P6, and unloading the package C at P6. 
     The currently handling task sequence includes three moving (move) tasks including three times of movement between adjacent nodes with 10 km, and three times of package loading or unloading (load or unload). In a case of a time device running speed=40 km for executing the three times of movement between adjacent nodes with 10 km, 
       (3×10)/40=0.75 h.
 
     Furthermore, the time required for the one time of package loading or unloading (load or unload) is 0.2 h. 
     Therefore, the total time cost to complete the vehicle corresponding task sequence currently handled by the vehicle B, that is, the cost now  (current task corresponding cost) can be calculated by the following expression, as illustrated in  FIG. 35 ( b 3): 
       the cost now  (current task corresponding cost)=(3×10)/40+0.2×3=1.35.
 
     As described above with reference to  FIG. 30 , the matching cost is calculated by the above-described weighted linear combination of the three cost values. 
     That is, the matching cost (cost) is calculated by the following (Expression 1): 
       cost= w   add ×cost add   +w   dis ×cost dis   +w   now ×cost now   (Expression 1).
 
     Note that 
     w add  is a weight (multiplication parameter) for cost add , 
     w dis  is a weight (multiplication parameter) for cost dis , and 
     w now  is a weight (multiplication parameter) for cost now . 
     Here, weighting coefficients corresponding to the respective costs are all 1, that is, 
         w   add   =w   dis   =w   now =1 
     are set as illustrated in  FIG. 35 ( b   4 ). With the setting, the matching cost (cost) of the vehicle B is calculated by the following expression: 
       cost= w   add ×cost add   +w   dis ×cost dis   +w   now ×cost now  
 
       =1×1.9+1×0.68+1×1.35
 
       = 3 . 93   (Expression B)
 
