Vehicle control devices, systems and methods

Abstract

This disclosure provides a vehicle control device, system, and method. The vehicle control device includes a communication device and a processor, the communication device being configured to transmit a plurality of signals to a vehicle using a plurality of communication lines. The processor is configured to acquire a communication delay amount for each of the plurality of communication lines, and to determine, based on the acquired communication delay amount, to allocate a communication line for each of the plurality of signals. The communication device is configured to use the allocated communication lines to perform the transmission of each of the plurality of signals to the vehicle.

Description

Technical Field

[0001] This disclosure relates to vehicle control devices, systems, and methods for communicating with and controlling vehicles. Background Technology

[0002] Japanese Unexamined Patent Application Publication No. 2019-505059 (JP 2019-505059 A) discloses an autonomous vehicle service platform that connects to multiple autonomous vehicles operating on a road network, enabling communication with these vehicles via the network. This platform remotely controls the autonomous vehicles and uses them to provide various services to users. Summary of the Invention

[0003] In systems where vehicles and cloud-based control units are connected via a network, communication delays occur between the vehicle and the cloud. Therefore, when the control unit controls the vehicle, it is desirable to reduce the impact of these communication delays.

[0004] This disclosure was made in view of the above problems, and its purpose is to provide vehicle control devices, etc., that can reduce the impact of communication delays occurring in vehicles.

[0005] A vehicle control device according to a first aspect of the present invention includes a communication device and a processor. The communication device is configured to transmit a plurality of signals to a vehicle using a plurality of communication lines. The processor is configured to acquire a communication delay amount for each of the plurality of communication lines, and to determine a communication line to be allocated to each of the plurality of signals based on the acquired communication delay amount. The communication device is configured to use the allocated communication lines to perform the transmission of each of the plurality of signals to the vehicle.

[0006] This configuration can reduce the impact of communication delays between the vehicle and the vehicle control unit.

[0007] In the vehicle control device according to the first scheme, the processor can be configured to prioritize communications of the plurality of signals. Here, the processor can be configured to determine a communication line assigned to each of the plurality of signals based on the communication delay and the priority.

[0008] In the vehicle control device according to the first scheme, the processor may be configured to preferentially allocate signals with a priority higher than a predetermined reference to the communication lines with less communication delay.

[0009] In the vehicle control device according to the first scheme, the processor may be configured to further acquire the total communication delay of the combined plurality of communication lines. The processor may be configured to reduce at least a portion of the communication volume of signals with a priority lower than a predetermined reference when the total communication delay is not less than a predetermined threshold.

[0010] In the vehicle control device according to the first scheme, the plurality of signals may include signals whose priority cannot be changed by the user of the vehicle, and signals whose priority can be changed.

[0011] In the vehicle control device according to the first scheme, the signal whose priority cannot be changed by the user of the vehicle can be a high-priority signal related to the safety and peace of mind of the vehicle.

[0012] In the vehicle control device according to the first scheme, the processor can be configured to execute multiple applications. The multiple signals can be multiple signals based on requests from the multiple applications.

[0013] In the vehicle control device according to the first embodiment, the processor may be configured to set the priority of communication based on tag information of the plurality of applications. The processor may be configured to set the priority of the plurality of signals by embedding the tag information set in the plurality of applications into the plurality of signals.

[0014] In the vehicle control device according to the first scheme, the processor can be configured to generate a digital twin in virtual space that is synchronized with real space time using the communication delay time between the vehicle and the vehicle control device based on the communication delay amount.

[0015] The system according to a second aspect of the invention includes multiple vehicles and a vehicle control device. The vehicle control device includes a communication device and a processor, the communication device being configured to transmit multiple signals to a target vehicle using multiple communication lines.

[0016] The processor is configured to acquire the communication delay of each of the plurality of communication lines, and to determine, based on the communication delay, a communication line to be allocated to each of the plurality of signals. Furthermore, the communication device is configured to use the allocated communication lines to transmit each of the plurality of signals to the target vehicle.

[0017] The vehicle control method according to a third aspect of the present invention is executed by a vehicle control device including a processor and a communication device. The vehicle control method includes: the processor acquiring a communication delay amount for each of a plurality of communication lines used for communication with the vehicle; the processor determining, based on the communication delay amount, an allocated communication line for each of a plurality of signals to be transmitted to and received from the vehicle; and the communication device using the allocated communication line to transmit each of the plurality of signals.

