Communication management apparatus, communication management method, driving assistance apparatus, driving assistance method, and computer-readable recording medium

Abstract

The present application provides a communication management device, a communication management method, a driving assistance device, a driving assistance method, and a computer-readable recording medium. The communication management device (10) estimates a communication quality between a control device (30) mounted on a moving body (70) and a driving assistance device (20) that provides a driving assistance service to the control device (30), the communication quality being a communication quality at a predetermined timing at which the moving body (70) passes through a communication area including a predetermined path through which the moving body (70) passes. The communication management device (10) notifies the driving assistance device (20) when the communication quality is outside a quality range that becomes a reference. The driving assistance device (20) changes the driving assistance service provided to the control device (30) when notified.

Description

Technical Field

[0001] This disclosure relates to driving assistance technologies for mobile bodies. Background Technology

[0002] In recent years, the development of autonomous driving technology has been accelerating. By widely adopting autonomous vehicles, efforts are being made to reduce traffic accidents, alleviate traffic congestion, improve logistics efficiency, and assist the mobility of the elderly and other groups.

[0003] As one method of utilizing autonomous vehicles, driverless autonomous driving services within designated areas are being researched. These services are based on remotely monitored or operated remote autonomous driving systems, and their application in small motor vehicles, buses, taxis, and similar vehicles is under investigation.

[0004] In remote-controlled autonomous driving systems, remotely configured driver assistance devices monitor the vehicle's driving status and issue remote driving instructions via a communication network. Therefore, if the communication quality cannot be guaranteed to be pre-adjusted based on surrounding traffic conditions, the stability of vehicle control decreases, potentially affecting safety and comfort.

[0005] Therefore, there is a need to improve the management of communication quality in remote autonomous driving systems and the technology for path generation corresponding to communication quality.

[0006] Patent Document 1 describes obtaining the communication quality at multiple geographical locations and setting a path through areas with high communication quality. In Patent Document 1, by setting the path to avoid areas with low communication quality, a path for a mobile device that meets the communication quality requirements is established.

[0007] Existing technical documents

[0008] Patent documents

[0009] Patent Document 1: Japanese Patent Application Publication No. 2020-165832 Summary of the Invention

[0010] The problem the invention aims to solve

[0011] Communication quality varies depending on the situation. Therefore, it is possible that the required communication quality may not be obtained. Patent Document 1 does not consider situations where the required communication quality cannot be obtained. Therefore, in situations where the required communication quality cannot be obtained, the safety and comfort of the mobile device may decrease.

[0012] The purpose of this disclosure is to enable appropriate control in a remote-controlled driver assistance system that corresponds to the quality of communication.

[0013] means for solving problems

[0014] The communication management device disclosed herein includes: a quality estimation unit that estimates the communication quality between a control device mounted on a mobile body and a driving assistance device that provides driving assistance services to the control device, the communication quality being the communication quality with respect to a communication area including a predetermined path traversed by the mobile body and at a predetermined time when the mobile body traverses the communication area; and a notification unit that notifies the user when the communication quality estimated by the quality estimation unit is outside the range of a reference quality.

[0015] The effects of the invention

[0016] In this disclosure, a notification is issued when the communication quality between the control device and the driving assistance device regarding the communication area becomes outside the quality range at a predetermined time when the mobile body passes through the communication area. As a result, the driving assistance device can perform control such as changing the type of driving assistance service. Consequently, appropriate control corresponding to the communication quality can be achieved. Attached Figure Description

[0017] Figure 1 This is a structural diagram of the driving assistance system 100 according to embodiment 1.

[0018] Figure 2 This is a structural diagram of the communication management device 10 according to Embodiment 1.

[0019] Figure 3 This is a structural diagram of the driving assistance device 20 according to Embodiment 1.

[0020] Figure 4 This is a structural diagram of the control device 30 in Embodiment 1.

[0021] Figure 5 This is a structural diagram of the wireless relay device 40 according to Embodiment 1.

[0022] Figure 6 This is a flowchart of the learning process in Implementation Method 1.

[0023] Figure 7 This is a flowchart of the driving assistance processing in Implementation Method 1.

[0024] Figure 8 This is an explanatory diagram of the quality information 231 of Implementation Method 1.

[0025] Figure 9 This is an explanatory diagram of the communication quality of Implementation Method 1.

[0026] Figure 10 This is the processing flowchart for the driver assistance processing in Variation Example 1.

[0027] Figure 11 This is the processing flowchart for the driver assistance processing in Variation Example 2.

[0028] Figure 12 This is an explanatory diagram of the quality estimation process in variation example 3.

[0029] Figure 13 This is a structural diagram of the driving assistance system 100 according to embodiment 2.

[0030] Figure 14 This is a structural diagram of the roadside machine 80 in Embodiment 2.

[0031] Figure 15 This is a flowchart of the operation of the driving assistance system 100 in Embodiment 2. Detailed Implementation

[0032] Implementation method 1.

[0033] ***Structure Explanation***

[0034] Reference Figure 1 The structure of the driving assistance system 100 in Embodiment 1 will be described.

[0035] The driving assistance system 100 includes a communication management device 10, a driving assistance device 20, one or more control devices 30, multiple wireless relay devices 40, and an information providing device 50.

[0036] The communication management device 10, the driving assistance device 20, the wireless relay device 40, and the information providing device 50 are connected to the communication network 60. Each control device 30 is connected to the communication network 60 via any of the wireless relay devices 40. Thus, the communication management device 10, the driving assistance device 20, each control device 30, each wireless relay device 40, and the information providing device 50 can send and receive information with each other.

[0037] A wireless network system 101 is composed of multiple wireless relay devices 40 and a communication network 60.

[0038] The communication management device 10 is a computer that manages the end-to-end communication quality between the driving assistance device 20 and the control device 30, as well as the communication quality of the wireless network system 101.

[0039] The driving assistance device 20 is a computer that provides driving assistance services to the control device 30 mounted on the mobile body 70.

[0040] The control device 30 is a computer that controls the mobile body 70 based on the driving assistance services provided by the driving assistance device 20. The control device 30 is mounted on the mobile body 70. In Embodiment 1, the mobile body 70 is a vehicle such as a four-wheeled vehicle or a two-wheeled vehicle. The mobile body 70 is not limited to vehicles, but may also be other types such as ships.

[0041] The wireless relay device 40 is a computer used to connect the control device 30 to the communication network 60. As a specific example, the wireless relay device 40 is a computer that constitutes a base station in the communication network 60.

[0042] The information providing device 50 is a computer that provides related information such as weather information and road traffic information that affects the control of the moving body 70.

[0043] Communication network 60 is a wireless network such as a mobile communication network. Specifically, communication network 60 is a 3G (3rd Generation) network, an LTE (Long Term Evolution) network, a 5G (5th Generation) network, or a 6G (6th Generation) network. Furthermore, communication network 60 may also include networks such as wireless LANs (Local Area Networks) and wireless MANs (Metropolitan Area Networks).

[0044] Reference Figure 2 The structure of the communication management device 10 in Embodiment 1 will be described.

[0045] The communication management device 10 includes hardware such as a processor 11, a memory 12, a storage device 13, and a communication interface 14. The processor 11 is connected to other hardware via signal lines and controls these other hardware components.

[0046] The communication management device 10 includes an information acquisition unit 111, a communication learning unit 112, a communication adjustment unit 113, a quality estimation unit 114, and a notification unit 115 as functional structural elements. The functions of each functional structural element of the communication management device 10 are implemented by software.

