2023 Fiscal Year Final Research Report

Safe and efficient routing method for coaction of various mobility devices

Research Project

PDF

Project/Area Number	21K11856
Research Category	Grant-in-Aid for Scientific Research (C)
Allocation Type	Multi-year Fund
Section	一般
Review Section	Basic Section 60060:Information network-related
Research Institution	Kanazawa Institute of Technology
Principal Investigator	Tokuknaga Yuichi 金沢工業大学, 情報フロンティア学部, 教授 (40852249)
Co-Investigator(Kenkyū-buntansha)	齋藤正史金沢工業大学, 情報フロンティア学部, 教授 (00759425) 北上眞二福井工業大学, 環境情報学部, 教授 (10585871)
Project Period (FY)	2021-04-01 – 2024-03-31
Keywords	Risk Potential Map / Free Space / Path Planning / Imbalance Convergence / Pareto Optimization / Authority Transition
Outline of Final Research Achievements	We have developed three technologies to establish infrastructure-coordinated mobility support technologies that take into account the characteristics of each mobility device and service requirements for the coexistence of a wide variety of mobility services.　First, as a technique for statistically predicting near-future mobility crash risk for the entire field, we developed an adaptive path modeling method that derives risk from mobility device travel paths and surrounding environmental information.　Second, we formulated an imbalance convergence algorithm employing Pareto-DQN as a technique for deriving device paths in an environment with multiple devices working closely together. Third, a control authority transfer protocol that optimizes the amount of overlap was developed as a technology to enable seamless device movement between zoned distributed services.
Free Research Field	情報ネットワーク
Academic Significance and Societal Importance of the Research Achievements	物流ドライバー，建築現場など，人材不足が社会インフラに影響を与えている状況はすでに始まっており，自動運転技術，ロボティクス技術が問題解決手段として，急速に普及していくことは明らかである．これまで経験のない自律システムと人間がオープン環境で共存する時代はすぐそこに来ている一方，これまでの人間主体の道路交通システムでは対応できず，統制のない自律移動システムが人命の驚異をもたらしかねない．本成果は，自律型モビリティデバイスに対する移動安全性を担保する情報支援を実現する技術であり，自律走行中の衝突危険に対し管制による統一した安全誘導を実現することでこの脅威に対応することができる．