[0018] The vehicle control method according to the third scheme may include the processor setting communication priorities for the plurality of signals. When determining which communication lines to be allocated, the processor may determine the communication line to be allocated to each of the plurality of signals based on the communication delay amount and the priority.

[0019] In the vehicle control method according to the third scheme, when determining the communication line to be allocated, the processor may preferentially allocate the signal with a priority higher than a predetermined reference to the communication line with less communication delay.

[0020] The vehicle control method according to the third scheme may further include the processor acquiring the total communication delay as a combination of the plurality of communication lines. Furthermore, when the total communication delay is not less than a predetermined threshold, the processor may reduce at least a portion of the communication volume of signals with a priority lower than a predetermined reference.

[0021] According to the vehicle control device disclosed herein, when the vehicle is controlled using the control device, the impact of communication delays with the vehicle can be reduced. Attached Figure Description

[0022] The features, advantages, and technical and industrial significance of exemplary embodiments of the invention will be described below with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0023] Figure 1 This is a schematic configuration diagram of a system including a vehicle control device according to an embodiment of the present disclosure;

[0024] Figure 2 This is a functional block diagram illustrating a schematic configuration example of a vehicle control unit;

[0025] Figure 3 A flowchart for determining the control process for the communication lines executed by the vehicle control unit; and

[0026] Figure 4 This is a schematic configuration diagram illustrating an application example of a system including vehicle control devices. Detailed Implementation

[0027] The vehicle control device according to this disclosure acquires the communication delay of each of a plurality of communication lines used for communicating with the vehicle, and determines, based on the communication delay, which communication lines will be allocated to each of a plurality of signals transmitted to and received from the vehicle. Signals with higher priority are preferentially allocated to communication lines with lower communication delays compared to signals with lower priority. Therefore, signals with higher priority can be preferentially allocated to stable communication lines with lower communication delays, thus ensuring the communication stability of high-priority functions.

[0028] In the following, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0029] Example

[0030] Configuration

[0031] Figure 1 This is a schematic configuration diagram of a vehicle system 10 including a vehicle control device 100 and one or more vehicles 200 according to embodiments of the present disclosure. The vehicle system 10 is a system configured such that the vehicle control device 100 and each vehicle 200 are communicatively connected via multiple communication lines 501, 502, and 503, and, for example, the vehicle control device 100 is capable of remotely controlling at least one vehicle 200. It should be noted that the number of vehicles 200 capable of communicating with the vehicle control device 100 is not limited to this. Figure 1 The quantity shown.

[0032] Figure 2 For illustration Figure 1 Functional block diagram of a schematic configuration example of the vehicle control device 100. Figure 2 The vehicle control device 100, as exemplified, includes multiple applications 111, 112, and 113, a communication mediation unit 120, a communication unit 130, a communication delay acquisition unit 140, and a communication line determination unit 150. For example, the vehicle control device 100 can be configured in the cloud (such as a cloud server).

[0033] Applications 111, 112, and 113 are implemented in the vehicle control unit 100 and provide various functions (or services) related to the vehicle 200. Examples of implemented functions include those related to the vehicle 200's "safety and peace of mind," "eco" aspects, "comfort," and "enjoyment." Examples of "safety and peace of mind" related functions include those related to the vehicle 200's movement (driving, stopping, steering). Examples of "eco" related functions include those related to the vehicle 200's fuel / electricity consumption. Examples of "comfort" related functions include those related to the vehicle's air conditioning. Examples of "enjoyment" related functions include those related to the vehicle 200's entertainment features.

[0034] Priorities are pre-defined for the functions (or services) implemented by these applications 111, 112, and 113. That is, each of the functions related to "safety and peace of mind," "ecology," "comfort," and "enjoyment" has a pre-defined priority in the communication of signals regarding its implementation. As an example, the highest priority "1" is set for safety-related functions, and subsequently, in order of priority, priority "2" is set for "peace of mind"-related functions, priority "3" for "ecology"-related functions, priority "4" for "comfort"-related functions, and priority "5" for "enjoyment"-related functions. These priorities are assigned as tag information to applications 111, 112, and 113 respectively, and the required priority can be expressed by the pre-assigned tag information included in a portion of the signals and data communicating with vehicle 200. In addition, since it is an important project, the priority of functions related to the "safety and peace of mind" of vehicle 200 cannot be changed, while functions related to "ecology", "comfort" and "enjoyment" of vehicle 200 can be changed according to the preferences of the users of vehicle 200 (drivers, etc.).

