Communication control method, communication system, and transmitting-side apparatus

Abstract

To suppress communication delay when transmitting data from a transmission side device to a reception side device by using a plurality of communication lines.SOLUTION: The communication control method controls communication between a transmission-side device and a reception-side device. The communication control method includes a data transmission process of transmitting a plurality of types of transmission target data in parallel from a transmission-side device to a reception-side device using a plurality of communication lines. The data transmission processing includes acquiring a communication possible speed of each of the plurality of communication lines, acquiring data priorities of the plurality of types of transmission target data, sequentially selecting the plurality of communication lines one by one, and allocating the plurality of types of transmission target data to the selected communication line in order of the data priorities such that the plurality of types of transmission target data are used up to a designated speed equal to or lower than the communication possible speed of the selected communication line.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a technique for transmitting data from a transmitting device to a receiving device using multiple communication lines. [Background technology]

[0002] Patent Document 1 discloses a data transmission control method for transmitting data from a source node to a destination node via multiple communication paths. The source node distributes and transmits transmission data to the multiple communication paths. More specifically, the source node adaptively determines a distribution ratio for the transmission data to the multiple communication paths based on quality information of the multiple communication paths. The source node then transmits packets, each assigned a series of sequence numbers, to the multiple communication paths at the determined distribution ratio. The destination node rearranges the packets received from the multiple communication paths in order of sequence numbers. The destination node also measures the communication quality of the multiple communication paths and feeds back the measurement results to the source node as quality information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-007361 Summary of the Invention [Problem to be solved by the invention]

[0004] Consider sending data from a sending device to a receiving device using multiple communication lines. Each communication line has its own available communication speed (the amount of data that can be transmitted per unit time). If a certain communication line is assigned data to be sent that exceeds its available communication speed, some of the data to be sent will remain in the buffer, increasing communication delays (especially queuing delays) on that communication line.

[0005] An object of the present disclosure is to provide a technique capable of suppressing communication delays when transmitting data from a transmitting device to a receiving device using multiple communication lines. [Means for solving the problem]

[0006] The first aspect relates to a communication control method for controlling communication between a transmitting device and a receiving device. The communication control method includes a data transmission process for transmitting multiple types of transmission target data in parallel from a transmitting device to a receiving device using multiple communication lines. The data transmission process is acquiring the communication speed available for each of a plurality of communication lines; Obtaining data priorities of a plurality of types of data to be transmitted; selecting a plurality of communication lines one by one in sequence; Allocating multiple types of transmission target data to the selected communication line in order of data priority so that the selected communication line is used up to a designated speed that is less than the available communication speed of the selected communication line. Includes: The plurality of types of data to be transmitted include first data to be transmitted and second data to be transmitted that has a data priority lower than that of the first data to be transmitted. The plurality of communication lines includes a first communication line and a second communication line selected next to the first communication line. If there is a margin in the designated speed of the first communication line after the first data to be transmitted is allocated to the first communication line, the data transmission process allocates at least a part of the second data to be transmitted to the first communication line. If the designated speed of the first communication line is used up when a part of the first data to be transmitted is allocated to the first communication line, the data transmission process allocates the remainder of the first data to be transmitted to the second communication line.

[0007] The second aspect relates to a communication system. The communication system comprises a sending device and a receiving device. The transmitting device executes a data transmission process for transmitting a plurality of types of transmission target data to the receiving device in parallel using a plurality of communication lines. The data transmission process is acquiring the communication speed available for each of a plurality of communication lines; Obtaining data priorities of a plurality of types of data to be transmitted; selecting a plurality of communication lines one by one in sequence; Allocating multiple types of transmission target data to the selected communication line in order of data priority so that the selected communication line is used up to a designated speed that is less than the available communication speed of the selected communication line. Includes: The plurality of types of data to be transmitted include first data to be transmitted and second data to be transmitted that has a data priority lower than that of the first data to be transmitted. The plurality of communication lines includes a first communication line and a second communication line selected next to the first communication line. If there is a margin in the designated speed of the first communication line after the first data to be transmitted is allocated to the first communication line, the data transmission process allocates at least a part of the second data to be transmitted to the first communication line. If the designated speed of the first communication line is used up when a part of the first data to be transmitted is allocated to the first communication line, the data transmission process allocates the remainder of the first data to be transmitted to the second communication line.