[0047] The memory 13 stores a program for implementing the functions of each functional structural element of the communication management device 10. This program is read into the memory 12 by the processor 11 and executed by the processor 11. Thus, the functions of each functional structural element of the communication management device 10 are implemented.

[0048] The learning model 131 is stored in the storage device 13.

[0049] Reference Figure 3The structure of the driving assistance device 20 in Embodiment 1 will be described.

[0050] The driver assistance device 20 includes hardware such as a processor 21, a memory 22, a storage device 23, and a communication interface 24. The processor 21 is connected to other hardware via signal lines and controls these other hardware components.

[0051] The driving assistance device 20 includes an information acquisition unit 211, a communication monitoring unit 212, a service decision unit 213, a communication adjustment unit 214, and a service provision unit 215 as functional structural elements. The functions of each functional structural element of the driving assistance device 20 are implemented by software.

[0052] The memory 23 stores programs that implement the functions of each functional element of the driving assistance device 20. These programs are read into the memory 22 by the processor 21 and executed by the processor 21. Thus, the functions of each functional element of the driving assistance device 20 are implemented.

[0053] Quality information 231 and area information 232 are stored in storage 23.

[0054] Reference Figure 4 The structure of the control device 30 in Embodiment 1 will be described.

[0055] The control device 30 includes hardware such as a processor 31, a memory 32, a storage device 33, and a communication interface 34. The processor 31 is connected to other hardware via signal lines and controls these other hardware components.

[0056] The control device 30 includes an information acquisition unit 311, an input receiving unit 312, and an integrated control unit 313 as functional structural elements. The functions of each functional structural element of the control device 30 are implemented by software.

[0057] The memory 33 stores programs that implement the functions of each functional structural element of the control device 30. These programs are read into the memory 32 by the processor 31 and executed by the processor 31. Thus, the functions of each functional structural element of the control device 30 are implemented.

[0058] Reference Figure 5 The structure of the wireless relay device 40 in Embodiment 1 will be described.

[0059] The wireless repeater 40 includes hardware such as a processor 41, a memory 42, a storage device 43, and a communication interface 44. The processor 41 is connected to other hardware via signal lines and controls these other hardware components.

[0060] The wireless relay device 40 includes a communication monitoring unit 411 and a communication adjustment unit 412 as functional structural elements. The functions of each functional structural element of the wireless relay device 40 are implemented by software.

[0061] The memory 43 stores programs that implement the functions of each functional structural element of the wireless repeater device 40. These programs are read into the memory 42 by the processor 41 and executed by the processor 41. Thus, the functions of each functional structural element of the wireless repeater device 40 are implemented.

[0062] Processors 11, 21, 31, and 41 are ICs (Integrated Circuits) that perform processing. Specifically, processors 11, 21, 31, and 41 are CPUs (Central Processing Units), DSPs (Digital Signal Processors), and GPUs (Graphics Processing Units).

[0063] Memory 12, 22, 32, and 42 are storage devices that temporarily store data. As specific examples, memory 12, 22, 32, and 42 are SRAM (Static Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0064] Storage devices 13, 23, 33, and 43 are storage devices for storing data. Specifically, storage devices 13, 23, 33, and 43 are HDDs (Hard Disk Drives). Alternatively, storage devices 13, 23, 33, and 43 can also be removable recording media such as SD (Secure Digital) memory cards, CF (CompactFlash) memory cards, NAND flash memory, floppy disks, optical discs, high-density disks, Blu-ray discs, and DVDs (Digital Versatile Disk).

[0065] Communication interfaces 14, 24, 34, and 44 are interfaces used for connecting to the communication network 60. Specifically, communication interfaces 14, 24, 34, and 44 are communication antennas.

[0066] exist Figure 2Only one processor 11 is shown in the diagram. However, there can be multiple processors 11, and multiple processors 11 can cooperate to execute programs that implement various functions. Similarly, there can be multiple processors 21, 31, and 41, and multiple processors 21, 31, and 41 can cooperate to execute programs that implement various functions.

[0067] ***Instructions for the Actions***

[0068] Reference Figures 6 to 9 The operation of the driving assistance system 100 in Embodiment 1 will be explained.

[0069] The operation steps of the communication management device 10 in the driving assistance system 100 of Embodiment 1 are equivalent to the communication management method of Embodiment 1. Furthermore, the program in the driving assistance system 100 of Embodiment 1 that implements the operation of the communication management device 10 is equivalent to the communication management program of Embodiment 1.

[0070] The operation steps of the driving assistance device 20 in the driving assistance system 100 of Embodiment 1 are equivalent to the driving assistance method of Embodiment 1. Furthermore, the program in the driving assistance system 100 of Embodiment 1 that implements the operation of the driving assistance device 20 is equivalent to the driving assistance program of Embodiment 1.

[0071] The actions of the driver assistance system 100 include learning processing and driver assistance processing.

[0072] Reference Figure 6 The learning process of Implementation Method 1 will be explained.

[0073] The learning process is a process used to enable the learning model 131, which estimates the communication quality between the driving assistance device 20 and the control device 30, to learn.

[0074] (Step S101: Data communication processing)

[0075] Data communication is initiated between the driver assistance device 20 and the control device 30. The processing up to the initiation of data communication is described in the description of driver assistance processing.

[0076] (Step S102: Quality monitoring process)

[0077] Each wireless relay device 40 and driving assistance device 20 determines the communication quality.

[0078] The communication monitoring unit 411 of each wireless relay device 40 monitors the transmission and reception of data via the communication interface 44. As a result, the communication monitoring unit 411 determines the communication quality of the wireless network system 101.

[0079] Specifically, the communication monitoring unit 411 measures indicators such as transmission power and bit error rate. Based on the measured indicators, the communication monitoring unit 411 calculates communication quality indicators such as radio wave strength, data transmission delay time, and uplink and downlink data rates in the communication network 60. Then, the communication monitoring unit 212 determines the communication quality of the wireless network system 101 by calculating statistical information such as the average, maximum, minimum, and standard deviation of the communication quality indicators over a certain period of time. At this time, the communication monitoring unit 411 also measures the number of connections of the devices subordinate to the wireless relay device 40 and calculates statistical information. The devices subordinate to the wireless relay device 40 include the control device 30 and pedestrians' smartphones, etc.

[0080] Furthermore, the method for measuring the communication quality of the communication network 60 is known, so detailed descriptions are omitted.

[0081] The communication monitoring unit 212 of the driver assistance device 20 monitors the transmission and reception of data via the communication interface 24. As a result, the communication monitoring unit 212 determines the end-to-end communication quality between the driver assistance device 20 and the control device 30.

[0082] Specifically, the communication monitoring unit 212 measures metrics such as RTT (Round Trip Time) and packet loss between the driving assistance device 20 and the control device 30. Based on the measured metrics, the communication monitoring unit 212 calculates communication quality metrics such as end-to-end data transmission delay time, uplink and downlink data rates. Then, the communication monitoring unit 212 determines the end-to-end communication quality as statistical information such as the average, maximum, minimum, and standard deviation of the communication quality metrics over a certain period of time.

[0083] The method for measuring RTT and other parameters between the driving assistance device 20 and the control device 30 by the communication monitoring unit 212 is explained.

[0084] In the data communication that begins in step S101, the service providing unit 215 of the driver assistance device 20 sets driver assistance information in the message addressed to the control device 30, and sets the sequence number of the identification message and the data transmission time. If the type of driver assistance service is remote operation service, the driver assistance information is information such as vehicle speed, steering angle, and target position. Furthermore, the service providing unit 215 sets the sequence number contained in the message received from the control device 30 and the reception time of that message in the message addressed to the control device 30.

