Communication management system, communication management method, mobile body, and management apparatus

Abstract

The present technology pertains to: a communication management system and a communication management method that allow efficient transmission of three-dimensional structure data from a mobile subject; a moving body; and a management device. The plan creation unit creates a plan for a transmission timing, which is a spatial timing at which a moving body transmits three-dimensional structure data through a transmission path among the moving paths of the moving body, on the basis of the state of the transmission path and the priority of the three-dimensional structure data to be used for generating the three-dimensional structure. The present technology can be applied, for example, to a communication management system or the like that allows updating a three-dimensional structure using three-dimensional structure data transmitted from a mobile body.

Description

Technical Field

[0001] The present technology relates to a communication management system, a communication management method, a movable object, and a management device, and more particularly to a communication management system, a communication management method, a movable object, and a management device that allow efficient transmission of three-dimensional structure diagram data from a movable object. Background Art

[0002] For example, for autonomous control or remote control of movable objects such as cars or drones, or measurement analysis using sensor data collected by movable objects, it is crucial to build fresh and highly accurate three-dimensional structure maps. For building such three-dimensional structure maps, it is necessary to frequently obtain highly accurate three-dimensional structure map data required for generating the three-dimensional structure map and update the three-dimensional structure map. Therefore, it is conceivable that the movable object obtains highly accurate three-dimensional structure map data while moving, and sends the three-dimensional structure map data to a device that updates the three-dimensional structure map so as to update the three-dimensional structure map.

[0003] A method for transmitting data from a movable object is, for example, a method of deciding collection conditions for collecting probe information based on a communication state in a collection target area of ​​the probe information and transmitting the probe information from a vehicle suitable for the collection conditions (see, for example, Patent Document 1).

[0004] Reference List

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2008-77143 Summary of the invention

[0007] Technical issues

[0008] However, in this method, data such as probe information is transmitted only from movable objects such as vehicles that meet the collection conditions, and therefore it may be difficult to transmit all required data depending on the communication status.

[0009] Therefore, there is a need to transmit all required three-dimensional structure map data by efficiently transmitting the three-dimensional structure map data from a movable object, but such a need has not yet been fully met.

[0010] The present technology has been proposed in view of such circumstances in order to allow efficient transmission of three-dimensional structure map data from a movable object.

[0011] Solutions to the Problem

[0012] According to the first aspect of the present technology, a communication management system is a communication management system including a plan generation unit, which generates a transmission timing plan as a spatial timing for a movable object to send three-dimensional structure diagram data on a transmission channel based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure diagram data to be used to generate the three-dimensional structure diagram.

[0013] According to the first aspect of the present technology, the communication management method includes the following operations implemented by the communication management system: based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure diagram data to be used to generate the three-dimensional structure diagram, a transmission timing plan is generated as the spatial timing of the movable object sending the three-dimensional structure diagram data on the transmission channel.

[0014] In the first aspect of the present technology, based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure diagram data to be used to generate the three-dimensional structure diagram, a plan of transmission timing as the spatial timing of the movable object sending the three-dimensional structure diagram data on the transmission channel is generated.

[0015] According to the second aspect of the present technology, a movable object is a movable object including a communication unit, which sends three-dimensional structure map data according to a plan of transmission timing which is a spatial timing for sending the three-dimensional structure map data, and the plan is generated based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure map data to be used for generating the three-dimensional structure map.

[0016] In a second aspect of the present technology, three-dimensional structure diagram data is sent according to a plan of transmission timing which is a spatial timing for sending the three-dimensional structure diagram data, and the plan is generated based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure diagram data to be used for generating the three-dimensional structure diagram.

[0017] According to the third aspect of the present technology, a management device includes: a plan generation unit, which generates a plan of transmission timing as a spatial timing for a movable object to send three-dimensional structure diagram data on a transmission channel based on the state of a transmission channel on a moving route of the movable object and the priority of three-dimensional structure diagram data to be used to generate the three-dimensional structure diagram; and a communication unit, which sends transmission plan information representing the plan generated by the plan generation unit to the movable object.

[0018] In the third aspect of the present technology, based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure diagram data to be used to generate the three-dimensional structure diagram, a transmission timing plan is generated as the spatial timing for the movable object to send the three-dimensional structure diagram data on the transmission channel, and the transmission plan information represented by the plan is sent to the movable object.

[0019] It should be noted that the communication includes wireless communication and wired communication, and may include communication that mixes wireless communication and wired communication, that is, wireless communication may be implemented in a specific interval, and wired communication may be implemented in another interval. In addition, wired communication may be implemented from a specific device to another device, and wireless communication may be implemented from the other device to the specific device.

[0020] The communication management system according to the first aspect, the movable object according to the second aspect, and the management device according to the third aspect can be realized by causing a computer to execute a program.

[0021] Furthermore, a program to be executed by a computer may be provided by transmitting the program via a transmission medium or recording the program on a recording medium for realizing the communication management system according to the first aspect, the movable object according to the second aspect, and the management apparatus according to the third aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a block diagram showing a configuration example of a first embodiment of a communication management system to which the present technology is applied.

[0023] Figure 2 is a view describing an example of the priority of each item of hierarchical data in each area.

[0024] Figure 3 is a view describing an example of a transmission plan.

[0025] Figure 4 is a view describing an example of transmission scheduling.

[0026] Figure 5 is a flowchart describing a map update process.

[0027] Figure 6 is a block diagram showing a configuration example of a second embodiment of a communication management system to which the present technology is applied.

[0028] Figure 7 is a view describing an example of the priority of each item of hierarchical data in each area.

[0029] Figure 8 is a view describing an example of a transmission plan.

[0030] Fig. 9 is a view describing an example of transmission scheduling.

[0031] Fig.10 is a flowchart describing the three-dimensional space model update process.

[0032] Fig.11 is a block diagram showing a configuration example of hardware of a computer. DETAILED DESCRIPTION

[0033] Hereinafter, a mode for carrying out the present technology (hereinafter referred to as an embodiment) will be described. It should be noted that the description will be given in the following order.

[0034] 1. First Embodiment (Communication Management System Including a Single Movable Object)

[0035] 2. Second Embodiment (Communication Management System Including Multiple Movable Objects)

[0036] 3. Computer

[0037] <First Embodiment>

[0038] <Configuration Example of Communication Management System>

[0039] Figure 1 is a block diagram showing a configuration example of a first embodiment of a communication management system to which the present technology is applied.

[0040] like Figure 1 As shown in , a communication management system 10 is used by a manager 12, and a user 11 requests the manager 12 to update a high definition (HD) map which is a high-precision three-dimensional map of a three-dimensional structure map.

[0041] The user 11 sets the desired requirements of the HD map. The requirements of the HD map are, for example, quality requirements such as accuracy, such as the resolution, feature quantity, and update frequency of the HD map, allowable requirements such as the allowable delay time of the update, and cost requirements such as the cost that can be spent to ensure the bandwidth during the update. The manager 12 analyzes the desired requirements of the HD map set by the user 11, generates an update plan for the HD map, and inputs it to the communication management system 10.

[0042] The communication management system 10 includes a management device 21, a cellular network 22, and a movable object 23. Based on an update plan input by the manager 12, the communication management system 10 updates the HD map using three-dimensional map data (three-dimensional structure diagram data) transmitted from the movable object 23.

[0043] Specifically, the management device 21 includes an acquisition unit 31 , a setting unit 32 , a plan generation unit 33 , an allocation unit 34 , a communication unit 35 , an update unit 36 ​​, and a storage unit 37 .

[0044] The acquisition unit 31 acquires the update plan of the HD map input from the manager 12 , and supplies it to the setting unit 32 .

[0045] The setting unit 32 sets the update requirement of the HD map based on the update plan of the HD map provided by the acquisition unit 31 and the requirement of the management device 21. Here, one or more data constituting the three-dimensional map are layered according to the change speed of the characteristic amount of the data. As one of the update requirements of the HD map, when the layered data as the data in each layer is acquired, the priority when the HD map is updated using the layered data is set for each area where the movable object 23 is located. For the layered data with a higher priority, a higher update frequency is requested in the update of the HD map.

[0046] The update requirement of the HD map includes the cost that can be spent to ensure the bandwidth during the update, the accuracy of the HD map, etc., and the priority of each hierarchical data in each area. The setting unit 32 supplies the set update requirement of the HD map to the plan generation unit 33.