     The matching cost (cost) of the vehicle B in the case of adding the additional task sequence in  FIG. 35 ( 1 ) to the vehicle corresponding task sequence of the current vehicle B in  FIG. 35(B)  becomes 3.93, which is the value calculated according to the above (Expression B). 
     The matching cost (cost) described with reference to  FIGS. 32 and 33  is the value 4.225 calculated according to the above-described (Expression A), and the matching cost (cost) of the vehicle B is the smaller value than the matching cost (cost) of the vehicle A. 
     The task management unit  122  of the task management server  101  executes the processing of assigning the additional task sequence to the vehicle B with a low matching cost on the basis of the result. 
     Note that, in the examples described with reference to  FIGS. 31 to 35 , the matching cost calculation processing has been performed with the settings of the weighting coefficients corresponding to the respective costs being all 1, that is, 
         w   add   =w   dis   =w   now =1. 
     These weighting coefficients can be set in various ways depending on the situation. 
     For example, it is favorable to perform learning processing based on data of weather or traffic conditions, and to set optimum parameters (weighting coefficients) on the basis of learning results. 
     The matching costs of the vehicle A and the vehicle B vary in various values depending on the settings of the weighting coefficients. Specific examples are illustrated in  FIG. 36 . 
       FIG. 36  illustrates five types of setting examples of the weighting coefficients corresponding to the respective costs, that is, the following setting examples: 
     (1) w add =w dis =w now =1 
     (2) w add =2, w dis =w now =1 
     (3) w add =1, w dis =2, w now =1 
     (4) w add =w dis =1, w now =1 
     (5) w add =1, w dis =w now =2 
     The matching costs of the vehicle A and the vehicle B in the case of applying the above settings (1) to (5) when calculating the matching costs in the case of adding the additional task sequence in  FIG. 31  to the vehicle A and the vehicle B in  FIG. 31  are as follows, as illustrated in  FIG. 36 : 
     (1) w add =w dis =w now =1 
     the matching cost for the vehicle A=4.225 and the matching cost for the vehicle B=3.93; 
     (2) w add =2, w dis =w now =1 
     the matching cost for the vehicle A=6.875 and the matching cost for the vehicle B=5.83; 
     (3) w add =1, w dis =2, w now =1 
     the matching cost for the vehicle A=4.85 and the matching cost for the vehicle B=4.61; 
     (4) w add =w dis =1, w now =1 
     the matching cost for the vehicle A=5.175 and the matching cost for the vehicle B=5.28; and 
     (5) w add =1, w dis =w now =2 
     the matching cost for the vehicle A=5.8 and the matching cost for the vehicle B=5.96. 
     In this way, the matching cost corresponding to each vehicle varies in various values according to the setting of the parameters (weighting coefficients). 
     Therefore, as described above, it is favorable to perform learning processing based on data of weather or traffic conditions, and to set optimum parameters (weighting coefficients) on the basis of learning results. 
     Furthermore, in the above-described example, the time calculated as the cost required for the package loading processing (load) and the package unloading processing (unload) is uniformly 0.2 h. However, the time cost reflecting the weight of the package or the like may be set. 
     [8. Configuration Example of Information Processing Device] 
     Next, a specific hardware configuration example of an information processing device that executes the above-described processing, that is, for example, the task management server  101  or an information processing device mountable in a moving device such as a vehicle will be described with reference to  FIG. 37 . 
       FIG. 37  is a diagram illustrating a hardware configuration example of the information processing device. 
     A central processing unit (CPU)  301  functions as a data processing unit that execute various types of processing according to a program stored in a read only memory (ROM)  302  or a storage unit  308 . For example, the CPU  301  executes processing according to the sequence described in the above example. A random access memory (RAM)  303  stores the program executed by the CPU  301 , data, and the like. These CPU  301 , ROM  302 , and RAM  303  are mutually connected by a bus  304 . 
     The CPU  301  is connected to an input/output interface  305  via the bus  304 . An input unit  306  including various switches, a keyboard, a touch panel, a mouse, a microphone, and a state data acquisition unit such as a sensor, a camera, and GPS, and an output unit  307  including a display, a speaker, and the like are connected to the input/output interface  305 . 
     The CPU  301  receives commands, state data, and the like input from the input unit  306 , executes various types of information, and outputs processing results to the output unit  307 , for example. 
     The storage unit  308  connected to the input/output interface  305  includes, for example, a hard disk and the like, and stores the program executed by the CPU  301  and various data. A communication unit  309  functions as a transmission/reception unit for data communication via a network such as the Internet or a local area network, and communicates with an external device. 
     A drive  310  connected to the input/output interface  305  drives a removable medium  311  such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory such as a memory card, and executes data recording or reading. 
     [9. Conclusion of Configurations of Present Disclosure] 
     The examples of the present disclosure have been described in detail with reference to the specific examples. However, it is obvious that those skilled in the art can make modifications and substitutions of the examples without departing from the gist of the present disclosure. That is, the present invention has been disclosed in the form of exemplification, and should not be restrictively interpreted. To judge the gist of the present disclosure, the scope of claims should be taken into consideration. 
     Note that the technology disclosed in the present specification can have the following configurations. 
     (1) An information processing device including: 