[0085] In the data communication that begins in step S101, the integrated control unit 313 of the control device 30 sets vehicle status information such as the speed and steering angle of the moving body 70, as well as camera information and object information around the moving body 70, in the message directed to the driving assistance device 20, and sets the sequence number of the identification message and the data transmission time. Furthermore, the integrated control unit 313 sets the sequence number contained in the message received from the driving assistance device 20 and the reception time of that message.

[0086] In this way, by setting the sequence number and the message sending and receiving time in the message, the communication monitoring unit 212 can calculate the time required for the message to travel back and forth (RTT), the transmission time for transmitting the message from the driving assistance device 20 to the control device 30, and the transmission time for transmitting the message from the control device 30 to the driving assistance device 20.

[0087] (Step S103: Quality Notification Processing)

[0088] The communication monitoring units 411 of each wireless relay device 40 and the communication monitoring unit 212 of the driver assistance device 20 send communication quality information indicating the determined communication quality to the communication management device 10. At this time, the communication monitoring unit 212 of the driver assistance device 20 also sends the category of the driver assistance service provided to the control device 30 mounted on the mobile body 70 existing in the communication area of ​​each wireless relay device 40 to the communication management device 10.

[0089] The information acquisition unit 111 of the communication management device 10 collects communication quality information and the category of driving assistance services, and writes them into the storage 13.

[0090] (Step S104: Processing of Relevant Information)

[0091] The information acquisition unit 111 of the communication management device 10 acquires association information about the communication area of ​​each wireless relay device 40 from the information providing device 50. This association information is information that affects the control of the mobile body 70, such as weather information and road traffic information. The information acquisition unit 111 writes the association information into the storage unit 13.

[0092] (Step S105: Communication Learning Processing)

[0093] The communication learning unit 112 of the communication management device 10 generates a learning model 131 that estimates the quality of communication based on quality statistics. These quality statistics represent past communication quality for each communication area as shown by the communication quality information obtained in step S103, and past control conditions for each communication area as shown by the correlation information obtained in step S104. The communication learning unit 112 analyzes the correlation between communication quality and control conditions for each communication area, thereby generating the learning model 131. The learning model 131 is a model that outputs an estimated value of communication quality when control conditions are provided as input. Alternatively, the learning model 131 may also be a model that outputs an estimated value of communication quality when, in addition to control conditions, the communication quality at a time close to the time to be estimated is taken as input.

[0094] Specifically, the communication learning unit 112 uses machine learning methods such as neural networks and support vector machines to analyze the correlation between communication quality and control conditions. Here, the communication learning unit 112 generates a learning model 131 for estimating the communication quality of the wireless network system 101 and a learning model 131 for estimating the end-to-end communication quality between the driver assistance device 20 and the control device 30. The communication learning unit 112 may also generate a learning model 131 for estimating the communication quality of the wireless network system 101 according to the communication area of ​​each wireless relay device 40. The communication learning unit 112 may also generate a learning model 131 for estimating the end-to-end communication quality according to each pair of driver assistance device 20 and each control device 30. The communication learning unit 112 writes the generated learning model 131 into the storage 13.

[0095] Specifically, the quality statistics used as input when the communication learning unit 112 generates the learning model 131 include the following information.

[0096] (1) Communication quality for each communication area at each past date and time. (2) Meteorological conditions for each communication area, such as weather, temperature, humidity, precipitation probability, and wind speed. (3) Traffic conditions, such as whether there are long holidays, the presence or absence of major events in each communication area, the occurrence or absence of accidents in each communication area, and the presence or absence of movement restrictions in each communication area. (4) The number and attributes of mobile bodies in and near the communication area. (5) The types of driving assistance services provided in each communication area. (2), (3), and (4) are control conditions shown in the associated information, and (5) is the control condition obtained in step S103.

[0097] Reference Figure 7 The driving assistance processing of Implementation Method 1 will be described.

[0098] Driving assistance processing is a process that uses a learning model 131 generated through learning processing to predict future communication quality and controls the driving assistance services to be provided based on the predicted communication quality.

[0099] (Step S201: Connection request processing)

[0100] The input receiving unit 312 of the control device 30 mounted on the mobile body 70 receives input from the driver of the vehicle, which is the mobile body 70, regarding the type of driving assistance service to be used. When the type of driving assistance service is input, the input receiving unit 312 sends a connection request for the communication network 60 to the wireless relay device 40.

[0101] Driving assistance services are services provided by driving assistance devices. Categories of driving assistance services include remote operation services for remote-controlled autonomous driving, remote monitoring services for remote-controlled autonomous driving, dynamic map generation services for autonomous driving, and services providing surrounding environment information. The remote operation service for remote-controlled autonomous driving is a service in which the driving assistance device 20 provides operation information for operating the moving body 70 to the control device 30 and controls the moving body 70 based on the operation information. The remote monitoring service for remote-controlled autonomous driving is a service in which the driving assistance device 20 obtains information about the moving body 70 from the control device 30 and monitors the driving status of the moving body 70. The dynamic map generation service for autonomous driving is a service in which the driving assistance device 20 provides a dynamic map of the surroundings of the moving body 70 to the control device 30, and the control device 30 controls the moving body 70 based on the dynamic map. The surrounding environment information service is a service in which the driving assistance device 20 provides the control device 30 with surrounding environment information necessary for controlling the moving body 70, such as obstacles around the moving body 70.

[0102] (Step S202: Connection Response Processing)

[0103] The communication adjustment unit 412 of the wireless relay device 40 receives the connection request sent in step S201. Then, the communication adjustment unit 412 sends a connection response authorizing the connection to the control device 30.

[0104] (Step S203: Category Notification Processing)

[0105] The integrated control unit 313 of the control device 30 receives the connection response sent in step S202. Then, the integrated control unit 313 of the control device 30 sends a driving assistance service start request to the driving assistance device 20. The driving assistance service start request includes a unique identification number representing the mobile body 70, destination information indicating the destination, location information indicating the position of the mobile body 70, and the type of driving assistance service input in step S201.

[0106] (Step S204: Processing of Acquiring Related Information)

[0107] The information acquisition unit 211 of the driver assistance device 20 acquires association information about the communication areas of each wireless relay device 40 from the information providing device 50. This association information is related to autonomous driving, such as weather information and road traffic information. The communication area of ​​each wireless relay device 40 is defined as the communication area shown in the area information 232. The information acquisition unit 211 writes the association information into the storage 23.

[0108] (Step S205: Path Determination Processing)

[0109] The service decision unit 213 of the driver assistance device 20 receives the driver assistance service start request sent in step S203. The service decision unit 213 then determines a predetermined route from the location indicated by the location information included in the driver assistance service start request to the destination indicated by the destination information. The service decision unit 213 may determine the predetermined route as the shortest distance route or a route that can reach the destination in the shortest time using congestion information included in road traffic information.

[0110] (Step S206: Quality determination process required)

[0111] The communication adjustment unit 214 of the driver assistance device 20 determines the required communication quality based on the type of driver assistance service included in the start request for the driver assistance service. Specifically, the communication adjustment unit 214 determines the communication quality required for the type of driver assistance service by referring to the quality information 231.