[0047] The plan generation unit 33 obtains communication state information indicating the communication state of each time slot of the transmission channel in each cell of the cellular network 22, and the communication state information is provided by the cellular network 22. The communication state information is, for example, a congestion degree indicating the degree of congestion state in each time slot of the transmission channel in each cell. The plan generation unit 33 requests bandwidth information of the movement route from the cellular network 22 based on the movement route information indicating the movement route of the movable object 23 provided by the communication unit 35. The plan generation unit 33 obtains the bandwidth information provided by the cellular network 22 in accordance with the request.

[0048] Here, the transmission channel in each cell has multiple layers, and the multiple layers have different assumed values ​​of communication quality such as communication priority. The layering of the transmission channel is a slice, etc. to be used in the fifth generation mobile communication system (5G) technology. Information indicating the assumed value of the communication quality of the transmission channel is a 5G quality of service (QoS) identifier (5QI), etc. The cost required to ensure the bandwidth of the transmission channel varies according to each layer. For example, the cost for each layer is set so that the higher the communication quality, the higher the cost. Bandwidth information refers to information indicating the cost required to ensure the bandwidth for each layer of the transmission channel in each cell and the assumed value of the communication quality.

[0049] Based on the communication state information and the moving route information, the plan generation unit 33 detects the state of the transmission channel in each cell on the moving route of the movable object 23. Based on the state of the transmission channel, the bandwidth information, and the update requirement of the HD map, the plan generation unit 33 generates a plan of transmission timing including the time and space timing at which the movable object 23 transmits each item of layered data on the transmission channel and the transmission layer as the layer of the transmission channel.

[0050] Specifically, the schedule generating unit 33 generates a schedule of a transmission cell, which is a cell in which the movable object 23 is located when the hierarchical data is transmitted as a schedule of spatial transmission timing. The schedule generating unit 33 generates a schedule of transmission time, which indicates the time between when the movable object 23 moves into the transmission cell and when the movable object 23 transmits the hierarchical data as a schedule of temporal transmission timing. The schedule generating unit 33 provides the transmission schedule information indicating the transmission schedule as the generated schedule to the allocation unit 34 and the communication unit 35.

[0051] The allocation unit 34 allocates the transmission layer of the transmission cell for the transmission of the layered data at the transmission time, so that the layered data is transmitted in the transmission timing and the transmission layer according to the transmission schedule information provided by the schedule generation unit 33. Specifically, the allocation unit 34 generates allocation information indicating the transmission time, the transmission cell, and the transmission layer, and provides it to the cellular network 22, thereby requesting the control of the transmission channel.

[0052] The communication unit 35 receives the movement route information transmitted from the movable object 23 via the cellular network 22, and provides it to the plan generation unit 33. The communication unit 35 transmits the transmission plan information provided by the plan generation unit 33 to the movable object 23 via the cellular network 22. The communication unit 35 receives the layered data transmitted on the transmission channel in the transmission layer from the movable object 23 in the transmission cell at the transmission time via the cellular network 22, and provides it to the update unit 36.

[0053] The updating unit 36 ​​reads out the HD map stored in the storing unit 37. The updating unit 36 ​​updates the HD map based on the layer data supplied from the communication unit 35, and supplies the updated HD map to the storing unit 37.

[0054] The HD map is previously stored in the storage unit 37. The storage unit 37 updates the stored HD map using the HD map provided by the update unit 36.

[0055] The cellular network 22 is owned and managed by a communication service company. The cellular network 22 includes a determination unit 41 , a control unit 42 , a base station 43 , and a core network 44 .

[0056] The determination unit 41 determines the communication state of each cell, and supplies communication state information indicating the communication state to the plan generation unit 33 .

[0057] The control unit 42 manages the bandwidth information of each cell. The control unit 42 provides the bandwidth information of each cell on the moving route of the movable object 23 to the plan generation unit 33 according to the request from the plan generation unit 33. The control unit 42 controls the base station 43 and the core network 44, thereby controlling the communication between the movable object 23 and the management device 21. For example, the control unit 42 generates transmission control information based on the allocation information provided by the allocation unit 34, and controls the base station 43 to ensure the bandwidth of the transmission channel in the transmission layer for the movable object 23 in the transmission cell at the transmission time indicated by the allocation information. The control unit 42 provides the transmission control information to the base station 43.

[0058] The base station 43 implements wireless communication with the movable object 23 under the control of the control unit 42. Specifically, the base station 43 receives the movement route information wirelessly transmitted from the movable object 23, and transmits it to the management device 21 via the core network 44. The base station 43 wirelessly transmits the transmission plan information transmitted from the control unit 35 to the movable object 23 via the core network 44. Based on the transmission control information provided by the control unit 42, the base station 43 allocates a transmission channel in the transmission layer to the movable object 23 in the transmission cell at the transmission time, and receives the layered data transmitted from the movable object 23 on the transmission channel. The base station 43 transmits the layered data to the management device 21 via the core network 44.

[0059] The core network 44 attempts communication between the base station 43 and the management device 21 under the control of the control unit 42 .

[0060] The movable object 23 is a movable robot such as a vehicle, a robot, or a drone. The movable object 23 includes a data acquisition unit 51 , a planning unit 52 , a quality acquisition unit 53 , a control unit 54 , a communication unit 55 , and a storage unit 56 .

[0061] The data acquisition unit 51 acquires and layers three-dimensional map data as sensing data, such as captured image data representing three-dimensional information about the surrounding environment, and supplies the obtained layered data of each layer to the control unit 54 .

[0062] The planning unit 52 plans the movement route of the movable object 23 and moves the movable object 23 on the movement route. The planning unit 52 supplies movement route information indicating the movement route to the control unit 54. The planning unit 52 also acquires position information indicating the current position of the movable object 23 and supplies it to the control unit 54.

[0063] The quality acquisition unit 53 acquires an actual measurement value of the communication quality of the transmission channel with the cellular network 22 , and supplies it to the control unit 54 .

[0064] The control unit 54 provides the movement route information provided by the planning unit 52 to the communication unit 55 for transmitting the movement route information. Based on the position information from the planning unit 52, the actual measurement value of the communication quality from the quality acquisition unit 53, and the transmission plan information from the communication unit 55, the control unit 54 generates a transmission schedule indicating the time to transmit each item of hierarchical data, the transmission layer, the data amount and quality of each item of hierarchical data, etc.

[0065] Specifically, based on the position information and the transmission plan information, the control unit 54 generates a transmission schedule in which the transmission time is the time after the movable object 23 moves into the transmission cell and the transmission time has passed. Then, based on the actual measurement value of the communication quality, the control unit 54 adjusts the data amount and quality represented by the transmission schedule. The control unit 54 can stabilize the transmission of the hierarchical data through this adjustment.

[0066] According to the adjusted transmission schedule, the control unit 54 provides the hierarchical data provided by the data acquisition unit 51 to the storage unit 56 for temporary storage as needed. According to the adjusted transmission schedule, the control unit 54 provides the hierarchical data from the data acquisition unit 51 or the hierarchical data read out from the storage unit 56 to the communication unit 55 for transmission on the transmission channel in the transmission layer after the transmission time has passed after the movable object 23 moves into the transmission cell.

[0067] The communication unit 55 wirelessly transmits the movement route information provided by the control unit 54 to the cellular network 22. The communication unit 55 receives the transmission plan information wirelessly transmitted from the cellular network 22 and provides it to the control unit 54. The communication unit 55 transmits (uploads) the layered data provided by the control unit 54 via the cellular network 22 on the wireless transmission channel in the transmission layer.

[0068] The storage unit 56 temporarily stores the hierarchical data provided by the control unit 54. It should be noted that the storage unit 56 may be provided outside the movable object 23.

[0069] <Example of Priority of Hierarchical Data>

[0070] Figure 2 is a view describing an example of the priority of each item of hierarchical data in each area.

[0071] It should be noted that in Figure 2 In FIG. 1 , the X axis represents the position of the movable object 23 in the X direction when each hierarchical data item is acquired, and the Y axis represents the position in the Y direction. The Z axis represents the hierarchy of each hierarchical data item.