     a task management unit configured to describe movement processing between registered nodes set on a movement route of a moving device and processing at a registered node as tasks that are data including a node identifier and a processing type, and generate a task sequence in which the tasks are chronologically arranged, and moreover, 
     to generate a moving device corresponding task sequence that is a task sequence corresponding to each moving device on the basis of the generated task sequence, in which 
     the task management unit executes moving device corresponding task sequence update processing of inserting a task included in a new additional task sequence generated on the basis of a request that is a processing execution request into the moving device corresponding task sequence being executed in the moving device. 
     (2) The information processing device according to (1), in which 
     the task management unit 
     generates one or more task sequences for executing a request that is a processing execution request on the basis of the request, and 
     assigns the generated task sequence to one or more moving devices to generate the moving device corresponding task sequence corresponding to the moving device. 
     (3) The information processing device according to (1) or (2), in which 
     the task management unit generates the moving device corresponding task sequence that minimizes a processing cost. 
     (4) The information processing device according to any one of (1) to (3), in which 
     the task management unit generates tasks distinguishing movement processing, processing of loading a package or a person, processing of unloading a package or a person, and standby processing. 
     (5) The information processing device according to any one of (1) to (4), in which, 
     in the moving device corresponding task sequence update processing, the task management unit deletes the movement processing from the new additional task sequence generated on the basis of a request that is a processing execution request, compares an execution node position of another processing with a node position of each task in the moving device corresponding task sequence being executed in the moving device, and inserts a task other than the movement processing in the additional task sequence into an adjacent position of a task having a matching node position. 
     (6) The information processing device according to (5), in which, 
     in the moving device corresponding task sequence update processing, the task management unit inserts a moving task for moving between a node position of the inserted task and the node position of the task adjacent to the inserted task. 
     (7) The information processing device according to any one of (1) to (6), in which 
     the task management unit calculates a matching cost corresponding to each moving device according to a prescribed cost calculation algorithm, and determines a moving device to which a task sequence is to be assigned on the basis of the calculated matching cost corresponding to each moving device. 
     (8) The information processing device according to (7), in which 
     the task management unit calculates the matching cost by arithmetic processing based on each of costs (a), (b), and (c) below: 
     (a) a cost add  that is an increased cost in a processing time generated by addition of a task sequence to each moving device; 
     (b) a cost dis  that is a load corresponding cost in a moving device corresponding task at a present moment; and 
     (c) a current task corresponding cost cost now  corresponding to a time to complete the moving device corresponding task sequence at a present moment. 
     (9) The information processing device according to (8), in which 
     the task management unit calculates the matching cost by multiplying each of the costs (a), (b), and (c) by a prescribed weighting coefficient, and adding each multiplication result. 
     (10) The information processing device according to (9), in which the weighting coefficient is a coefficient determined by learning processing executed in advance. 
     (11) The information processing device according to any one of (1) to (10), in which 
     the task management unit determines a moving device to which a task sequence is to be assigned on the basis of a task priority. 
     (12) The information processing device according to any one of (1) to (11), in which 
     the task management unit generates a task having priority information recorded in the each task. 
     (13) A moving device that executes processing according to a moving device corresponding task sequence that is a task sequence corresponding to the moving device, 
     the moving device corresponding task sequence being a sequence generated in the moving device or an external server, and being a task sequence in which tasks each including a node identifier and a processing type are chronologically arranged, for movement processing between registered nodes set on a movement route of the moving device and processing at a registered node, and 
     in a case where a new additional task sequence is generated, the moving device configured to execute an updated moving device corresponding task sequence obtained by inserting a task included in the additional task sequence into the moving device corresponding task sequence. 
     (14) The moving device according to (13), in which 
     the moving device corresponding task sequence is a sequence generated according to a processing cost or a task priority on the basis of one or more task sequences generated for executing a request that is a processing execution request. 
     (15) An information processing system including: a terminal configured to transmit a request that is a processing execution request; a task management server configured to receive the request from the terminal; and a moving device configured to execute processing, in which 
     the task management server, in response to the request, 
     describes movement processing between registered nodes set on a movement route of the moving device and processing at a registered node as tasks that are data including a node identifier and a processing type, and generates a moving device corresponding task sequence that is a task sequence corresponding to each moving device in which the tasks are chronologically arranged, and 