[0112] like Figure 8 As shown, quality information 231 stores the required communication quality according to each category. Figure 8 In the section on quality information 231, the required communication quality is stored separately for scenarios involving high-quality driving assistance services, standard driving assistance services, and low-quality driving assistance services. The content of the driving assistance service is determined according to the quality of each service. For example, information such as the content and compression rate of the data to be sent is determined based on the quality of each driving assistance service. Figure 9 As shown, communication quality is represented by latency, data rate (UL), and data rate (DL). Data rate (UL) is the uplink data rate, and data rate (DL) is the downlink data rate. For example... Figure 9As shown, here, the smaller the value set for communication quality, the higher the quality. The communication adjustment unit 214 refers to the quality information 231 to determine the communication quality corresponding to the category of driving assistance service, thereby determining the required communication quality. For example, the communication adjustment unit 214 determines the communication quality value for providing high-quality driving assistance service.

[0113] Additionally, it is necessary to determine the required communication quality for the wireless network system 101 and the required end-to-end communication quality between the driver assistance device 20 and the control device 30. In Embodiment 1, quality information 231 is prepared in advance for each communication quality. Then, the communication adjustment unit 214 determines each communication quality by referring to the corresponding quality information 231.

[0114] (Step S207: Communication Start Request Processing)

[0115] The communication adjustment unit 214 of the driver assistance device 20 sends a communication start request to the communication management device 10. The communication start request includes the identification number of the mobile body 70 equipped with the control device 30 carrying the communication destination, and quality information indicating the communication quality determined in step S206.

[0116] Upon receiving a communication start request, the communication adjustment unit 113 of the communication management device 10 sends the request to a wireless relay device 40 connected to the control device 30, which is mounted on a mobile body 70 identified according to an identification number included in the communication start request. Furthermore, the communication adjustment unit 113 replaces the information indicating the communication quality of the wireless network system 101 in the quality information included in the communication start request with information corresponding to the wireless network system 101 before sending it. For example, if the wireless communication network is an LTE network, the communication adjustment unit 113 replaces the information indicating the communication quality of the communication network 60 with the value of the communication quality defined in the 3GPP (3rd Generation Partnership Project) standard, namely the QCI (Quality of Service) Class Indicator. Furthermore, if the wireless communication network is a 5G network, the communication adjustment unit 113 replaces the information indicating the communication quality of the communication network 60 with the 5QI (5G QoS Indicator) value.

[0117] (Step S208: Resource allocation processing)

[0118] The communication adjustment unit 412 of the wireless relay device 40 receives the communication start request sent in step S207. Then, the communication adjustment unit 412 determines whether it is possible to allocate the communication quality of the communication network 60 as included in the quality information contained in the communication start request.

[0119] When allocation is possible, the communication adjustment unit 412 sends a communication resource allocation notification containing information on the communication quality allocated to the control device 30 and indicating permission to begin communication. Afterwards, the communication adjustment unit 412 sends a communication start response to the communication management device 10. The communication adjustment unit 113 of the communication management device 10 receives the communication start response and sends a communication start response to the driving assistance device 20.

[0120] If a communication adjustment unit 412 is unable to allocate communication, it sends a communication start response indicating that communication is not permitted to begin to the communication management device 10. The communication adjustment unit 113 of the communication management device 10 receives the communication start response and sends it to the driver assistance device 20. Upon receiving the communication start response indicating that communication is not permitted to begin, the communication adjustment unit 214 of the driver assistance device 20 resets the communication quality and resends the communication start request. For example, the communication adjustment unit 214 resets the communication quality by determining the required communication quality in cases where the quality of providing driver assistance services has been reduced.

[0121] (Step S209: Communication monitoring processing)

[0122] When the communication adjustment unit 214 of the driver assistance device 20 receives a communication start response indicating permission to begin communication, it sends a communication quality monitoring notification registration to the communication management device 10. The communication monitoring notification registration includes information indicating the communication destination that is being monitored, the communication monitoring target area, and monitoring parameters.

[0123] The information indicating the communication destination of the monitored object is the identification number of the mobile body 70 and the category of communication assistance services. Based on the predetermined path and area information 232, the communication monitoring target area is determined, including the communication area containing the predetermined path, and a wireless relay device 40 corresponding to the determined communication area is set. Monitoring parameters include the range of reference quality, the communication monitoring period, the communication quality estimation time, and the communication quality change time.

[0124] The baseline quality range is a threshold for detecting changes in communication quality, set according to the settings of quality information 231. Furthermore, if the same quality information 231 is pre-stored in the communication management device 10 and the driver assistance device 20, information exchange between the devices becomes easier. The communication monitoring cycle is the period for monitoring communication quality. The communication monitoring cycle is, for example, set to 100 times the time it takes for the driver assistance device 20 to send driver assistance information to the control device 30. That is, if the transmission cycle of driver assistance information is 100 milliseconds, the communication monitoring cycle becomes 10 seconds. The communication quality estimation time is the future time at which the communication quality is estimated. The communication quality estimation time is set to the predetermined time of passing through the area based on a predetermined path. The communication quality change time is the time required to change the driver assistance service. That is, the communication quality change time is set based on the time required on the control device 30 side when switching the type of driver assistance service. The time required on the control device 30 side refers to the handover time to the driver required for switching from automatic driving to manual driving, etc.

[0125] The communication adjustment unit 113 of the communication management device 10 receives a communication quality monitoring notification registration from the driving assistance device 20. The communication adjustment unit 113 sends a communication quality monitoring request to the wireless relay device 40 located in the communication monitoring target area included in the monitoring notification registration. The communication quality monitoring request includes the communication monitoring period as a monitoring parameter.

[0126] (Step S210: Data communication processing)

[0127] After the communication adjustment unit 214 receives the communication start response, the service provision unit 215 of the driver assistance device 20 sends a driver assistance service start notification to the control device 30. Then, data communication begins between the driver assistance device 20 and the control device 30. The service provision unit 215 of the driver assistance device 20 then generates driver assistance information corresponding to the category of driver assistance service and periodically sends it to the control device 30.

[0128] The integrated control unit 313 of the control device 30 acquires environmental information and status information of the mobile body 70, and periodically transmits them to the driving assistance device 20. The environmental information is information about the surroundings of the mobile body 70 acquired by sensors such as cameras and LiDAR (Light Detection and Ranging) installed on the mobile body 70. Specifically, the environmental information includes camera data and information about surrounding objects obtained as a result of analyzing the camera data. The status information is information representing the behavior of the mobile body 70 acquired by various devices installed on the mobile body 70, such as vehicle speed and steering angle. The integrated control unit 313 transmits the information after changing the compression rate of the environmental and status information, based on the communication quality notified by the wireless relay device 40 via communication resource allocation notification.

[0129] The integrated control unit 313 of the control device 30 uses driving assistance information, environmental information and status information sent from the driving assistance device 20 to determine the movement method of the moving body 70 and control the behavior of the moving body 70.

[0130] Processing of steps S211 to S213 Figure 6 The processes in steps S102 to S104 are the same.

[0131] (Step S214: Quality estimation processing)

[0132] The quality estimation unit 114 of the communication management device 10 sets the communication areas of each wireless relay device 40 set in the communication monitoring target area included in the monitoring notification registration as the target communication area. The quality estimation unit 114, at a predetermined time for passing through the target communication area, at a time earlier than the time of communication quality change, utilizes control conditions shown by the current communication quality and related information of the target communication area, and... Figure 6 The learning model 131 generated by the processing shown estimates the communication quality between the driving assistance device 20 and the control device 30 at a predetermined time for the target communication area. For example, when the quality estimation unit 114 estimates the communication quality at the predetermined time for the target communication area, it takes a time equal to the change time for communication quality plus a certain amount of time, which is earlier than the predetermined time. At this time, the quality estimation unit 114 provides the learning model 131 with control conditions, such as the current communication quality and related information of the target communication area, as input, and obtains an estimated value of the output communication quality, thereby estimating the communication quality at the predetermined time for the target communication area.