[0035] It should be noted that in this embodiment, three applications are exemplified: application 111 with the highest priority (high priority), application 113 with the lowest priority (low priority), and application 112 with an intermediate priority (medium priority) between applications 111 and 113. However, the number of priority categories is not limited to this. Figure 2 The number shown. Furthermore, the number of applications for each priority level implemented in the vehicle control unit 100 is not limited to... Figure 2 The quantity shown.

[0036] The communication mediation unit 120 has the function of mediating among multiple requests received from applications 111, 112, and 113 regarding communication with vehicle 200. This mediation function includes functions such as determining the priority of signals from each request in applications 111, 112, and 113, and sparsifying the communication volume of signals from each request in applications 111, 112, and 113. These functions are performed based on communication delay amounts provided by the communication delay amount acquisition unit 140, which will be described later. The mediation result of the requests is output to the communication unit 130 and the communication line determination unit 150. The communication mediation unit 120 is also capable of outputting signals received from vehicle 200 via the communication unit 130 to applications 111, 112, and 113.

[0037] The communication unit 130 can communicate with the vehicle 200, which is the communication target, via communication lines 501, 502, and 503. Communication lines 501, 502, and 503 preferably all have different line environments, but it is also possible to arrange multiple communication lines of the same type physically independently. As an example, communication lines 501, 502, and 503 can use different networks, different communication service providers, different communication frequency bands, etc. In response to requests for communication with the vehicle 200 received from applications 111, 112, and 113, the communication unit 130 sends a signal to the vehicle 200 as requested. Furthermore, the communication unit 130 outputs the signal received from the vehicle 200 to the corresponding application and the communication delay acquisition unit 140. In this embodiment, an example of providing three communication lines 501, 502, and 503 between the vehicle control device 100 and the vehicle 200 has been described. However, the number of communication lines is not limited to this. Figure 2 The quantities shown. Furthermore, when the vehicle system 10 includes multiple vehicles 200, not all vehicles 200 need to use the same communication lines 501, 502, and 503.

[0038] The communication delay acquisition unit 140 acquires the communication delay amount related to the communication performed between the vehicle control device 100 and the vehicle 200 via the communication unit 130. The communication delay acquisition unit 140 acquires the communication delay amount when communication lines 501, 502, and 503 are combined into one (considered as a single communication line), and the communication delay amount of each of lines 501, 502, and 503. As an example, these communication delay amounts can be calculated by executing a communication delay measurement tool pre-installed in the vehicle control device 100, pre-installed communication delay measurement application software, etc., and by obtaining results from exchanging predetermined test signals between the vehicle control device 100 and the vehicle 200 at predetermined intervals. The communication delay acquisition unit 140 outputs the acquired communication delay amount to the communication mediation unit 120.

[0039] The communication line determination unit 150 determines one or more of communication lines 501, 502, and 503 for communication of signals requested by applications 111, 112, and 113 based on the results of mediation performed by the communication mediation unit 120. The method for determining the communication lines will be described later.

[0040] The vehicle control device 100 described above is typically configured as a device including a processor such as a central processing unit (CPU), random access memory (RAM), a read / write storage device such as a hard disk drive (HDD) or a solid-state drive (SSD), and uses RAM as a work area to execute programs read from the storage device by the CPU, thereby realizing predetermined processing. Furthermore, the vehicle control device 100 includes a communication device as a communication unit 130.

[0041] Furthermore, the vehicle control unit 100 can form a digital twin in a storage device based on the communication latency acquired by the communication latency acquisition unit 140, using the communication latency time between itself and the vehicle 200, etc. This digital twin is a virtual world (virtual space) synchronized with real-world (real space) time by updating and storing data related to the current and past vehicle conditions (vehicle location, time of travel, etc.) collected relative to the vehicle 200 in real time, and is reproduced in a cloud computer.

[0042] control

[0043] Next, refer to Figure 3 The process performed by the vehicle control device 100 according to this embodiment is described. Figure 3 A flowchart illustrating the process by which the control is determined by the communication lines executed by each configuration of the vehicle control unit 100. Figure 3 The communication line determination control, as exemplified in the example, begins when the vehicle control unit 100 is communicatively connected to the vehicle 200, and is repeated whenever at least one of the applications 111, 112, and 113 requests communication of a signal (sending and receiving one or both), or is repeated periodically until communication with the vehicle 200 ends.

