METHOD, DEVICE, AND SYSTEM OF CONTROLLING MOVEMENT OF MULTI-VEHICLE, AND COMPUTER-READABLE STORAGE MEDIUM

A method of controlling movement of multi-vehicle includes acquiring a constraint condition under which vehicles move and a calculation cycle for calculating movement routes of the vehicles; acquiring a position of each vehicle; specifying a target position for each vehicle; calculating, based on the position of each vehicle, the target position, and the constraint condition, a movement route for prediction steps of each vehicle; determining, based on the movement routes of the vehicles, a driving condition of each vehicle from a current time to a unit time; and controlling movement of each vehicle. Calculating the movement route including performing optimization calculation based on an evaluation function, evaluation of which becomes higher as a deviation between the vehicle and the target position for each prediction step becomes smaller, and the constraint condition, to calculate the movement route.