[0133] Furthermore, when estimating the communication quality of the wireless network system 101, the quality estimation unit 114 uses the learning model 131 for the wireless network system 101; when estimating the end-to-end communication quality, it uses the end-to-end learning model 131. When the learning model 131 is generated according to the communication area of ​​each wireless relay device 40, the quality estimation unit 114 uses the learning model 131 corresponding to the communication area of ​​the object to be estimated. When the learning model 131 is generated according to each pair of the driving assistance device 20 and the control device 30, the quality estimation unit 114 uses the learning model 131 corresponding to the pair of objects to be estimated.

[0134] Here, the quality estimation unit 114 calculates an estimate of the communication quality at a predetermined time. However, the quality estimation unit 114 may also pre-classify the communication quality and calculate the probability of the communication quality at the predetermined time being at each level. Moreover, for example, the quality estimation unit 114 may estimate the communication quality to be at the level with the highest probability.

[0135] (Step S215: Quality Notification Processing)

[0136] If the estimated communication quality in step S214 is outside the range of the reference quality, the notification unit 115 of the communication management device 10 sends a communication quality change notification to the driving assistance device 20, informing it of the estimated communication quality. The notification unit 115 sends the communication quality change notification when at least either the communication quality of the wireless network system 101 or the end-to-end communication quality is outside the range of the reference quality.

[0137] Here, a lower limit for communication quality is assumed to be set as the range of reference quality. Therefore, if any communication quality estimated in step S214 is lower than the lower limit of the reference quality, the notification unit 115 sends a communication quality change notification. The communication quality change notification indicates the communication area where a change in communication quality is predicted and the estimated communication quality. Alternatively, if the probability of achieving the estimated communication quality is calculated, the communication quality change notification can also represent that probability.

[0138] (Step S216: Service Reconfiguration Process)

[0139] The communication adjustment unit 214 of the driver assistance device 20 receives the communication quality change notification sent in step S215. Based on the communication monitoring target area and communication quality indicated in the communication quality change notification, the communication adjustment unit 214 determines whether the driver assistance service can continue. Specifically, the communication adjustment unit 214 determines whether the currently provided driver assistance service can be provided with the communication quality indicated in the communication quality change notification. If the currently provided driver assistance service can be provided, the communication adjustment unit 214 determines that the driver assistance service can continue; if the currently provided driver assistance service cannot be provided, the communication adjustment unit 214 determines that the driver assistance service cannot continue.

[0140] As a specific example, suppose the communication adjustment unit 214 is performing a remote operation service for remote-controlled autonomous driving at a communication quality level of high quality, and receives a communication quality change notification indicating that the communication quality level is normal. In this case, since the remote operation service for remote-controlled autonomous driving can be performed even with the estimated communication quality, the communication adjustment unit 214 determines that the driving assistance service can continue. Furthermore, as another specific example, suppose the communication adjustment unit 214 is performing a remote operation service for remote-controlled autonomous driving at a communication quality level of low quality, and receives a communication quality change notification indicating that the communication quality level is lower than low quality. In this case, the communication adjustment unit 214 cannot perform the remote operation service for remote-controlled autonomous driving with the estimated communication quality, and therefore determines that the driving assistance service cannot continue.

[0141] The service provision unit 215 of the driver assistance device 20 resets the driver assistance service based on the continuity of the driver assistance service and the determination result.

[0142] Specifically, when the service provision unit 215 determines that the driving assistance service can be continued, it continues to provide the currently provided driving assistance service and resets the settings to reduce communication volume. For example, the service provision unit 215 performs changes such as increasing the compression rate of the camera data notified from the control device 30 in the remote operation service of remote-controlled autonomous driving.

[0143] Furthermore, if the service provision unit 215 determines that the driving assistance service cannot be continued, it will switch the driving assistance service to one that can be provided with estimated communication quality. For example, the service provision unit 215 may switch from remote operation service for remote-controlled autonomous driving to providing ambient information service.

[0144] The service provision unit 215 of the driver assistance device 20 sends a driver assistance service change notification to the control device 30, which notifies the control device of changes to the driver assistance service.

[0145] (Step S217: Control method change processing)

[0146] The integrated control unit 313 of the control device 30 receives the driving assistance service change notification sent in step S216. Then, the integrated control unit 313 changes the control method of the mobile body 70 according to the changes shown in the driving assistance service change notification.

[0147] As a specific example, the integrated control unit 313 increases the compression rate of the camera data sent to the driver assistance device 20 by one stage, thereby reducing the size of the image data to be sent. Furthermore, when switching from remote operation service to providing ambient information service in remote-controlled autonomous driving, the integrated control unit 313 notifies the driver of the mobile body 70 to switch to manual driving when the display device or other device mounted on the mobile body 70 displays the start of manual driving, which accompanies the discontinuation of the autonomous driving function. Afterwards, the integrated control unit 313 stops controlling devices such as the accelerator, brakes, and steering system, and switches to control that notifies the driver of the ambient information.

[0148] ***Effects of Implementation Method 1***

[0149] As described above, in the driving assistance system 100 of Embodiment 1, the communication management device 10 notifies the driver that the communication quality between the driving assistance device 20 and the control device 30 regarding the communication area at a predetermined time when the mobile body 70 passes through the communication area is outside the range of the reference quality. Then, upon receiving the notification, the driving assistance device 20 resets the driving assistance service based on the estimated communication quality. This enables appropriate control corresponding to the communication quality.

[0150] As a result, the driving assistance device 20 and the control device 30 can anticipate a decline in communication quality and take evasive action. Moreover, they can prevent emergency operation of the mobile body 70 associated with sudden declines in communication quality, thereby improving the stability of the control of the mobile body 70.

[0151] ***Other Structures***

[0152] <Variation Example 1>

[0153] In Implementation 1, the driver assistance service was reset when a degradation in communication quality was estimated. As a variation 1, when a degradation in communication quality was estimated, the communication adjustment unit 214 could also change the allocation of communication resources between each of the multiple control devices 30 and the driver assistance device 20.

[0154] That is, the communication adjustment unit 214 can also adjust the communication resources allocated for communication between the multiple control devices 30 and each of the multiple control devices 30, which are communication resources used to provide driving assistance services to the multiple control devices 30 respectively. Specifically, the communication adjustment unit 214 reduces the communication resources allocated for communication with control devices 30 that have been provided with low-priority driving assistance services, and increases the communication resources allocated for communication with control devices 30 whose communication quality is estimated to be low. Thus, it is possible to prevent a decline in communication quality.

[0155] Reference Figure 10 The driving assistance processing of Modified Example 1 will be explained.

[0156] Processing of steps S301 to S306 Figure 7 The processes of steps S210 to S215 are the same.

[0157] (Step S307: Quality Adjustment Process)

[0158] The communication adjustment unit 214 of the driver assistance device 20 receives the communication quality change notification sent in step S306. The communication adjustment unit 214 then determines whether a degradation in communication quality is permissible based on the communication monitoring target area and communication quality indicated in the communication quality change notification. Specifically, the communication adjustment unit 214 determines whether the communication quality indicated in the communication quality change notification is the communication quality of the wireless network system 101. If the communication quality indicated in the communication quality change notification is the communication quality of the wireless network system 101, the communication adjustment unit 214 determines that a degradation in communication quality is permissible; if the communication quality indicated in the communication quality change notification is end-to-end communication quality, the communication adjustment unit 214 determines that a degradation in communication quality is not permissible.