[0044] Step S301

[0045] The communication delay acquisition unit 140 acquires the "total communication delay" when the communication lines 501, 502, and 503 connecting the vehicle 200 and the vehicle control device 100 are combined into one. For example, the communication delay acquisition unit 140 can acquire the total communication delay from the results obtained by sending a predetermined test signal to the vehicle 200 via the communication unit 130 using all communication lines 501, 502, and 503 and receiving the predetermined test signal from the vehicle 200. Note that the communication delay time can be acquired without acquiring the communication delay amount. When the total communication delay of the combined communication lines is acquired, the process proceeds to step S302.

[0046] Step S302

[0047] The communication delay acquisition unit 140 acquires an "individual communication delay" for each of the communication lines 501, 502, and 503 connecting the vehicle 200 and the vehicle control device 100. For example, the communication delay acquisition unit 140 can acquire the individual communication delay for each communication line from the result of sending a predetermined test signal to the vehicle 200 via one of the communication lines 501, 502, and 503 through the communication unit 130 and receiving the predetermined test signal from the vehicle 200. It is noted that the communication delay time can be acquired without acquiring the communication delay amount. When the individual communication delay for each communication line is acquired, the process proceeds to step S303.

[0048] Step S303

[0049] The communication mediation unit 120 determines the magnitude of the total communication delay obtained by the communication delay acquisition unit 140. Specifically, the communication mediation unit 120 determines whether the total communication delay is less than a preset threshold T1, not less than threshold T1 and less than a preset predetermined threshold T2, or not less than threshold T2 (threshold T1 < threshold T2). Threshold T1 is set to determine whether it is necessary to mediate the allocation of communication lines for multiple signals requested by applications 111, 112, and 113. Furthermore, threshold T2 is set to determine whether it is necessary to sparsify the communication traffic related to the signals requested by applications 111, 112, and 113.

[0050] When the total communication delay is less than threshold T1 (less than threshold T1 in step S303), the process proceeds to step S304. When the total communication delay is not less than threshold T1 and less than threshold T2 (not less than threshold T1 and less than threshold T2 in step S303), the process proceeds to step S305. When the total communication delay is not less than threshold T2 (not less than threshold T2 in step S303), the process proceeds to step S306.

[0051] Step S304

[0052] The communication line determination unit 150 determines each communication line to be used for communication based on signals from communication lines 501, 502, and 503, regardless of the priority of the signals requested by applications 111, 112, and 113. Typically, the communication line determination unit 150 assigns the signals requested by applications 111, 112, and 113 equally to communication lines 501, 502, and 503. No particular restrictions are placed on the definition of equality (such as equal data volume, equal intervals, etc.). When a communication line to be used for communication by signals from applications 111, 112, and 113 is determined, the process proceeds to step S308.

[0053] Step S305

[0054] For the low-priority signals among the signals requested by applications 111, 112, and 113, the communication mediation unit 120 determines not to implement sparsification (not implemented) of the communication traffic. This determination is based on the reason that when the total communication delay is less than the threshold T2, communication resources can be adequately allocated to the high-priority signals. When the determination is made not to implement sparsification (not implemented) of the communication traffic related to the low-priority signals, the process proceeds to step S307.

[0055] Step S306

[0056] Communication mediation unit 120 performs traffic sparsity for low-priority signals among the signals requested by applications 111, 112, and 113. This determination is based on the reason that communication resources cannot be allocated to high-priority signals when the total communication delay is not less than a threshold T2. Here, low priority refers to a priority lower than a predetermined priority used as a reference. Therefore, for example, a low-priority signal is a medium-priority or low-priority signal when the predetermined reference is a high-priority signal, and a low-priority signal when the predetermined reference is a medium-priority signal. Examples of sparsifying the traffic of low-priority signals include reducing the total communication data volume, reducing the communication rate, and extending the communication cycle. When traffic sparsity is performed for low-priority signals, the process proceeds to step S307.