[0072] exist Figure 2In the example, the data constituting the three-dimensional map data are layered into four layers according to the speed of change of the characteristic quantity of the data. Specifically, the layered data of the first layer are static data, wherein the speed of change of the characteristic quantity of the layered data is low or zero. The layered data of the second layer are quasi-static data, wherein the speed of change of the characteristic quantity of the layered data is higher than the characteristic quantity of the static data. The layered data of the third layer are quasi-dynamic data, wherein the speed of change of the characteristic quantity of the layered data is higher than the characteristic quantity of the quasi-static data. Quasi-dynamic data are, for example, captured image data at a construction site. The layered data of the fourth layer are dynamic data, wherein the speed of change of the characteristic quantity of the layered data is higher than the characteristic quantity of the quasi-dynamic data. Dynamic data are, for example, captured image data of another moving vehicle.

[0073] exist Figure 2 In the example of , the layered data of the first layer acquired by the movable object 23 in areas 71 and 72 is static data with a low priority when used to update the HD map. In area 73, the layered data of the fourth layer acquired by the movable object 23 is dynamic data with a low priority when used to update the HD map. In area 74, the layered data of the second layer acquired by the movable object 23 is quasi-static data with a high priority when used to update the HD map. In area 75, the layered data of the third layer acquired by the movable object 23 is quasi-dynamic data with a high priority when used to update the HD map. In area 76, the layered data of the third layer acquired by the movable object 23 is quasi-dynamic data with a medium priority when used to update the HD map.

[0074] In this case, if Figure 2 As shown in , the setting unit 32 sets the low priority which is the lowest priority as the priority of the hierarchical data of the first layer in the areas 71 and 72 and the hierarchical data of the fourth layer in the area 73. The setting unit 32 sets the high priority which is the highest priority as the priority of the hierarchical data of the second layer in the area 74 and the hierarchical data of the third layer in the area 75. The setting unit 32 sets the medium priority which is the priority between the low priority and the high priority as the priority of the hierarchical data of the third layer in the area 76.

[0075] <Example of transfer plan>

[0076] Figure 3 is a view describing an example of a transmission plan.

[0077] It should be noted that in Figure 3 , the X axis represents the position of the movable object 23 in the X direction when each item of hierarchical data is transmitted, and the Y axis represents the position in the Y direction. The Z axis represents an assumed value of the communication quality of the transmission layer corresponding to each item of hierarchical data.

[0078] exist Figure 3 In the example of , the movement route 91 of the movable object 23 extends through three cells 101 to 103. The congestion level of the cell 101 is medium congestion which is higher than the first threshold and equal to or lower than the second threshold. The congestion level of the cell 102 is high congestion which is a congestion level higher than the second threshold. The congestion level of the cell 103 is low congestion which is a congestion level equal to or lower than the first threshold.

[0079] In this case, for example, in the case where the movable object 23 is in the cell 101 with medium congestion, the plan generation unit 33 generates a transmission plan according to the transmission strategy to send layered data with medium or higher priority on a transmission channel in a layer with medium quality (medium priority). Specifically, the plan generation unit 33 generates a transmission plan in which the transmission cell of the layered data with medium priority and high priority that has not yet been sent is the cell 101, the predetermined time is the transmission time, and the transmission layer is a layer with medium quality and medium cost.

[0080] As a result, the layer data 111 with medium priority acquired in the cell 101 is transmitted on the transmission channel in the layer with medium quality and medium cost in the medium congested cell 101. On the other hand, the layer data with low priority acquired in the cell 102 is temporarily stored in the storage unit 56.

[0081] For example, in the case where the movable object 23 is in a highly congested cell 102, the plan generation unit 33 also generates a transmission plan according to the transmission strategy to send layered data with a high priority on a transmission channel in a layer with high quality (high priority). Specifically, the plan generation unit 33 generates a transmission plan in which the transmission cell of the layered data with a high priority that has not yet been sent is the cell 102, the predetermined time is the transmission time, and the transmission layer is a layer with high quality and high cost.

[0082] Accordingly, even in the case where the cell 102 is highly congested, the hierarchical data 112 with a high priority acquired in the cell 102 is still transmitted at a high cost on a transmission channel in a high-quality layer in the cell 102. That is, in the case where the cell when the movable object 23 acquires the three-dimensional map data is a highly congested cell 102, the communication unit 55 transmits the hierarchical data with a high priority when acquiring the hierarchical data with a high priority of the three-dimensional map data. On the other hand, the hierarchical data with a medium priority and a low priority are temporarily stored in the storage unit 56.

[0083] In the case where the movable object 23 is in a cell 103 with low congestion, the plan generation unit 33 also generates a transmission plan according to the transmission strategy to send layered data with medium or higher priority on a transmission channel in a layer with low quality (low priority). Specifically, the plan generation unit 33 generates a transmission plan in which the transmission cell for layered data with all priorities that has not yet been sent is the cell 103, the predetermined time is the transmission time, and the transmission layer is a layer with low quality and low cost. It should be noted that the transmission time is determined as the time estimated to have the lowest congestion level between the time when the movable object 23 moves to the transmission cell and the time when the movable object 23 moves to another cell, based on communication status information, for example.

[0084] Accordingly, at the time when the congestion level is estimated to be the lowest in the low-congested cell 103, the layered data 113 with a low priority acquired in the cells 101 to 103 is transmitted at a lower cost on a transmission channel in a layer with a low quality. That is, in the case where the cell when the movable object 23 acquires the three-dimensional map data is the low-congested cell 103, the communication unit 55 transmits the three-dimensional map data and the layered data with a medium priority and a low priority temporarily stored in the storage unit 56.

[0085] As described above, the plan generation unit 33 generates a transmission plan in which all cells 101 to 103 are transmission cells for hierarchical data having a high priority, and thus hierarchical data having a high priority is transmitted in the same cell as the cell in which the hierarchical data is acquired. That is, in the case where the priority of the hierarchical data is high, the plan generation unit 33 generates a transmission plan so that the difference between the acquisition timing as the spatial timing of the movable object 23 acquiring the hierarchical data and the spatial timing of transmitting the hierarchical data is reduced. It should be noted that although Figure 3 In the example of , hierarchical data having a high priority is transmitted in the same cell as the cell from which the hierarchical data is acquired, but a cell other than the same cell may be used as long as it is an adjacent cell.

[0086] The plan generation unit 33 generates a transmission plan in which the cell 103 with low congestion is a transmission cell for hierarchical data with medium or higher priority that has not been transmitted, so that the hierarchical data with low priority that has not been transmitted in the cells 101 and 102 is transmitted when the movable object 23 moves to the cell 103 with low congestion. That is, in the case where the priority of the hierarchical data is low, the plan generation unit 33 generates a transmission plan so that the transmission timing of the hierarchical data becomes the timing when the movable object 23 is in the cell 103 with low congestion.

[0087] <Example of transmission schedule>

[0088] Figure 4 is a view describing an example of transmission scheduling.

[0089] Figure 4 The example is an example of acquiring three-dimensional map data necessary for updating an HD map of a metropolitan area while the movable object 23, which is an autonomous driving car, is moving. Figure 4 The moving route 131 of the movable object 23 on the map 130 of the urban area where the HD map is to be updated is shown. Figure 4 In the example, the congestion level of cells in area 141 on the west side of the urban area is moderate congestion, the congestion level of cells in area 142 on the northeast side is high congestion, and the congestion level in another area 143 is low congestion.

[0090] In this case, the control unit 54 generates a transmission schedule so that, for example, when the movable object 23 moves to the point 151 in the area 141 on the west side, the packet data with medium priority and high priority that have not yet been transmitted are transmitted on the transmission channel in the layer with medium cost and medium quality. Accordingly, the layer data with medium priority or high priority acquired until the movable object 23 moves to the point 151 is immediately transmitted on the transmission channel in the layer with medium cost and medium quality secured for the movable object 23 at the point 151.

[0091] The control unit 54 generates a transmission schedule so that, for example, when the movable object 23 moves to the point 152 in the area 142 on the northeast side, the layered data with a high priority that has not yet been transmitted is transmitted on the transmission channel in the layer with high quality at a high cost. Accordingly, the layered data with a high priority acquired until the movable object 23 moves from the point 151 to the point 152 is immediately transmitted on the transmission channel in the layer with high quality secured for the movable object 23 at the point 152 at a high cost.