[0159] When the communication adjustment unit 214 determines that a degradation in communication quality is unacceptable, it identifies the lowest priority driving assistance service among those being provided by the driving assistance device 20. The communication adjustment unit 214 then reduces the communication quality allocated to the control device 30 providing the identified driving assistance service. Specifically, the communication adjustment unit 214 reduces the communication resources allocated to the control device 30 providing the identified driving assistance service. This secures communication resources. The communication adjustment unit 214 then allocates the secured communication resources to the control device 30, whose communication quality is estimated to be degraded. If the end-to-end communication quality degrades even though the communication quality of the wireless network system 101 has not degraded, the cause is considered to be congestion in the wired network, etc., between the driving assistance device 20 and the wireless relay device 40. Therefore, by reducing other allocated communication resources and allocating the reduced amount of communication resources, the end-to-end communication quality can be improved.

[0160] Regarding the priority of driver assistance services, for example, remote operation services that provide remote-controlled autonomous driving up to the point of driver control have the highest priority, while services that only provide information about the surrounding environment have the lowest priority. In other words, the higher the degree to which the cessation of a driver assistance service would affect safety, the higher its priority.

[0161] (Step S308: Communication begins request processing)

[0162] If, in step S307, the communication adjustment unit 214 of the driver assistance device 20 determines that a decrease in communication quality is permissible, it sends a communication quality adjustment request to the communication management device 10. The communication quality adjustment request includes the identification number of the mobile body 70 equipped with the control device 30 carrying the communication destination, and quality information indicating the communication quality of the wireless network system 101 shown in the communication quality change notification sent in step S306. Thus, the change in the allocation of entrusted communication resources improves the communication quality of the wireless network system 101 shown in the communication quality change notification.

[0163] (Step S309: Resource control processing)

[0164] The communication adjustment unit 412 of the wireless relay device 40 receives the communication start request sent in step S308. Then, the communication adjustment unit 412 sends a communication quality change notification to the driving assistance device 20. The communication quality change notification shows the changed communication quality and the time of the change. The changed communication quality is, in principle, the same as the communication quality shown in the communication quality adjustment request.

[0165] (Step S310: Switching timer settings)

[0166] The communication adjustment unit 412 of the wireless relay device 40 is set to start a switching timer when the communication quality is changed.

[0167] (Step S311: Service Reconfiguration Process)

[0168] If the service provision unit 215 of the driver assistance device 20 determines in step S307 that a degradation in communication quality is permissible, it will communicate with... Figure 7 Similarly, in step S216, the driving assistance service is reset. The service provision unit 215 of the driving assistance device 20 sends a driving assistance service change notification to the control device 30, which notifies the control device of the changes to the driving assistance service.

[0169] (Step S312: Control method change processing)

[0170] Upon receiving a notification of a change in driving assistance services, the integrated control unit 313 of the control device 30, together with... Figure 7 Similarly, in step S217, the control method of the mobile body 70 is changed according to the changes shown in the driving assistance service change notification.

[0171] (Step S313: Resource allocation processing)

[0172] When the switching timer is started, the communication adjustment unit 412 of the wireless relay device 40 changes the communication quality to the changed communication quality shown in the communication quality change notification.

[0173] As described above, when a decline in end-to-end communication quality is anticipated, the communication adjustment unit 214 of the driver assistance device 20 changes the allocation of communication quality between each of the multiple control devices 30 and the driver assistance device 20. This allows for the continuous provision of high-priority driver assistance services and prevents instability in the provided driver assistance services due to sudden declines in communication quality.

[0174] <Variation Example 2>

[0175] In Implementation Example 1, based on the determined predetermined path, the driver assistance services were reset according to the communication quality within the communication area containing the predetermined path. As a variation 2, the predetermined path can also be changed based on the communication quality of the predetermined path.

[0176] Reference Figure 11 The driving assistance processing of Modification Example 2 will be explained.

[0177] Processing of steps S401 to S405 Figure 7 The processes of steps S201 to S205 are the same.

[0178] (Step S406: Quality Request Processing)

[0179] The communication adjustment unit 214 of the driving assistance device 20 sends a quality acquisition request to the communication management device 10. This quality acquisition request requests the communication quality of the mobile body 70 at a predetermined time when it passes through a communication area containing the predetermined path determined in step S405. The quality acquisition request indicates the communication area and the predetermined time.

[0180] (Step S407: Processing of Relevant Information)

[0181] The information acquisition unit 111 of the communication management device 10 acquires related information about the communication area indicated in the quality acquisition request from the information providing device 50. This related information is information related to autonomous driving, such as weather information and road traffic information. The information acquisition unit 111 writes the related information into the storage unit 23.

[0182] (Step S408: Quality estimation processing)

[0183] The quality estimation unit 114 of the communication management device 10 sets each communication area indicated in the quality acquisition request as the target communication area. Then, it... Figure 7 Similarly, in step S214, the quality estimation unit 114 estimates the communication quality between the driving assistance device 20 and the control device 30 at a predetermined time for each communication area.

[0184] The quality estimation unit 114 sends a quality acquisition response to the driving assistance device 20. The quality acquisition response displays the estimated communication quality for each communication area indicated in the quality acquisition request.

[0185] (Step S409: Path redetering)

[0186] The communication adjustment unit 214 of the driver assistance device 20 and Figure 7 Similarly, in step S206, the required communication quality is determined based on the type of driving assistance service included in the start request for the driving assistance service.

[0187] The service decision unit 213 compares the communication quality of each communication area shown in the quality acquisition response with the required communication quality to determine whether a re-determined route is needed. Here, if there are communication areas where the communication quality is lower than that required to provide standard driver assistance services, the service decision unit 213 determines that a re-determined route is needed. If a re-determined route is determined, the service decision unit 213 re-determines a route that does not pass through the communication areas where the communication quality is lower than that required to provide standard driver assistance services as the new route.

[0188] (Step S410: Communication begins request processing)

[0189] The communication adjustment unit 214 of the driver assistance device 20 and Figure 7 Similarly, in step S207, a communication start request is sent to the communication management device 10.

[0190] Alternatively, steps S406 to S409 can be repeated until it is determined that there is no need to redetermine the predetermined path.

[0191] As described above, the service decision unit 213 of the driver assistance device 20 re-determines the predetermined route when there is a communication area with lower communication quality than required. This reduces the probability of the predetermined driver assistance service being unavailable due to decreased communication quality.

[0192] <Variation Example 3>

[0193] In Implementation 1, the communication quality is estimated for each control device 30. As a variation 3, the learning model 131 can also be updated using the communication quality estimated for the control device 30 and the communication quality measured from the actual communication of the control device 30.

[0194] Reference Figure 12 The quality estimation process for variation 3 is explained.

[0195] exist Figure 12 In this system, the driving assistance device 20 provides driving assistance services to the control device 30 mounted on mobile body 70A and the control device 30 mounted on mobile body 70B. Mobile body 70A is located within the communication area of ​​wireless relay device 40A, and the system estimates the past communication quality between wireless relay device 40A and driving assistance device 20 for control device 30 mounted on mobile body 70A. Furthermore, mobile body 70A is located within the communication area of ​​wireless relay device 40A, and the system actually measures the communication quality between wireless relay device 40A and driving assistance device 20 for control device 30 mounted on mobile body 70A.