[0057] Step S307

[0058] The communication line determination unit 150 determines from communication lines 501, 502, and 503 the communication lines for communication of signals (preferably signals with high priority) requested by applications 111, 112, and 113. Here, "high priority" refers to a priority higher than a predetermined priority used as a reference. Therefore, for example, a high-priority signal is a high-priority signal when the predetermined reference is a medium-priority signal, and a medium-priority signal or a high-priority signal when the predetermined reference is a low-priority signal. It is noted that the predetermined reference used for determination in step S307 may be the same as or different from the predetermined reference used for determination in step S306. Typically, the communication line determination unit 150 preferentially assigns communication lines with low individual communication delay values ​​acquired by the communication delay amount acquisition unit 140 to signals with high priority. After determining the communication lines for communication of the signals based on priority, the process proceeds to step S308.

[0059] Step S308

[0060] Communication unit 130 uses one or more communication lines that have been determined and allocated from communication lines 501, 502, and 503 by communication line determination unit 150 to perform communication of each requested signal from applications 111, 112, and 113. When communication of the signal is performed, the communication line determination control process ends.

[0061] After obtaining the total communication delay of communication lines 501, 502, and 503 combined (step S301), the process of obtaining the individual communication delay for each of communication lines 501, 502, and 503 (step S302) has already been described in the above processing flow. However, the order of obtaining the total communication delay and the individual communication delay can be reversed. Alternatively, the total communication delay can be estimated and derived based on multiple individual communication delays obtained for each of communication lines 501, 502, and 503, without needing to obtain the total communication delay separately.

[0062] Application Examples

[0063] In use Figure 1 In the above embodiments, it is assumed that the vehicle control device 100 implements functions (or services) when multiple applications 111, 112, and 113 are installed. Therefore, only the vehicle control device 100 is configured with a communication mediation unit 120, a communication unit 130, a communication delay acquisition unit 140, and a communication line determination unit 150.

[0064] However, to implement a function (or service), there may be a situation where an application is divided and implemented (deployed) in the cloud-side vehicle control device 100 and the mobile-side vehicle 200. In this case, such as Figure 4For example, similar to the vehicle control device 100 side, a system can be used on the vehicle 200 side that also has a communication adjustment unit 120, a communication unit 130, a communication delay acquisition unit 140, and a communication line determination unit 150.

[0065] Functions and effects

[0066] As described above, the vehicle control device according to embodiments of the present disclosure uses multiple communication lines to perform communication with the vehicle. When communication is performed, the vehicle control device acquires the communication delay amounts (total communication delay and individual communication delay) of the communication lines, and based on the acquired communication delay amounts, determines each communication line to be allocated to signals transmitted to and received from the vehicle. In determining the communication lines, signals with relatively high priority are preferentially allocated to communication lines with smaller communication delay amounts compared to signals with relatively low priority.

[0067] According to this process, signals with high priority can be assigned to one or more stable communication lines with low communication latency, and thus communication stability of high-priority functions related to vehicle safety and peace of mind can be ensured.

[0068] Furthermore, according to the vehicle control device of this embodiment, when there are fewer excess communication resources in a communication line with low communication delay, the communication volume of signals with relatively low priority is sparsified.

[0069] Therefore, as can be seen in this process, by sparsifying the communication of low-priority functions other than those related to vehicle safety and peace of mind, it is possible to ensure communication resources for high-priority functions and to ensure the stability of the functions.

[0070] Although embodiments of the present disclosure have been described above, the present disclosure can be understood as a vehicle control device, a method executed by a vehicle control device including a processor and a memory, a control program for executing the method, a computer-readable non-transitory storage medium storing the control program, and a system equipped with a vehicle control device and a vehicle.

[0071] This disclosure is useful when it is desirable to reduce the impact of communication delays between the vehicle and the cloud when using a vehicle control device located in the cloud to control the vehicle.

Claims

1. A vehicle control device, characterized in that... include: A communication device configured to send multiple signals with pre-set communication priorities to a vehicle using multiple communication lines and to receive the multiple signals from the vehicle. A communication delay acquisition unit is configured to acquire the communication delay of each of the plurality of communication lines and the total communication delay of the plurality of communication lines combined. A communication line determination unit is configured to determine a communication line allocated to each of the plurality of signals based on the acquired communication delay, the acquired total communication delay, and the priority, wherein... When the total communication delay is less than a first threshold, the communication line determination unit allocates the plurality of signals to the plurality of communication lines, regardless of the priority. When the total communication delay is not less than the first threshold and less than the second threshold, the communication line determination unit preferentially assigns the signal with a higher priority than the predetermined priority used as the first reference to the plurality of communication lines. When the total communication delay is not less than the second threshold, after the communication volume of the signal with a priority lower than the predetermined priority used as the second reference is sparsified, the communication line determination unit preferentially allocates the signal with a priority higher than the predetermined priority used as the first reference among the plurality of signals to the plurality of communication lines. The communication device is configured to use the communication line allocated by the communication line determination unit to perform sending each of the plurality of signals to the vehicle and receiving each of the plurality of signals from the vehicle.

