US 12,434,732 B2
Unmanned vehicle cooperation system, unmanned vehicle coaction processing method, and program
Natsuki Matsunami, Tokyo (JP); and Sotaro Karakama, Tokyo (JP)
Assigned to MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo (JP)
Appl. No. 17/635,933
Filed by MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo (JP)
PCT Filed Jun. 29, 2020, PCT No. PCT/JP2020/025516
§ 371(c)(1), (2) Date Feb. 16, 2022,
PCT Pub. No. WO2021/039093, PCT Pub. Date Mar. 4, 2021.
Claims priority of application No. 2019-158885 (JP), filed on Aug. 30, 2019.
Prior Publication US 2022/0332344 A1, Oct. 20, 2022
Int. Cl. B60W 60/00 (2020.01); G06F 9/448 (2018.01)
CPC B60W 60/001 (2020.02) [G06F 9/4498 (2018.02)] 11 Claims
OG exemplary drawing
 
1. An unmanned vehicle cooperation system for performing a cooperation action involving human intervention between a plurality of agents, the unmanned vehicle cooperation system comprising:
the plurality of agents including
a manned vehicle that is an aerial vehicle and operated by a person; and
an unmanned vehicle that is an aerial vehicle and having a processor configured to perform an action process of the unmanned vehicle with artificial intelligence using a decision-making model constructed by including a plurality of tasks, wherein
the decision-making model is a hierarchical decision-making model in which the plurality of tasks is hierarchically constructed,
the plurality of tasks includes a cooperation task for performing the cooperation action, and
the cooperation task has a hierarchy of lower priority than a task for avoiding obstacles and a task for ensuring the safety of the unmanned vehicle; and
a display device configured to display information about, among the plurality of tasks, a task being executed by the unmanned vehicle, wherein
the processor is configured to execute
a consensus building process that builds a consensus as to execution of the cooperation task between the plurality of agents using a negotiation protocol, and
a cooperation action process that executes the cooperation action of the unmanned vehicle, based on the consented cooperation task,
the plurality of agents includes
a manager, being the manned vehicle or the unmanned vehicle, configured to announce the cooperation task, and
a contractor, being the manned vehicle or the unmanned vehicle, configured to make a contract for execution of the cooperation task announced by the manager,
the negotiation protocol is a contract net protocol (CNP) for negotiating the contract regarding the cooperation task between the manager and the contractor,
in the consensus building process,
the manager and the contractor are set for the plurality of agents, and
the contract regarding the cooperation task is negotiated between the manager and the contractor,
in the consensus building process, the contractor is further configured to,
in response to receiving the announcement of the cooperation task, determine whether or not to bid for the contract based on the announcement,
in response to determining to bid for the contract, transmit a bid message to the manager, and
in response to determining not to bid for the contract, transmit a non-bid message to the manager,
the display device is further configured to display information about the consensus building process and information about the cooperation task,
the manager is capable of being changed to any agent of the plurality of agents, and
the manager is configured to, in response to determining that an implementation report regarding a failure of the cooperation task has not been received from the contractor and the implementation report regarding a completion of the cooperative task has been received from the contractor, end the cooperation action process.