[0092] The control unit 54 generates a transmission schedule so that when the estimated congestion level in the cells in the area 143 through which the movable object 23 passes is the lowest, Figure 4 In the example of , when the movable object 23 moves to the final point 153, the layered data with all priorities that have not been sent yet are sent on the transmission channel in the layer with low quality at a low cost. Accordingly, the layered data with low priority acquired during the movement from the point 151 to the final point 153 and the layered data with medium priority acquired during the movement from the point 152 to the final point 153 are uniformly sent on the transmission channel in the layer with low quality ensured for the movable object 23 at the final point 153 at a low cost.

[0093] <Description of Map Update Processing>

[0094] Figure 5 : is a flowchart describing a map update process for updating an HD map by the communication management system 10 .

[0095] exist Figure 5 In step S11 , the user 11 sets a desired request for the HD map. In step S12 , the user 11 sends the HD map request set in step S11 to the administrator 12 .

[0096] In step S21, the manager 12 receives a request for an HD map sent by the user 11. In step S22, the manager 12 analyzes the request for an HD map received in step S21 and generates an update plan for the HD map. In step S23, the manager 12 inputs the update plan generated in step S22 to the management device 21 of the communication management system 10.

[0097] On the other hand, in step S31, the planning unit 52 of the movable object 23 plans the movement route of the movable object 23, and provides movement route information indicating the movement route to the communication unit 55 via the control unit 54. In step S32, the communication unit 55 wirelessly transmits the movement route information to the cellular network 22.

[0098] In step S41, the base station 43 of the cellular network 22 receives the movement route information transmitted by the process in step S32. In step S42, the base station 43 transmits the movement route information received by the process in step S41 to the management device 21 via the core network 44.

[0099] In step S71, the communication unit 35 of the management device 21 receives the movement route information transmitted by the processing in step S42, and provides it to the plan generation unit 33. In step S72, the acquisition unit 31 acquires the update plan input by the processing in step S23, and provides it to the setting unit 32. In step S73, the setting unit 32 sets the update requirement of the HD map based on the update plan acquired in step S72 and the requirement of the management device 21, and provides it to the plan generation unit 33.

[0100] In step S43 following the process in step S42, the determination unit 41 determines the communication state of each cell. In step S44, the determination unit 41 supplies the plan generation unit 33 with communication state information indicating the communication state determined in the process in step S43.

[0101] In step S74, the plan generation unit 33 acquires the communication state information provided by the process in step S44. In step S75, the plan generation unit 33 requests the bandwidth information of the moving route from the cellular network 22 based on the moving route information received by the process in step S71.

[0102] In step S45, the control unit 42 receives a request for the process in step S75. In step S46, the control unit 42 provides the plan generation unit 33 with bandwidth information of each cell on the moving route of the movable object 23 according to the request received by the process in step S45.

[0103] In step S76, the plan generation unit 33 acquires the bandwidth information provided by the processing in step S46. In step S77, the plan generation unit 33 generates a transmission plan based on the movement route information, the update requirement, the communication status information, and the bandwidth information. Subsequently, the plan generation unit 33 provides the transmission plan information indicating the transmission plan to the allocation unit 34 and the communication unit 35.

[0104] In step S78, the allocation unit 34 generates allocation information so as to transmit the layered data in the transmission timing and transmission layer according to the transmission schedule information provided by the processing in step S77. In step S79, the allocation unit 34 provides the allocation information generated by the processing in step S78 to the cellular network 22.

[0105] In step S47, the control unit 42 acquires the allocation information provided by the process in step S79. In step S48, the control unit 42 generates transmission control information for controlling the base station 43 to secure the bandwidth of the transmission channel in the transmission layer for the movable object 23 in the transmission cell, and provides it to the base station 43 at the transmission time indicated by the allocation information acquired by the process in step S47. Accordingly, the base station 43 allocates the transmission channel in the transmission layer for the movable object 23 in the transmission cell at the transmission time based on the transmission control information.

[0106] In step S80 following the process in step S79 , the communication unit 35 transmits the transmission schedule information provided by the process in step S77 to the movable object 23 .

[0107] In step S49, the base station 43 receives the transmission schedule information transmitted through the core network 44 by the process in step S80. In step S50, the base station 43 transmits the transmission schedule information received by the process in step S49 to the movable object 23.

[0108] In step S33, the communication unit 55 receives the transmission schedule information transmitted by the process in step S50, and provides it to the control unit 54. In step S34, the data acquisition unit 51 acquires the three-dimensional map data and performs layering, and provides the obtained layered data of each layer to the control unit 54. The layered data is temporarily stored in the storage unit 56 as needed.

[0109] In step S35, the planning unit 52 acquires the location information and provides it to the control unit 54. In step S36, the quality acquisition unit 53 acquires the actual measurement value of the communication quality of the transmission channel with the cellular network 22 and provides it to the control unit 54. In step S37, the control unit 54 generates a transmission schedule based on the location information, the actual measurement value of the communication quality, and the transmission plan information.

[0110] In step S38, according to the transmission schedule generated by the processing in step S37, the control unit 54 provides the layered data to the communication unit 55 after the transmission time has passed after the movable object 23 moves into the transmission cell, so that the layered data is sent on the transmission channel in the transmission layer.

[0111] In step S51, the base station 43 receives the layered data transmitted by the process in step S38. In step S52, the base station 43 transmits the layered data received by the process in step S51 to the management device 21 via the core network 44.

[0112] In step S81, the communication unit 35 receives the hierarchical data transmitted by the process in step S52, and supplies it to the updating unit 36. In step S82, the updating unit 36 ​​updates the HD map stored in the storage unit 37 based on the hierarchical data received by the process in step S81, and supplies the updated HD map to the storage unit 37 for storage.

[0113] The processing in steps S34 to S38 , the processing in steps S51 and S52 , and the processing in steps S81 and S82 described above are repeatedly implemented until the movable object 23 reaches the final point of the movement route.

[0114] As described above, based on the state of the transmission channel on the moving route of the movable object 23 and the priority of the three-dimensional map data, the plan generation unit 33 generates a spatially-timing plan for the movable object 23 to send the three-dimensional map data on the transmission channel. Therefore, it is possible to efficiently send the three-dimensional map data from the movable object 23.

[0115] As a result, even when constraints on bandwidth (network resources) allocation of the transmission channel cause the upload throughput to be reduced due to congestion of the transmission channel, etc., and the congestion level changes with the movement of the movable object 23, the management device 21 is still able to efficiently collect necessary three-dimensional map data with high quality and update large-scale HD maps.

[0116] In contrast, when three-dimensional map data with all priorities is transmitted in real time at high cost in a layer with high quality, necessary three-dimensional map data can be collected with high quality, but bandwidth utilization efficiency is low and the cost required to secure bandwidth is higher.

[0117] It should be noted that the movement route of the movable object 23 may be detected based on the update plan of the HD map by the management device 21. In this case, the management device 21 transmits the movement route information to the movable object 23 via the cellular network 22.

[0118] <Second Embodiment>

[0119] <Configuration Example of Communication Management System>

[0120] Figure 6 is a block diagram showing a configuration example of a second embodiment of a communication management system to which the present technology is applied.

[0121] exist Figure 6 In the communication management system 210, Figure 1 The corresponding parts of the communication management system 10 in the communication management system 210 are marked with the same reference numerals. Therefore, the description of these parts is omitted where appropriate, and the parts different from the communication management system 10 will be mainly described. The communication management system 210 is different from the communication management system 10 in that the three-dimensional space model data simultaneously acquired by a plurality of movable objects is used as a three-dimensional structure diagram to update the three-dimensional space model, and the configuration of other parts is similar to that of the communication management system 10.

[0122] The user 211 sets the desired requirements of the three-dimensional space model. The requirements of the three-dimensional space model are, for example, quality requirements such as accuracy, such as the resolution, feature quantity, and update frequency of the three-dimensional space model, allowable requirements such as the allowable delay time of the update, and cost requirements such as the cost that can be spent to ensure the bandwidth during the update. The manager 212 analyzes the desired requirements of the three-dimensional space model set by the user 211, generates an update plan for the three-dimensional space model, and inputs it to the communication management system 210.