[0196] Therefore, the communication learning unit 112 of the communication management device 10 takes the result obtained by comparing the estimated communication quality with the measured communication quality as input, and uses it to enable the learning model 131 to learn. At this time, the communication learning unit 112 uses, for example, a reinforcement learning method to enable the learning model 131 to learn.

[0197] exist Figure 12In this context, the mobile body 70B is located within the communication area of ​​the wireless relay device 40B, but the predetermined path includes the communication area of ​​the wireless relay device 40A. Therefore, the quality estimation unit 114 of the communication management device 10 uses a learning model 131, which is learned by comparing the estimated communication quality with the measured communication quality as input, to estimate the communication quality between the wireless relay device 40A and the driving assistance device 20 for the control device 30 mounted on the mobile body 70B.

[0198] As described above, the communication learning unit 112 of the communication management device 10 uses the communication quality estimated for other control devices 30 and the communication quality measured by actual communication with other control devices 30 to enable the learning model 131 to learn. As a result, the accuracy of communication quality estimation can be improved.

[0199] <Variation Example 4>

[0200] In Implementation Example 1, each functional structural element is implemented in software. However, as a variation 4, each functional structural element can also be implemented in hardware. Regarding this variation 4, the differences from Implementation Example 1 will be explained.

[0201] When the functional structural elements are implemented in hardware, the communication management device 10 includes electronic circuits to replace the processor 11, memory 12, and storage device 13. The electronic circuits are dedicated circuits that implement the functions of the various functional structural elements of the communication management device 10, the memory 12, and the storage device 13.

[0202] Similarly, when the various functional structural elements are implemented in hardware, the driver assistance device 20 has electronic circuitry to replace the processor 21, memory 22, and storage device 23. The electronic circuitry is a dedicated circuitry that implements the functions of the various functional structural elements of the driver assistance device 20, the memory 22, and the storage device 23.

[0203] Similarly, when the functional structural elements are implemented in hardware, the control device 30 has electronic circuitry to replace the processor 31, memory 32, and storage device 33. The electronic circuitry is a dedicated circuitry that implements the functions of the various functional structural elements of the control device 30, the memory 32, and the storage device 33.

[0204] Similarly, when the functional structural elements are implemented in hardware, the wireless repeater 40 has electronic circuitry to replace the processor 41, memory 42, and storage device 43. The electronic circuitry is a dedicated circuitry that implements the functions of the various functional structural elements of the wireless repeater 40, the memory 42, and the storage device 43.

[0205] As electronic circuits, we can assume single circuits, composite circuits, programmable processors, parallel programmable processors, logic ICs, GAs (Gate Arrays), ASICs (Application Specific Integrated Circuits), and FPGAs (Field-Programmable Gate Arrays).

[0206] Each functional structural element can be implemented by a single electronic circuit, or the functional structural elements can be distributed among multiple electronic circuits.

[0207] <Variation Example 5>

[0208] As a variation of Example 5, some of the functional structural elements can be implemented in hardware, while other functional structural elements can be implemented in software.

[0209] The processor 11, memory 12, storage 13, and electronic circuits are referred to as the processing circuit. That is, the functions of each functional structural element are realized by the processing circuit.

[0210] Implementation method 2.

[0211] The difference between Embodiment 2 and Embodiment 1 is that, in the case where the estimated communication quality is lower than the reference quality range, the control device 30 is notified via a roadside unit 80 located around the mobile body 70. In Embodiment 2, this difference will be explained, while the similarities will be omitted.

[0212] ***Structure Explanation***

[0213] Reference Figure 13 The structure of the driving assistance system 100 in Embodiment 2 will be described.

[0214] The driver assistance system 100 has multiple roadside machines 80 and Figure 1 The driving assistance system 100 shown is different. Each side unit 80 is connected to the communication network 60 via any wireless relay device 40.

[0215] Reference Figure 14 The structure of the roadside machine 80 in Embodiment 2 will be described.

[0216] The roadside unit 80 is a sensor system installed on the roadside and a computer that provides the acquired information to the driving assistance device 20 and the control device 30.

[0217] The roadside unit 80 includes hardware such as a processor 81, a memory 82, a storage device 83, and a communication interface 84. The processor 81 connects to other hardware via signal lines and controls these other hardware components. In addition, the roadside unit 80 connects to sensors 85 such as cameras and LiDAR via the communication interface 84.

[0218] The roadside unit 80 has a surrounding information acquisition unit 811, a surrounding information transmission unit 812, an auxiliary information acquisition unit 813, and an auxiliary information distribution unit 814 as functional structural elements. The functions of each functional structural element of the roadside unit 80 are implemented by software.

[0219] The memory 83 stores programs that implement the functions of each functional structural element of the roadside machine 80. These programs are read into the memory 82 by the processor 81 and executed by the processor 81. Thus, the functions of each functional structural element of the roadside machine 80 are implemented.

[0220] ***Instructions for the Actions***

[0221] Reference Figure 15 The operation of the driving assistance system 100 in Embodiment 2 will be explained.

[0222] (Step S501: Data communication processing)

[0223] Data communication is initiated between the driver assistance device 20 and the control device 30. Processing until the initiation of data communication and... Figure 7 The same applies to the driver assistance processes described.

[0224] When data communication begins, the surrounding information acquisition unit 811 of the roadside vehicle 80 collects information about the surrounding environment of the roadside vehicle 80 via the sensor 85. The surrounding information acquisition unit 811 analyzes the collected information to determine the category of surrounding objects. Object categories include vehicles, pedestrians, animals, obstacles such as fallen objects, etc. Furthermore, the surrounding information acquisition unit 811 determines the category of vehicles. Vehicle categories include passenger vehicles, trucks, and motorcycles, etc. In addition, the surrounding information acquisition unit 811 determines the distance and direction to the objects. Then, the surrounding information transmission unit 812 transmits the determined information to the driver assistance device 20.

[0225] (Step S502: Quality monitoring process)

[0226] and Figure 6 Similarly, in step S102, each wireless relay device 40 and driving assistance device 20 determines the communication quality.

[0227] (Step S503: Quality Degradation Notification Processing)

[0228] When the communication quality of the communication network 60 determined in step S502 is lower than the lower limit of the range of the reference quality, the communication adjustment unit 113 of the communication management device 10 sends a quality degradation notice notified to the control device 30 via the roadside unit 80. That is, when the communication adjustment unit 113 determines that the communication quality has deteriorated and the communication between the control device 30 and the wireless relay device 40 has become difficult, it sends a quality degradation notice to the control device 30 via the roadside unit 80.

[0229] The auxiliary information acquisition unit 813 of the roadside unit 80 receives the quality degradation notice. In this way, the auxiliary information distribution unit 814 of the roadside unit 80 sends the quality degradation notice to all the control devices 30 existing within the communication range.

[0230] (Step S504: Control method change process)

[0231] The integrated control unit 313 of the control device 30 receives the quality degradation notice sent in step S503. In this way, the integrated control unit 313 determines that the communication with the driving assistance device 20 has been interrupted or the delay in the communication with the driving assistance device 20 has become larger, and changes the control method of the moving body 70.

[0232] As a specific example, when the integrated control unit 313 receives the remote operation service of the provided remote-type autonomous driving, it causes a display device or the like mounted on the moving body 70 to display the start of manual driving accompanied by the stop of the autonomous driving function, and notifies the driver of the moving body 70 to switch to manual driving. After that, the integrated control unit 313 stops the control of devices such as the accelerator, the brake, and the steering device, and switches to the control of notifying the driver of the surrounding information.