[0008] A third aspect relates to a sending device transmitting data to a receiving device. The transmitting device includes a control device that executes a data transmission process for transmitting a plurality of types of transmission target data to the receiving device in parallel using a plurality of communication lines. The data transmission process is acquiring the communication speed available for each of a plurality of communication lines; Obtaining data priorities of a plurality of types of data to be transmitted; selecting a plurality of communication lines one by one in sequence; Allocating multiple types of transmission target data to the selected communication line in order of data priority so that the selected communication line is used up to a designated speed that is less than the available communication speed of the selected communication line. Includes: The plurality of types of data to be transmitted include first data to be transmitted and second data to be transmitted that has a data priority lower than that of the first data to be transmitted. The plurality of communication lines includes a first communication line and a second communication line selected next to the first communication line. If there is a margin in the designated speed of the first communication line after the first data to be transmitted is allocated to the first communication line, the data transmission process allocates at least a part of the second data to be transmitted to the first communication line. If the designated speed of the first communication line is used up when a part of the first data to be transmitted is allocated to the first communication line, the data transmission process allocates the remainder of the first data to be transmitted to the second communication line. [Effects of the Invention]

[0009] According to the present disclosure, multiple communication lines are selected one by one in sequence. Then, data to be transmitted is assigned to the selected communication line so as to be used at a designated speed that is equal to or less than the communication speed of the selected communication line. In other words, data to be transmitted is assigned to the selected communication line so as not to exceed the communication speed of the selected communication line. Therefore, communication delays are suppressed. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram illustrating an overview of a communication system according to an embodiment of the present disclosure. [Figure 2] 3 is a conceptual diagram for explaining a first example of a data transmission process by a transmitting device according to an embodiment of the present disclosure. FIG. [Figure 3] FIG. 10 is a conceptual diagram for explaining a second example of a data transmission process by a transmitting device according to an embodiment of the present disclosure. [Figure 4] 10 is a flowchart illustrating a second example of a data transmission process by a transmitting device according to an embodiment of the present disclosure. [Figure 5] FIG. 10 is a conceptual diagram for explaining a third example of a data transmission process by a transmitting device according to an embodiment of the present disclosure. [Figure 6] 10 is a flowchart illustrating a third example of a data transmission process by a transmitting device according to an embodiment of the present disclosure. [Figure 7] 1 is a conceptual diagram for explaining an overview of a remote control system according to an embodiment of the present disclosure. [Figure 8] FIG. 2 is a conceptual diagram illustrating a first example of data priority of data to be transmitted according to an embodiment of the present disclosure. [Figure 9] FIG. 10 is a conceptual diagram illustrating a second example of the data priority of data to be transmitted according to an embodiment of the present disclosure. [Figure 10] 1 is a block diagram illustrating an example configuration of a vehicle according to an embodiment of the present disclosure. [Figure 11] FIG. 2 is a block diagram illustrating a configuration example of a remote operator terminal according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0012] 1.Communication Systems 1 is a block diagram for explaining an overview of a communication system 1 according to this embodiment. The communication system 1 includes a transmitting device 10, a receiving device 20, and a communication network 30. The transmitting device 10 and the receiving device 20 are connected to each other via the communication network 30. The transmitting device 10 transmits data to the receiving device 20 via the communication network 30. The receiving device 20 receives data from the transmitting device 10 via the communication network 30.