2. The vehicle control device according to claim 1, characterized in that, The communication line determination unit is configured to preferentially allocate signals with a priority higher than a predetermined benchmark to the communication lines with less communication delay.

3. The vehicle control device according to claim 1, characterized in that, The plurality of signals includes signals whose priority cannot be changed by the user of the vehicle, and signals whose priority can be changed.

4. The vehicle control device according to claim 3, characterized in that, The signal whose priority cannot be changed by the user of the vehicle is a high-priority signal related to the safety and peace of mind of the vehicle.

5. The vehicle control device according to claim 1, characterized in that: It also includes multiple applications; and The multiple signals are multiple signals based on requests from the multiple applications.

6. The vehicle control device according to claim 5, characterized in that, The priority of communication is set based on the tag information of the multiple applications, and The priority of the plurality of signals is set by embedding the tag information set in the plurality of applications into the plurality of signals.

7. The vehicle control device according to any one of claims 1 to 6, characterized in that, Using the communication delay time between the vehicle and the vehicle control device based on the communication delay amount, a digital twin synchronized with real-world time is generated in virtual space.

8. A vehicle control system, characterized in that... include: Multiple vehicles; as well as A vehicle control device, configured to include communication equipment, a communication delay acquisition unit, and a communication line determination unit, wherein: The communication device is configured to send multiple signals with pre-set communication priorities to the target vehicle using multiple communication lines and to receive the multiple signals from the target vehicle. The communication delay acquisition unit is configured to acquire the communication delay of each of the plurality of communication lines and the total communication delay of the plurality of communication lines combined. The communication line determination unit is configured to determine a communication line allocated to each of the plurality of signals based on the acquired communication delay, the acquired total communication delay, and the priority, wherein When the total communication delay is less than a first threshold, the communication line determination unit allocates the plurality of signals to the plurality of communication lines, regardless of the priority. When the total communication delay is not less than the first threshold and less than the second threshold, the communication line determination unit preferentially assigns the signal with a higher priority than the predetermined priority used as the first reference to the plurality of communication lines. When the total communication delay is not less than the second threshold, after the communication volume of the signal with a priority lower than the predetermined priority used as the second reference is sparsified, the communication line determination unit preferentially allocates the signal with a priority higher than the predetermined priority used as the first reference among the plurality of signals to the plurality of communication lines. The communication device is configured to use the communication line allocated by the communication line determination unit to perform sending each of the plurality of signals to the target vehicle and receiving each of the plurality of signals from the target vehicle.

9. A vehicle control method, executed by a vehicle control device including a processor and a communication device, the vehicle control method being characterized by comprising: The processor obtains the communication delay of each of the plurality of communication lines used for communication with the vehicle and the total communication delay of the plurality of communication lines combined. The processor determines, based on the acquired communication delay, the acquired total communication delay, and the communication priority, an assigned communication line for each of a plurality of signals whose priorities are pre-set; in When the total communication delay is less than a first threshold, the processor distributes the plurality of signals to the plurality of communication lines, regardless of the priority. When the total communication delay is not less than the first threshold and less than the second threshold, the processor preferentially allocates the signal with a higher priority than the predetermined priority used as the first reference to the plurality of communication lines. When the total communication delay is not less than the second threshold, after the communication volume of the signal with a priority lower than the predetermined priority used as the second reference is sparsified, the processor preferentially allocates the signal with a priority higher than the predetermined priority used as the first reference among the plurality of signals to the plurality of communication lines. The communication device performs the sending and receiving of each of the plurality of signals using the communication lines allocated by the processor.

10. The vehicle control method according to claim 9, characterized in that, When determining the communication line to be allocated, the processor prioritizes allocating signals with a priority higher than a predetermined benchmark to the communication line with the least communication delay.

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