[0123] The communication management system 210 includes a management device 221, a cellular network 222, and N movable objects 223-1 to 223-N (N represents an integer greater than 1). Based on the update plan input by the manager 212, the communication management system 210 updates the three-dimensional space model using the three-dimensional space model data (three-dimensional structure diagram data) sent from the N movable objects 223-1 to 223-N. Hereinafter, if there is no particular need to distinguish between the N movable objects 223-1 to 223-N, they are collectively referred to as movable objects 223.

[0124] The management device 221 includes an acquisition unit 231 , a setting unit 232 , a plan generation unit 233 , an allocation unit 234 , a communication unit 235 , an update unit 236 , and a storage unit 237 .

[0125] Since the acquisition unit 231 and the setting unit 232 are similar to the acquisition unit 31 and the setting unit 32 respectively, the description thereof is omitted except that the HD map is replaced by a three-dimensional space model and the three-dimensional map data is replaced by three-dimensional space model data.

[0126] The plan generation unit 233 obtains the communication state information provided by the cellular network 222. Based on the preset moving route of each movable object 223, the plan generation unit 233 requests the bandwidth information of the moving route of each movable object 223 from the cellular network 222. As the moving route of each movable object 223, for example, a path moving back and forth between a starting point and an object corresponding to the three-dimensional space model is set based on an update plan of the three-dimensional space model. The plan generation unit 233 obtains the bandwidth information of each movable object 223 provided by the cellular network 222 according to the request.

[0127] The plan generation unit 233 detects the state of the transmission channel in each cell on the moving route of each movable object 223 based on the communication state information and the moving route of each movable object 223. The plan generation unit 233 generates a transmission plan for each movable object 223 based on the state of the transmission channel, the bandwidth information, and the update requirement of the three-dimensional space model for each movable object 223. The plan generation unit 233 provides the transmission plan information of each movable object 223 to the allocation unit 234 and the communication unit 235.

[0128] The allocation unit 234 allocates the transmission layer of the transmission cell for the transmission of the layered data at the transmission time, so that for each movable object 223, the layered data is transmitted in the transmission timing and the transmission layer according to the transmission schedule information provided by the schedule generation unit 233. Specifically, the allocation unit 234 generates allocation information for each movable object 223 and provides it to the cellular network 22, thereby requesting the control of the transmission channel.

[0129] The communication unit 235 transmits the transmission plan information of each movable object 223 provided by the plan generation unit 233 to each movable object 223 via the cellular network 22. The communication unit 235 receives the layered data transmitted on the transmission channel in the transmission layer from the movable object 223 in the transmission cell at the transmission time via the cellular network 222, and provides it to the update unit 236.

[0130] The updating unit 236 reads out the three-dimensional space model stored in the storing unit 237. The updating unit 236 updates the three-dimensional space model based on the hierarchical data supplied from the communication unit 235, and supplies the updated three-dimensional space model to the storing unit 237.

[0131] The three-dimensional space model is previously stored in the storage unit 237. The storage unit 237 updates the stored three-dimensional space model using the three-dimensional space model provided by the updating unit 36.

[0132] The cellular network 222 is different from the cellular network 22 in that it includes a control unit 242 and a base station 243 to replace the control unit 42 and the base station 43 , and the configuration of other parts is similar to that of the cellular network 22 .

[0133] The control unit 242 manages the bandwidth information of each cell. The control unit 242 provides the moving route of the bandwidth information of each movable object 223 of each cell to the plan generation unit 233 according to the request from the plan generation unit 233. The control unit 242 controls the base station 243 and the core network 44, thereby controlling the communication between each movable object 223 and the management device 221. For example, the control unit 242 generates transmission control information based on the allocation information of each movable object 223 from the allocation unit 234, so as to control the base station 243 to ensure the transmission channel in the transmission layer for the movable object 223 that is in the transmission cell at the transmission time indicated by the allocation information. The control unit 242 provides the transmission control information to the base station 243.

[0134] The base station 243 implements wireless communication with each movable object 223 under the control of the control unit 242. Specifically, the base station 243 wirelessly transmits the transmission plan information transmitted from the communication unit 235 to each movable object 223 via the core network 44 to the movable object 223. Based on the transmission control information provided by the control unit 242, the base station 243 allocates a transmission channel in the transmission layer to the movable object 223 in the transmission cell at the transmission time, and receives the layered data transmitted from the movable object 223 on the transmission channel. The base station 243 transmits the layered data to the management device 221 via the core network 44.

[0135] The movable object 223 is, for example, a drone. The movable object 223 is different from the movable object 23 in that it includes a data acquisition unit 251, a planning unit 252, a control unit 254, and a communication unit 255 to replace the data acquisition unit 51, the planning unit 52, the control unit 54, and the communication unit 55, and the configuration of other parts is similar to that of the movable object 23.

[0136] The data acquisition unit 251 is, for example, a visual sensor, which acquires difference data indicating the difference between a captured image and an image retained in advance as three-dimensional space model data and performs layering. The data acquisition unit 251 supplies the obtained layered data of each layer to the control unit 254.

[0137] The planning unit 252 manages a preset movement route of the movable object 223 and moves the movable object 223 on the movement route. The planning unit 252 also acquires position information of the movable object 223 and provides it to the control unit 254.

[0138] As in the control unit 54, the control unit 254 generates a transmission schedule based on the position information from the planning unit 252, the actual measurement value of the communication quality from the quality acquisition unit 53, and the transmission plan information from the communication unit 255. According to the transmission schedule, the control unit 254 provides the hierarchical data provided by the data acquisition unit 251 to the storage unit 56 for temporary storage as needed. According to the transmission schedule, the control unit 254 provides the hierarchical data from the data acquisition unit 251 or the hierarchical data read out from the storage unit 56 to the communication unit 255 for transmission on the transmission channel in the transmission layer after the transmission time has passed after the movable object 223 moves to the transmission cell.

[0139] The communication unit 255 receives the transmission schedule information wirelessly transmitted from the cellular network 222, and supplies it to the control unit 254. The communication unit 255 transmits the layered data supplied from the control unit 254 via the cellular network 222 over a wireless transmission channel in the transmission layer.

[0140] <Example of Priority of Hierarchical Data>

[0141] Figure 7 is a view describing an example of the priority of each item of hierarchical data in each area.

[0142] It should be noted that in Figure 7 In FIG. 1 , the X axis represents the position of the movable object 223 in the X direction when each hierarchical data item is acquired, and the Y axis represents the position in the Y direction. The Z axis represents the hierarchy of each hierarchical data item.

[0143] exist Figure 7 In the example, Figure 2 As in the example of , the data constituting the three-dimensional space model data are stratified into four layers according to the change speed of the feature quantity of the data.

[0144] exist Figure 7 In the example of , the hierarchical data of the first layer acquired by the movable object 223 in the area 271 is static data with a low priority when used to update the three-dimensional space model. The hierarchical data of the fourth layer acquired by the movable object 223 in the area 272 is dynamic data with a high priority when used to update the three-dimensional space model.

[0145] In this case, if Figure 7 As shown in FIG. 27 , the setting unit 232 sets the low priority as the priority of the hierarchical data of the first layer in the area 271. The setting unit 232 sets the high priority as the priority of the hierarchical data of the fourth layer in the area 272.

[0146] <Example of transfer plan>

[0147] Figure 8 is a view describing an example of a transmission plan.

[0148] It should be noted that in Figure 8 , the X axis represents the position of the movable object 223 in the X direction when each item of hierarchical data is transmitted, and the Y axis represents the position in the Y direction. The Z axis represents an assumed value of the communication quality of the transmission layer corresponding to each item of hierarchical data.

[0149] exist Figure 8 In the example of , N is 3, and each of the movable objects 223-1 to 223-3 is a drone that moves back and forth. Specifically, the movable object 223-1 moves back and forth between the cell 301 and the cell 302 on the moving route 291. The movable object 223-2 moves back and forth between the cell 303 and the cell 302 on the moving route 292. The movable object 223-3 moves back and forth between the cell 304 and the cell 302 on the moving route 293. Figure 8 In the example of FIG. 5 , the congestion levels of cells 301 , 303 , and 304 are low congestion, and the congestion level of cell 302 is high congestion.

