Route estimation system, route estimation method and non-transitory computer-readable storage medium for the same

A non-transitory computer readable storage medium comprising instructions for execution by a computer, the instructions including a computer-implemented method for estimating an optimum route of a plurality of mobile objects, the instructions including:

• generating a time-series route candidate of a shortest route for each of the plurality of mobile objects;
• generating a time-series route candidate of a detour route for each of the plurality of mobile objects;
• calculating a route assignment evaluation value of the time-series route candidate of the shortest route and a route assignment evaluation value of the time-series route candidate of the detour route for each of the plurality of mobile objects;
• calculating a travel distance evaluation value of the time series route candidate of the shortest route and a travel distance evaluation value of the time series route candidate of the detour route for each of the plurality of mobile objects;
• calculating a route collision evaluation value of a combination of the time series route candidate of the shortest route and the time series route candidate of the detour route for each of the plurality of mobile objects;
• comparing a total value of the route assignment evaluation value, the travel distance evaluation value, and the route collision evaluation value for combinations of the time-series route candidates of the plurality of mobile objects, and estimating one of the combinations of the time-series route candidates of the plurality of mobile objects as the optimum route including the detour route;
• and
• outputting the optimum route to each of the plurality of mobile objects to control movement thereof.

A route estimation method for estimating an optimum route of a plurality of mobile objects, comprising:

• generating a time-series route candidate of a shortest route for each of the plurality of mobile objects;
• generating a time-series route candidate of a detour route for each of the plurality of mobile objects;
• calculating a route assignment evaluation value of the time-series route candidate of the shortest route and a route assignment evaluation value of the time-series route candidate of the detour route for each of the plurality of mobile objects;
• calculating a travel distance evaluation value of the time series route candidate of the shortest route and a travel distance evaluation value of the time series route candidate of the detour route for each of the plurality of mobile objects;
• calculating a route collision evaluation value of a combination of the time series route candidate of the shortest route and the time series route candidate of the detour route for each of the plurality of mobile objects;
• comparing a total value of the route assignment evaluation value, the travel distance evaluation value, and the route collision evaluation value for combinations of the time-series route candidates of the plurality of mobile objects, and estimating one of the combinations of the time-series route candidates of the plurality of mobile objects as the optimum route including the detour route;
• and
• outputting the optimum route to each of the plurality of mobile objects to control movement thereof.