[0233] ***Effects of Embodiment 2***

[0234] As described above, in the driving assistance system 100 of Embodiment 2, when the communication quality actually deteriorates, it is notified to each control device 30 via the roadside unit 80. Then, each control device 30 receives the notice and changes the control method of the moving body 70. Thereby, appropriate control corresponding to the communication quality can be achieved.

[0235] In addition, the "unit" in the above description can also be changed to "circuit", "process", "step", "processing", or "processing circuit".

[0236] As described above, the embodiments and modification examples of the present disclosure have been described. Some of these embodiments and modification examples can be implemented in combination. In addition, any one or several of them can be partially implemented. Further, the present disclosure is not limited to the above embodiments and modification examples, and various changes can be made as needed.

[0237] Explanation of reference numerals in the attached figures

[0238] 100 Driving assistance system, 10 Communication management device, 11 Processor, 12 Memory, 13 Storage, 14 Communication interface, 111 Information acquisition unit, 112 Communication learning unit, 113 Communication adjustment unit, 114 Quality estimation unit, 115 Notification unit, 131 Learning model, 132 Area information, 20 Driving assistance device, 21 Processor, 22 Memory, 23 Storage, 24 Communication interface, 211 Information acquisition unit, 212 Communication monitoring unit, 213 Service decision unit, 214 Communication adjustment unit, 215 Service provision unit, 231 Quality information, 232 Area information, 30 Control device 31 Processor, 32 Memory, 33 Storage, 34 Communication Interface, 311 Information Acquisition Unit, 312 Input Receiving Unit, 313 Integrated Control Unit, 40 Wireless Relay Device, 41 Processor, 42 Memory, 43 Storage, 44 Communication Interface, 411 Communication Monitoring Unit, 412 Communication Adjustment Unit, 50 Information Providing Device, 60 Communication Network, 70 Mobile Unit, 80 Roadside Unit, 81 Processor, 82 Memory, 83 Storage, 84 Communication Interface, 85 Sensor, 811 Information Acquisition Unit, 812 Information Transmission Unit, 813 Auxiliary Information Acquisition Unit, 814 Auxiliary Information Distribution Unit.

Claims

1. A communication management device, wherein, The communication management device includes: The quality estimation unit uses a learning model to estimate the communication quality between a control device mounted on a mobile body and a driving assistance device that provides driving assistance services to the control device. This communication quality is related to the communication quality of a communication area containing a predetermined path traversed by the mobile body at a predetermined time when the mobile body traverses the communication area. as well as The notification unit notifies the driving assistance device when the communication quality estimated by the quality estimation unit is outside the range of the baseline quality. The quality estimation unit estimates the communication quality at a time earlier than the predetermined time by a change time, where the change time is the time required to change the driving assistance service provided by the driving assistance device.

2. The communication management device according to claim 1, wherein, The quality estimation unit considers quality statistics and predetermined conditions to estimate the communication quality. The quality statistics represent the past communication quality and past control conditions of the communication area, and the predetermined conditions represent the control conditions of the communication area at the predetermined time.

3. The communication management device according to claim 2, wherein, The quality estimation unit uses the learning model generated by taking the quality statistics as input to estimate the communication quality. The learning model takes control conditions as input and outputs an estimate of the communication quality.

4. The communication management device according to any one of claims 1 to 3, wherein, The moving body is a vehicle. When the communication quality is below the lower limit of the reference quality range, the notification unit notifies the control device via a roadside unit located around the mobile body.

5. The communication management device according to claim 3, wherein, The communication management device further includes a learning unit that uses the communication quality estimated by the quality estimation unit and the communication quality measured when the mobile body passes through the communication area to enable the learning model to learn.

6. A communication management method, wherein, The quality estimation unit uses a learning model to estimate the communication quality between a control device mounted on a mobile body and a driving assistance device that provides driving assistance services to the control device. This communication quality is relative to the communication quality of a communication area encompassing a predetermined path traversed by the mobile body, and at a predetermined time when the mobile body passes through the communication area. The notification department will issue a notification if the estimated communication quality falls outside the range of the baseline quality. The quality estimation unit estimates the communication quality at a time earlier than the predetermined time by a change time, where the change time is the time required to change the driving assistance service provided by the driving assistance device.

7. A computer-readable recording medium containing a communication management program, wherein, The communication management program enables the computer to function as a communication management device. The communication management device performs the following processing: The quality estimation process uses a learning model to estimate the communication quality between a control device mounted on a mobile body and a driving assistance device that provides driving assistance services to the control device. This communication quality is relative to the communication quality of a communication area containing a predetermined path traversed by the mobile body at a predetermined time when the mobile body traverses the communication area. as well as The notification process involves issuing a notification if the communication quality estimated through the quality estimation process falls outside the range of the baseline quality. In the quality estimation process, the communication quality is estimated at a time earlier than the predetermined time by a change time, where the change time is the time required to change the driving assistance service provided by the driving assistance device.

8. A driving assistance device that provides driving assistance services to a control device mounted on a moving body, wherein, The driving assistance device includes: The service decision unit determines the type of driving assistance service to be provided to the control device based on the communication quality estimated using a learning model with respect to the communication area containing the predetermined path traversed by the mobile body, and the communication quality at a predetermined time when the mobile body traverses the communication area. as well as A service provision department provides the control device with driving assistance services of the category determined by the service decision department.

9. The driving assistance device according to claim 8, wherein, The driving assistance device also includes an information acquisition unit that acquires quality information representing the communication quality. When the information acquisition unit obtains the quality information, the service decision unit re-determines the category of the driving assistance service based on the communication quality indicated by the quality information.

10. The driving assistance device according to claim 8 or 9, wherein, The driving assistance device provides driving assistance services to multiple control devices. The driving assistance device also includes a communication adjustment unit that, based on the communication quality, adjusts the communication resources allocated for communication with each of the plurality of control devices, the communication resources being used to provide driving assistance services to the plurality of control devices respectively.

11. The driving assistance device according to claim 10, wherein, The communication adjustment unit reduces the communication resources allocated to communication with control devices that are provided with low-priority driving assistance services, and increases the communication resources allocated to communication with control devices whose communication quality is below the lower limit of the reference quality range.

12. The driving assistance device according to claim 8 or 9, wherein, The service decision-making department changes the predetermined path based on the communication quality.

13. The driving assistance device according to claim 10, wherein, The service decision-making department changes the predetermined path based on the communication quality.

14. The driving assistance device according to claim 11, wherein, The service decision-making department changes the predetermined path based on the communication quality.

15. A driving assistance method, which provides driving assistance services to a control device mounted on a moving body, wherein, The service decision unit determines the type of driving assistance service to be provided to the control device based on the communication quality estimated using a learning model between the control device and the driving assistance device. This communication quality relates to the communication quality of a communication area encompassing a predetermined path traversed by the mobile body, and to the communication quality at a predetermined time when the mobile body passes through the communication area. The service provider offers the determined category of driving assistance services to the control device.

16. A computer-readable recording medium recording a driving assistance program that provides driving assistance services to a control device mounted on a mobile body, wherein, The driving assistance program enables the computer to function as a driving assistance device. The driver assistance device performs the following actions: The service decision process determines the type of driving assistance service to be provided to the control device based on the communication quality between the control device and the driving assistance device estimated using a learning model. This communication quality is related to the communication quality of a communication area containing the predetermined path traversed by the mobile body at a predetermined time when the mobile body traverses the communication area. as well as The service provides processing to the control device, providing the category of driving assistance services determined by the service decision processing.

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