[0150] In this case, for example, in the case where the movable object 223-1 is in the cell 301 with low congestion, the plan generation unit 233 generates a transmission plan according to the transmission strategy to transmit the layered data with medium or higher priority on the transmission channel in the layer with low quality. Specifically, the plan generation unit 233 generates a transmission plan in which the transmission cell of the layered data with all priorities that has been acquired by the movable object 223-1 and has not yet been transmitted is the cell 301, the predetermined time is the transmission time, and the transmission layer is the layer with low quality and low cost. It should be noted that Figure 3 As in the example of , for example, based on the communication state information, the transmission time is determined to be the time estimated to have the lowest congestion level between the time when the movable object 223-1 moves to the transmission cell and the time when the movable object 223-1 moves to another cell. Accordingly, at the time when the congestion level is estimated to be the lowest in the low-congested cell 301, the layer data 311 with low priority obtained by the movable object 223-1 in the cell 301 or 302 is sent on the transmission channel in the layer with low quality at a lower cost.

[0151] In addition, regarding the movable objects 223-2 and 223-3, for example, in the case where the movable object 223-2 (223-3) is in a cell 303 (304) with low congestion, the plan generation unit 233 generates a transmission plan according to the transmission strategy to transmit layer data with medium or higher priority on a transmission channel in a layer with low quality. Accordingly, in a time band in which the congestion level is estimated to be the lowest in the cell 303 (304) with low congestion, the layer data 312 (313) with low priority acquired by the movable object 223-2 (223-3) in the cell 302 or 303 (304) is transmitted on a transmission channel in a layer with low quality at a lower cost.

[0152] For example, in the case where the movable objects 223-1 to 223-3 are in a highly congested cell 302, the plan generation unit 233 also generates a transmission plan based on the transmission strategy to send layered data with a high priority on a transmission channel in a layer with high quality. Specifically, the plan generation unit 233 generates a transmission plan in which the transmission cell of the layered data with a high priority that has not yet been sent is the cell 302, the predetermined time is the transmission time, and the transmission layer is a high-cost layer with high quality. Accordingly, even in the highly congested cell 302, the layered data 314 with a high priority acquired by the movable objects 223-1 to 223-3 in the cell 302 is still sent in the cell 302 on a transmission channel in a layer with high quality at a high cost.

[0153] As described above, the plan generation unit 233 generates a transmission plan in which all cells 301 to 304 are transmission cells for hierarchical data having a high priority, so that the hierarchical data having a high priority is transmitted in the same cell as the cell from which the hierarchical data is acquired.

[0154] The plan generation unit 233 generates a transmission plan in which the cells 301, 303 and 304 with low congestion are transmission cells for hierarchical data with medium or higher priority. Therefore, hierarchical data with low priority is transmitted when the movable object 223 is in the cells 301, 303 or 304 with low congestion.

[0155] <Example of transmission schedule>

[0156] Fig. 9 is a view describing an example of transmission scheduling.

[0157] Fig. 9 The example is an example of a case where a three-dimensional space model of a construction site in an urban area is updated in real time using the three-dimensional space model data of the two movable objects 223 - 1 and 223 - 2 . Fig. 9 A map 330 of the urban area is shown.

[0158] exist Fig. 9 In the example of , the construction site 331 is located on the east side of the urban area. The movable object 223-1 moves back and forth to the construction site 331 along the moving route 332, thereby acquiring the three-dimensional space model data of the construction site 331. At the same time, the movable object 223-2 moves back and forth to the construction site 331 along the moving route 333, thereby acquiring the three-dimensional space model data of the construction site 331.

[0159] exist Fig. 9 In the example of , the congestion level of the cells in the area 341 including the construction site 331 is high congestion, and the congestion level of another area 342 is low congestion. In this case, the control unit 254 of the movable object 223-1 generates a transmission schedule so that, for example, when the movable object 223-1 moves to a point 351 in the area 341, the layered data with a high priority that has not yet been transmitted is transmitted on a transmission channel in a layer with high quality at a high cost. Accordingly, the layered data with a high priority that needs to be updated in real time, for example, in the three-dimensional space model acquired at the construction site 331, is immediately transmitted at a high cost on a transmission channel in a layer with high quality ensured for the movable object 223-1 at the point 351.

[0160] The control unit 254 of the movable object 223-1 generates a transmission schedule so that when the estimated congestion level in the cells in the area 342 through which the movable object 223-1 passes is the lowest, Fig. 9 In the example, when the movable object 223 moves to the point 352, the layered data with all priorities that have not been transmitted are transmitted at a low cost on the transmission channel in the layer with low quality. Accordingly, the layered data with a priority lower than the high priority acquired before reaching the point 352 are uniformly transmitted on the transmission channel in the layer with low cost and low quality secured for the movable object 223-1 at the point 352.

[0161] As in the control unit 254 of the movable object 223-1, the control unit 254 of the movable object 223-2 generates a transmission schedule. Accordingly, hierarchical data with a high priority that needs to be updated in real time in the three-dimensional space model acquired at the construction site 331, for example, is immediately transmitted at a high cost on a transmission channel in a layer with high quality secured for the movable object 223-2 at the point 353. Hierarchical data with a priority lower than the high priority acquired before reaching the point 354 is uniformly transmitted on a transmission channel in a layer with low cost and low quality secured for the movable object 223-2 at the point 354.

[0162] As described above, even in the case where the construction site 331 is a highly congested cell in the area 341, the movable objects 223-1 and 223-2 transmit the layered data acquired simultaneously with a high priority in real time using the transmission channel in the layer with high quality. Therefore, the movable objects 223-1 and 223-2 can simultaneously transmit the layered data acquired simultaneously with a high priority at or above a certain level of communication quality.

[0163] Movable objects 223-1 and 223-2 transmit, for example, layered data as static data with low priority acquired in the surrounding area at the construction site 331 in a low-congestion cell having surplus capacity in communication performance in area 342, or layered data as non-urgent but high-resolution and ultra-large-capacity dynamic data acquired at the construction site 331.

[0164] It should be noted that the movable objects 223-1 and 223-2 can also generate a transmission schedule so that the hierarchical data with a low priority is not transmitted in the cell near the construction site 331 regardless of the congestion level of the transmission channel. Accordingly, the movable objects 223-1 and 223-2 can transmit the hierarchical data with a low priority in different cells. As a result, the communication quality can be improved compared to the case of transmitting in the same cell.

[0165] The three-dimensional spatial model of the construction site 331 updated using the hierarchical data sent in the transmission schedule as described above can be used for applications such as progress management of the construction site 331, for example.

[0166] <Description of Three-Dimensional Space Model Update Processing>

[0167] Fig.10 Detailed Description of the Invention 3D space model updating process for updating the 3D space model by the communication management system 210 is described in detail.

[0168] exist Fig.10 In step S211 , the user 211 sets a desired requirement for the three-dimensional space model. In step S212 , the user 211 sends the three-dimensional space model requirement set in step S211 to the administrator 212 .

[0169] In step S221, the manager 212 receives the request for the three-dimensional space model sent by the user 211. In step S222, the manager 212 analyzes the request for the three-dimensional space model received in step S221 and generates an update plan for the three-dimensional space model. In step S223, the manager 212 inputs the update plan generated by the processing in step S222 to the management device 221.

[0170] In step S271, the acquisition unit 231 acquires the update plan input by the processing in step S223, and supplies it to the setting unit 232. In step S272, the setting unit 232 sets the update requirement of the three-dimensional space model based on the update plan acquired by the processing in step S271 and the requirement of the management device 221, and supplies it to the plan generation unit 233. Subsequently, the processing continues to the processing in step S273.

[0171] The processing in steps S241, S242 and S273 is similar to Figure 5 The processing in steps S43, S44 and S74 is omitted, and thus the description thereof is omitted. In step S274, the plan generation unit 233 requests bandwidth information of the movement route from the cellular network 222 based on the movement route of each movable object 223 set in advance.

[0172] The processing in steps S243, S244 and S275 is similar to Figure 5 The processing in steps S45, S46 and S76 is omitted, and therefore the description thereof is omitted.

[0173] In step S276 following the processing in step S275, the plan generation unit 233 generates a transmission plan based on the movement route information, the update requirement, the communication status information, and the bandwidth information for each movable object 223. Then, the plan generation unit 233 provides the transmission plan information of each movable object 223 to the allocation unit 234 and the communication unit 235. Then, the processing proceeds to the processing in step S277.