     inserts a task included in a new additional task sequence generated on the basis of a request that is a processing execution request into the moving device corresponding task sequence being executed in the moving device to generate an updated moving device corresponding task sequence, and 
     the moving device 
     executes processing according to the updated moving device corresponding task sequence including the task included in the additional task sequence. corresponding to an update mobile device having tasks included in the additional task sequence. 
     (16) An information processing method executed in an information processing device, the information processing method including: 
     by a task management unit, 
     a task sequence generation step of describing movement processing between registered nodes set on a movement route of a moving device and processing at a registered node as tasks that are data including a node identifier and a processing type, and generating a task sequence in which the tasks are chronologically arranged; and 
     a moving device corresponding task sequence generation step of generating a moving device corresponding task sequence that is a task sequence corresponding to each moving device on the basis of the generated task sequence, 
     in the moving device corresponding task sequence generation step, 
     executing moving device corresponding task sequence update processing of inserting a task included in an additional task sequence generated on the basis of a request that is a processing execution request into the moving device corresponding task sequence being executed in the moving device. 
     (17) A program for causing an information processing device to execute information processing, the program for causing 
     a task management unit to execute: 
     a task sequence generation step of describing movement processing between registered nodes set on a movement route of a moving device and processing at a registered node as tasks that are data including a node identifier and a processing type, and generating a task sequence in which the tasks are chronologically arranged; and 
     a moving device corresponding task sequence generation step of generating a moving device corresponding task sequence that is a task sequence corresponding to each moving device on the basis of the generated task sequence, 
     in the moving device corresponding task sequence generation step, 
     moving device corresponding task sequence update processing of inserting a task included in an additional task sequence generated on the basis of a request that is a processing execution request into the moving device corresponding task sequence being executed in the moving device. 
     Furthermore, the series of processing described in the description can be executed by hardware, software, or a combined configuration of the hardware and software. In the case of executing the processing by software, a program, in which the processing sequence is recorded, can be installed in a memory of a computer incorporated in dedicated hardware and executed by the computer, or the program can be installed in and executed by a general-purpose computer capable of executing various types of processing. For example, the program can be recorded in the recording medium in advance. Other than the installation from the recording medium to the computer, the program can be received via a network such as a local area network (LAN) or the Internet and installed in a recording medium such as a built-in hard disk. 
     Note that the various types of processing described in the description may be executed not only in chronological order as described but also in parallel or individually depending on the processing capability of the device that executes the process or as required. Furthermore, the system in the present description is a logical aggregate configuration of a plurality of devices, and is not limited to devices having respective configurations within the same housing. 
     INDUSTRIAL APPLICABILITY 
     As described above, according to the configuration of the example of the present disclosure, the configuration to generate the task sequence in which the node identifier of the node and the processing type are recorded and moreover dynamically update the task sequence in response to generation of the additional task, and cause the moving device to execute the updated task sequence, thereby enabling generation of the task sequence and the task processing without waste is implemented. 
     Specifically, for example, regarding movement processing between registered nodes and processing at a registered node, a task sequence in which tasks each including a node identifier and a processing type are chronologically arranged is generated, and moreover a moving device corresponding task sequence corresponding to each moving device is generated. In a case where a new additional task sequence is generated, moving device corresponding task sequence update processing of inserting a task included in the additional task sequence into the existing moving device corresponding task sequence is executed. 
     With the configuration, the configuration to generate a task sequence in which a node identifier of a node and a processing type are recorded and moreover dynamically update the task sequence in response to generation of an additional task, and cause a moving device to execute the updated task sequence, thereby enabling generation of a task sequence and task processing without waste is implemented. 
     REFERENCE SIGNS LIST 
     
         
           10  Delivery vehicle 
           11 ,  12  Destination 
           101  Task management server 
           102  User terminal 
           103  Vehicle 
           105  Network 
           121  Request processing unit 
           122  Task management unit 
           123  Vehicle management unit 
           124  Communication unit 
           131  Request DB (database) 
           132  Task DB (database) 
           133  Vehicle DB (database) 
           134  Map DB (database) 
           301  CPU 
           302  ROM 
           303  RAM 
           304  Bus 
           305  Input/output interface 
           306  Input unit 
           307  Output unit 
           308  Storage unit 
           309  Communication unit 
           310  Drive 
           311  Removable medium