To provide a technique of setting a leader-follower relationship between movable bodies, and allowing a leader movable body to set the degree of freedom relevant to movement of a follower movable body.SOLUTION: A leader-follower relationship is to be set between a parent vehicle Vp and a worker vehicle Vw. The parent vehicle Vp sets a degree of freedom relevant to movement of the worker vehicle Vw (that is, to limit the movement). In the worker vehicle Vw, the movement of the worker vehicle Vw is controlled according to the degree of freedom received from the parent vehicle Vp. For example, when receiving a forcing command for emergency shutdown from the parent vehicle Vp, the worker vehicle Vw executes the received forcing command at top priority, irrespective of the degree of freedom set for the vehicle Vw.SELECTED DRAWING: Figure 1

    【課題】モビリティ間で主従関係を設定しつつ、主たるモビリティが、従たるモビリティに対して移動に係る自由度を設定することが可能な技術を提供する。【解決手段】ペアレント車両Vpとワーカー車両Vwとの間で主従関係を設定する。ペアレント車両Vpは、ワーカー車両Vwの移動に係る自由度を設定(すなわち、移動を制限)する。ワーカー車両Vwは、ペアレント車両Vpから受信する自由度に従い、ワーカー車両Vwの移動を制御する。なお、ワーカー車両Vwは、ペアレント車両Vpから、例えば、緊急停止すべき旨の強制コマンドを受信すると、当該車両Vwにいかなる自由度が設定されているかにかかわらず、受信した強制コマンドを最優先で実行する。【選択図】図1


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    Title :

    LEADER MOVABLE BODY, FOLLOWER MOVABLE BODY, AND GROUP TRAVEL CONTROL SYSTEM


    Additional title:

    主導モビリティ、追従モビリティ、及びグループ走行制御システム


    Contributors:

    Publication date :

    2020-05-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62K Fahrräder , CYCLES



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