[0174] In step S277, the allocation unit 234 generates allocation information so that the layered data is transmitted in the transmission timing and transmission layer according to the transmission schedule information provided by the processing in step S277 for each movable object 223. In step S278, the allocation unit 234 provides the allocation information of each movable object 223 generated by the processing in step S277 to the cellular network 222.

[0175] In step S245, the control unit 242 acquires the allocation information of each movable object 223 provided by the process in step S278. In step S246, the control unit 242 generates transmission control information based on the allocation information of each movable object 223 acquired by the process in step S245, and provides it to the base station 243. Accordingly, the base station 243 allocates a transmission channel in the transmission layer to the movable object 223 in the transmission cell at the transmission time based on the transmission control information.

[0176] In step S279 following the process in step S278 , the communication unit 235 transmits the transmission schedule information of each movable object 223 provided by the process in step S276 to the movable object 223 .

[0177] In step S247, the base station 243 receives the transmission schedule information addressed to each movable object 223 transmitted via the core network 44 through the processing in step S279. In step S248, the base station 243 wirelessly transmits the transmission schedule information addressed to each movable object 223 received through the processing in step S247 to the movable object 223.

[0178] In step S231, the communication unit 255 of each movable object 223 receives the transmission plan information transmitted by the processing in step S248, and provides it to the control unit 254. In step S232, the data acquisition unit 251 acquires the three-dimensional space model data and performs layering. The data acquisition unit 251 provides the obtained layered data of each layer to the control unit 254. Then, the processing continues to the processing in step S233. The processing in steps S233 to S236 is similar to Figure 5 The processing in steps S35 to 38 is omitted, and therefore the description thereof is omitted.

[0179] The processing in steps S249 and S250 is similar to Figure 5 The processing in steps S51 and S52 is omitted, and thus the description thereof is omitted.

[0180] In step S280, the communication unit 235 receives the hierarchical data transmitted by the process in step S250, and supplies it to the updating unit 236. In step S281, the updating unit 236 updates the three-dimensional space model stored in the storage unit 237 based on the hierarchical data received by the process in step S280, and supplies the updated three-dimensional space model to the storage unit 237 for storage.

[0181] The processing in steps S232 to S236, the processing in steps S249 and S250, and the processing in steps S280 and S281 are repeatedly implemented until the movable object 223 reaches the final point of the movement route.

[0182] As described above, based on the status of the transmission channels on the respective moving routes of the plurality of movable objects 223 and the priority of the three-dimensional space model data, the plan generation unit 233 generates a plan of spatial transmission timing for each movable object 223 to send the three-dimensional space model data on the transmission channel. Therefore, it is possible to efficiently send the three-dimensional space model data from each movable object 223. As a result, even if there is a constraint on the allocation of the bandwidth of the transmission channel, the management device 221 can efficiently collect the three-dimensional space model data in multiple viewpoints from the plurality of movable objects 223 at a high speed and update the three-dimensional space model.

[0183] Although the three-dimensional space model is updated in the second embodiment, the large-scale HD map may be updated using three-dimensional map data as in the first embodiment. In this case, the management device 221 may pre-set the movement route of each movable object 223. Alternatively, each movable object 223 may set the movement route of each movable object 223, and the movement route information may be sent to the management device 221.

[0184] It should be noted that the communication management system 10 (210) may generate an HD map (three-dimensional space model) instead of updating the HD map (three-dimensional space model).

[0185] The transmission time and transmission layer of layered data with different priorities sent in the same cell can be different. For example, as long as the HD map (three-dimensional space model) can be updated within the cost required for updating the HD map (three-dimensional space model), the transmission layer of layered data with a high priority can always be a high-quality layer regardless of the congestion level of the cell.

[0186] <Computer Configuration Example>

[0187] The aforementioned series of processes of the communication management system 10 (200) can be executed by hardware or software. If the series of processes are executed by software, the program constituting the software is installed in a computer. Here, the computer includes, for example, a computer incorporated in dedicated hardware, a general-purpose personal computer, etc., which can execute various functions by installing various programs.

[0188] Fig.11 : is a block diagram showing a hardware configuration example of a computer that executes a series of processes of the aforementioned communication management system 10 (200) according to a program.

[0189] In the computer 400 , a central processing unit (CPU) 401 , a read only memory (ROM) 402 , and a random access memory (RAM) 403 are connected to each other via a bus 404 .

[0190] An input / output interface 405 is also connected to the bus 404 . An input unit 406 , an output unit 407 , a storage unit 408 , a communication unit 409 , and a drive 410 are connected to the input / output interface 405 .

[0191] The input unit 406 includes a keyboard, a mouse, a microphone, etc. The output unit 407 includes a display, a speaker, etc. The storage unit 408 includes a hard disk, a nonvolatile memory, etc. The communication unit 409 includes a network interface, etc. The drive 410 drives a removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, and a semiconductor memory.

[0192] In the computer thus configured, the CPU 401 loads, for example, a program stored in the storage unit 408 into the RAM 403 via the input / output interface 405 and the bus 404 and executes the program. In this way, the aforementioned series of processing is implemented.

[0193] The program executed by the computer (CPU 401) can be provided by being recorded in the removable medium 411 as a package medium, for example. In addition, the program can be provided via a wired or wireless transmission medium such as a local area network, the Internet, and digital satellite broadcasting.

[0194] In the computer, the program can be installed in the storage unit 408 through the input / output interface 405 by mounting the removable medium 411 on the drive 410. In addition, the program can be received by the communication unit 409 through a wired or wireless transmission medium and can be installed in the storage unit 408. In addition, the program can be pre-installed in the ROM 402 or the storage unit 408.

[0195] It should be noted that the program executed by the computer may be a program that is processed in time series in the order described in this specification, or may be a program that is processed in parallel or at a required timing such as upon calling.

[0196] In this specification, a system means a collection of multiple components (devices, modules (components), etc.), and it is not important whether all the components are contained in the same housing. Therefore, multiple devices housed in separate housings and connected via a network and a single device including multiple modules housed in the same housing are both considered as a system.

[0197] The embodiments of the present technology are not limited to the aforementioned embodiments, and various modifications can be made without departing from the gist of the present technology.

[0198] For example, all or some of the above-described embodiments may be employed in combination.

[0199] For example, the present technology may be implemented in a cloud computing configuration in which multiple devices share and collaborate to process a single function over a network.

[0200] Furthermore, the various steps described above with reference to the aforementioned flowcharts may be shared and executed by a plurality of apparatuses, rather than being performed by a single apparatus.

[0201] Furthermore, if a single step is composed of a plurality of processes, the plurality of processes of the single step may be shared and executed by a plurality of devices rather than being executed by a single device.

[0202] It should be noted that the effects described herein are merely examples and not limitations, and effects other than those described herein may be provided.

[0203] It should be noted that the present technology may also take the following configurations.

[0204] (1) A communication management system comprising:

[0205] A plan generating unit generates a plan for transmission timing as spatial timing for a movable object to send three-dimensional structure map data on a transmission channel based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure map data to be used to generate the three-dimensional structure map.

[0206] (2) The communication management system according to (1), wherein

[0207] The transmission timing is configured as a cell in which the movable object is located when transmitting the three-dimensional structure map data.

[0208] (3) A communication management system according to (1) or (2), wherein

[0209] In a case where the priority of the three-dimensional structure map data is high, the plan generation unit generates the plan so that a difference between an acquisition timing which is a spatial timing at which the movable object acquires the three-dimensional structure map data and a transmission timing is reduced.

[0210] (4) The communication management system according to (3), wherein

[0211] When the priority of the three-dimensional structure diagram data is low, the schedule generating unit generates the schedule so that the transmission timing becomes a timing at which the congestion degree indicating the degree of the congestion state of the transmission channel is equal to or lower than a threshold value.

[0212] (5) The communication management system according to (4), wherein

[0213] The movable object is configured to send three-dimensional structure map data with high priority when acquiring three-dimensional structure map data when the congestion level is higher than a threshold value according to the transmission timing, and to send three-dimensional structure map data with low priority when the congestion level becomes equal to or lower than the threshold value.

[0214] (6) The communication management system according to (5), wherein

[0215] The movable object causes the storage unit to store the acquired three-dimensional structure map data having a low priority, and reads out and transmits the three-dimensional structure map data stored in the storage unit when the congestion degree becomes equal to or lower than a threshold value.