[0013] The transmitting device 10 is configured to be able to use multiple communication lines L1 to Ln, where n is an integer equal to or greater than 2. The multiple communication lines L1 to Ln can also be referred to as multiple communication methods or multiple communication carriers. For example, the communication method can be a normal cellular method provided by a mobile network operator (MNO), an inexpensive cellular method provided by a mobile virtual network operator (MVNO), a wireless local area network (wireless LAN) method, etc. The communication costs differ between the multiple communication methods. In the above example, the wireless LAN method is the cheapest, and the normal cellular method is the most expensive.

[0014] As shown in FIG. 1, the transmitting device 10 includes a plurality of communication interfaces 11-1 to 11-n and a control device 12.

[0015] The multiple communication interfaces 11-1 to 11-n correspond to multiple communication lines L1 to Ln (multiple communication methods, multiple communication carriers), respectively. The multiple communication interfaces 11-1 to 11-n may be realized by different physical interfaces, or may be realized by a combination of a common physical interface and different logical interfaces.

[0016] The control device 12 controls the transmitting device 10. For example, the control device 12 executes a "data transmission process" for transmitting data to be transmitted from the transmitting device 10 to the receiving device 20. The control device 12 is realized, for example, by the cooperation of a processor and a control program. The control program is stored in a storage device. The processor executes the control program, thereby realizing the functions of the control device 12. The control program may be recorded on a computer-readable recording medium.

[0017] The receiving device 20 includes a control device 22. The control device 22 controls the receiving device 20. For example, the control device 22 receives data transmitted from the transmitting device 10. The control device 22 is realized, for example, by cooperation between a processor and a control program. The control program is stored in a storage device. The processor executes the control program to realize the functions of the control device 22. The control program may be recorded on a computer-readable recording medium.

[0018] 2. Data transmission processing using multiple communication lines Hereinafter, a data transmission process using multiple communication lines L1 to Ln will be considered. A transmitting device 10 (control device 12) can transmit multiple types of transmission target data D1 to Dm in parallel using multiple communication lines L1 to Ln (multiple communication interfaces 11-1 to 11-n), where m is an integer equal to or greater than 2.

[0019] The transmitting device 10 may divide a certain piece of data Dj to be transmitted and transmit the plurality of divided data in parallel via different communication lines. Identification information including a sequence number is assigned to each data unit (packet, frame) of the data Dj to be transmitted. The receiving device 20 receives the plurality of divided data transmitted via different communication lines. Based on the sequence numbers assigned to the received divided data, the receiving device 20 can appropriately combine the plurality of divided data to restore the original data Dj.

[0020] In this embodiment, we particularly focus on the possible communication speed Ri [bps] of a communication line Li (i = 1 to n). The possible communication speed Ri of a communication line Li is the amount of data that can be transmitted per unit time through that communication line Li. The possible communication speed Ri can also be called a bandwidth.

[0021] When data to be transmitted that exceeds the communication speed Ri of a communication line Li is allocated to the communication line Li, a part of the data to be transmitted remains in a buffer, and communication delays (especially queuing delays) on the communication line Li increase. This embodiment proposes a technique that can suppress such communication delays.

[0022] 2-1. First example 2 is a conceptual diagram for explaining a first example of data transmission processing by the transmitting-side device 10. In this example, it is assumed that there are four types of transmission target data D1 to D4 and three communication lines L1 to L3. The data amount [bps] per unit time of transmission target data Dj (j=1 to 4) is represented by Aj.

[0023] The transmitting device 10 acquires the possible communication speed Ri of each communication line Li (i = 1 to 3). The possible communication speed Ri of the communication line Li may be an actual measurement value or an estimated value. For example, the possible communication speed Ri (throughput) can be measured based on the amount of data transmitted from the transmitting device 10 to the receiving device 20 via the communication line Li and feedback from the receiving device 20. As another example, a communication history database may be prepared in which the actual measurement values ​​of the possible communication speed Ri of the communication line Li are accumulated for each location. By referring to the communication history database, the possible communication speed Ri of the communication line Li in the vicinity of the location of the transmitting device 10 can also be estimated (predicted). Note that various methods have been proposed for measuring or estimating the possible communication speed Ri, and the estimation method is not particularly limited in this embodiment.

