A setting device for a sensor configured to perform a two-dimensional scan with light and detect a target object entering a predetermined area, the setting device including: an area setting unit configured to assign an ID to each of a plurality of detection areas for detecting entry of the target object and set a shape of the detection area; and an area set setting unit configured to set a plurality of detection area sets including at least one of the plurality of detection areas, and when a shared ID is assigned to the plurality of detection areas included in at least two of the plurality of detection area sets, the area set setting unit sets the plurality of detection area sets by using the plurality of detection areas to which the shared ID is assigned.

Methods, apparatuses, and systems for navigating vehicles along a roadway are described. A transportation system can control a set of autonomous vehicles navigating along a section of a roadway by providing a set of moving position-targets. The set of autonomous vehicles includes a first vehicle following a first moving position-target. The system determines a priority path for a second vehicle having a right-of-way priority along the section of the roadway, and associated with an exclusion area. The system then determines, based on location information for the first vehicle, that the first vehicle interferes with the exclusion area. A revised moving position-target is configured to remove the first vehicle from the exclusion area. The system then transmits, to the first vehicle, route information corresponding to the revised moving position-target, causing the first vehicle to avoid the exclusion area.