[0216] (7) The communication management system according to (6), wherein

[0217] The movable object is configured to transmit according to the transmission timing when acquiring the three-dimensional structure map data, if the congestion level when acquiring the three-dimensional structure map data is equal to or lower than a threshold value.

[0218] (8) The communication management system according to any one of (1) to (7), wherein

[0219] The transmission channel consists of multiple layers with different communication qualities, and

[0220] The schedule generating unit is configured to generate a schedule of layers and transmission timing for transmitting the three-dimensional structure diagram data based on the state of the transmission channel, the priority, and the cost required to secure a bandwidth for each layer.

[0221] (9) The communication management system according to any one of (1) to (8), further comprising:

[0222] An updating unit updates the three-dimensional structure graph based on the three-dimensional structure graph data.

[0223] (10) The communication management system according to (9), further comprising

[0224] A setting unit sets the priority of the three-dimensional structure diagram data based on the update plan of the three-dimensional structure diagram.

[0225] (11) The communication management system according to (10), further comprising

[0226] Get the update plan acquisition unit, where

[0227] The setting unit is configured to set the priority based on the update plan acquired by the acquisition unit.

[0228] (12) The communication management system according to any one of (1) to (11), further comprising a determination unit that determines a state of a transmission channel, wherein

[0229] The schedule generating unit is configured to generate a schedule based on the status and priority of the transmission channel determined by the determining unit.

[0230] (13) The communication management system according to any one of (1) to (12), wherein

[0231] The plan generation unit is configured to generate plans for each of the plurality of movable objects based on states of transmission channels on movement routes of each of the plurality of movable objects and priorities of the three-dimensional structure map data.

[0232] (14) The communication management system according to (1), wherein

[0233] The transmission timing is configured as a time and space timing for transmitting the three-dimensional structure map data.

[0234] (15) A communication management method, comprising:

[0235] Based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure map data to be used to generate the three-dimensional structure map, a transmission timing plan is generated as the spatial timing for the movable object to send the three-dimensional structure map data on the transmission channel.

[0236] (16) A movable object comprising

[0237] A communication unit that sends three-dimensional structure map data according to a plan of transmission timing as a spatial timing for sending the three-dimensional structure map data, wherein the plan is generated based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure map data to be used for generating the three-dimensional structure map.

[0238] (17) The movable object according to (16), wherein

[0239] The communication unit is configured to receive transmission plan information indicating a plan from a management device that generates a plan, and transmit the three-dimensional structure diagram data according to the plan indicated by the transmission plan information.

[0240] (18) A management device comprising:

[0241] a plan generating unit that generates a plan of transmission timing as a spatial timing for the movable object to send the three-dimensional structure map data on the transmission channel based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure map data to be used for generating the three-dimensional structure map; and

[0242] The communication unit transmits transmission plan information indicating the plan generated by the plan generation unit to the movable object.

[0243] (19) The management device according to (18), wherein

[0244] The plan generation unit is configured to generate a plan for each of the plurality of movable objects based on the states and priorities of the transmission channels on the movement routes of the plurality of movable objects, and

[0245] The communication unit transmits transmission schedule information indicating a schedule of the movable object to each of the plurality of movable objects.

[0246] Reference numerals list

[0247] 10——Communication Management System

[0248] 21 - Management Device

[0249] 23 - Movable Objects

[0250] 31 - Get Unit

[0251] 32 - Setting unit

[0252] 33 - Plan generation unit

[0253] 35 - Communication unit

[0254] 36 - Update Unit

[0255] 41 - Determine the unit

[0256] 55 - Communication unit

[0257] 56 - Storage unit

[0258] 91, 131——Moving route

[0259] 210——Communication Management System

[0260] 221——Management Device

[0261] 223-1 to 223-N - Movable Objects

[0262] 231 - Get Unit

[0263] 232——Setting unit

[0264] 233——Plan Generation Unit

[0265] 235——Communication unit

[0266] 236 - Update Unit

[0267] 255 - Communication unit

[0268] 291 to 293, 332, 333 - Moving route

Claims

1. A communication management system, comprising: A plan generating unit generates a plan for transmission timing as spatial timing for a movable object to send three-dimensional structure map data on a transmission channel based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure map data to be used to generate the three-dimensional structure map.

2. The communication management system according to claim 1, wherein The transmission timing is configured as a cell in which the movable object is located when transmitting the three-dimensional structure map data.

3. The communication management system according to claim 1, wherein In a case where the priority of the three-dimensional structure map data is high, the plan generation unit generates the plan so that a difference between an acquisition timing which is a spatial timing at which the movable object acquires the three-dimensional structure map data and a transmission timing is reduced.

4. The communication management system according to claim 3, wherein When the priority of the three-dimensional structure diagram data is low, the schedule generating unit generates the schedule so that the transmission timing becomes a timing at which the congestion degree indicating the degree of the congestion state of the transmission channel is equal to or lower than a threshold value.

5. The communication management system according to claim 4, wherein The movable object is configured to send three-dimensional structure map data with high priority when acquiring three-dimensional structure map data when the congestion level is higher than a threshold value according to the transmission timing, and to send three-dimensional structure map data with low priority when the congestion level becomes equal to or lower than the threshold value.

6. The communication management system according to claim 5, wherein The movable object causes the storage unit to store the acquired three-dimensional structure map data having a low priority, and reads out and transmits the three-dimensional structure map data stored in the storage unit when the congestion degree becomes equal to or lower than a threshold value.

7. The communication management system according to claim 6, wherein The movable object is configured to transmit according to the transmission timing when acquiring the three-dimensional structure map data, if the congestion level when acquiring the three-dimensional structure map data is equal to or lower than a threshold value.

8. The communication management system according to claim 1, wherein The transmission channel consists of multiple layers with different communication qualities, and The schedule generating unit is configured to generate a schedule of layers and transmission timing for transmitting the three-dimensional structure diagram data based on the state of the transmission channel, the priority, and the cost required to secure a bandwidth for each layer.

9. The communication management system according to claim 1, further comprising An updating unit updates the three-dimensional structure graph based on the three-dimensional structure graph data.

10. The communication management system according to claim 9, further comprising A setting unit sets the priority of the three-dimensional structure diagram data based on the update plan of the three-dimensional structure diagram.

11. The communication management system according to claim 10, further comprising Get the update plan acquisition unit, where The setting unit is configured to set the priority based on the update plan acquired by the acquisition unit.

12. The communication management system according to claim 1, further comprising a determination unit for determining a state of a transmission channel, wherein The schedule generating unit is configured to generate a schedule based on the status and priority of the transmission channel determined by the determining unit.

13. The communication management system according to claim 1, wherein The plan generation unit is configured to generate plans for each of the plurality of movable objects based on states of transmission channels on movement routes of each of the plurality of movable objects and priorities of the three-dimensional structure map data.

14. The communication management system according to claim 1, wherein The transmission timing is configured as a time and space timing for transmitting the three-dimensional structure map data.

15. A communication management method, comprising: performing the following operations by a communication management system: Based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure map data to be used to generate the three-dimensional structure map, a transmission timing plan is generated as the spatial timing for the movable object to send the three-dimensional structure map data on the transmission channel.

16. A movable object comprising: A communication unit that sends three-dimensional structure map data according to a plan of transmission timing as a spatial timing for sending the three-dimensional structure map data, wherein the plan is generated based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure map data to be used for generating the three-dimensional structure map.

17. The movable object according to claim 16, wherein The communication unit is configured to receive transmission plan information indicating a plan from a management device that generates a plan, and transmit the three-dimensional structure diagram data according to the plan indicated by the transmission plan information.

18. A management device, comprising: a plan generating unit that generates a plan of transmission timing as a spatial timing for the movable object to send the three-dimensional structure map data on the transmission channel based on the state of the transmission channel on the moving route of the movable object and the priority of the three-dimensional structure map data to be used for generating the three-dimensional structure map; as well as The communication unit transmits transmission plan information indicating the plan generated by the plan generation unit to the movable object.

19. The management device according to claim 18, wherein The plan generation unit is configured to generate a plan for each of the plurality of movable objects based on the states and priorities of the transmission channels on the movement routes of the plurality of movable objects, and The communication unit transmits transmission schedule information indicating a schedule of the movable object to each of the plurality of movable objects.

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