[0024] Furthermore, the transmitting-side device 10 acquires the data priorities of the data D1 to D4 to be transmitted. The data priorities are set according to a predetermined policy. Examples of setting the data priorities will be described later. In the example shown in FIG. 2, the data priority of the data D1 to be transmitted is the highest, the data priority of the data D2 to be transmitted is the next highest, the data priority of the data D3 to be transmitted is the next highest, and the data priority of the data D4 to be transmitted is the lowest.

[0025] Furthermore, the transmitting device 10 selects the plurality of communication lines L1 to L3 one by one in order. Here, the transmitting device 10 may obtain the line priorities of the plurality of communication lines L1 to L3 and select the plurality of communication lines L1 to L3 one by one in the order of line priorities. For example, the line priority of the communication line Li may be set higher as the possible communication speed Ri is higher. As another example, the line priority of the communication line Li may be set higher as the communication cost is lower. In the example shown in FIG. 2, the line priority of the communication line L1 is the highest and the line priority of the communication line L3 is the lowest.

[0026] The selected communication line Li will be referred to as the "selected communication line Ls" hereinafter. The transmitting device 10 performs a "data allocation process" to allocate data to be transmitted to the selected communication line Ls so that the selected communication line Ls can be used up to a designated speed Ss that is equal to or lower than the available communication speed Rs. For example, the designated speed Ss is set to be the same as the available communication speed Rs. As another example, the designated speed Ss may be set to "Rs-αs" taking into account a certain margin αs.

[0027] More specifically, in the data allocation process, the transmitting device 10 allocates the multiple types of data to be transmitted D1-D4 to the selected communication line Ls in the order of the above-mentioned data priority so that the selected communication line Ls is used up to the specified rate Ss. When the data to be transmitted has been allocated up to the specified rate Ss of the selected communication line Ls, the next one of the multiple communication lines L1-L3 is selected, and the data allocation process is performed in the same manner. It should be noted that there is not necessarily a one-to-one allocation relationship between the multiple types of data to be transmitted D1-D4 and the multiple communication lines.

[0028] In the example shown in FIG. 2, first, communication line L1 is selected. Data to be transmitted D1 and a portion of data to be transmitted D2 are assigned to communication line L1 so that the selected communication line L1 is used up to the designated speed S1. Next, communication line L2 is selected. The remaining data to be transmitted D2, data to be transmitted D3, and a portion of data to be transmitted D4 are assigned to communication line L2 so that the selected communication line L2 is used up to the designated speed S2. Next, communication line L3 is selected, and the remaining data to be transmitted D4 is assigned to communication line L3.

[0029] Then, the transmitting-side device 10 transmits the data allocated to each of the communication lines L1 to L3 to the receiving-side device 20 via each of the communication lines L1 to L3. As a result, multiple types of transmission target data D1 to D4 are transmitted in parallel to the receiving-side device 20 via the communication lines L1 to L3.

[0030] 2-2. Second example 3 is a conceptual diagram for explaining a second example of data transmission processing by the transmitting-side device 10. Explanations that overlap with the first example above will be omitted as appropriate.

[0031] In the example shown in Figure 3, the specified speed (S1+S2+S3) for all communication lines L1-L3 is insufficient for the amount of data per unit time (A1+A2+A3+A4) of data D1-D4 to be transmitted. After all of the specified speeds for communication lines L1-L3 are used up, there remains data to be transmitted that has not been allocated to any communication line. Such data to be transmitted will be referred to as "unassigned data" hereinafter.

[0032] According to the second example, when unallocated data occurs, the transmitting device 10 discards the unallocated data without allocating it to any communication line. In other words, the transmitting device 10 excludes the unallocated data from the data to be transmitted, and does not transmit the unallocated data to the receiving device 20.

[0033] As described above, data to be transmitted is assigned to the selected communication line Ls in the order of data priority, so that data with a high data priority is guaranteed to be transmitted. Data with a low data priority may become unassigned. Therefore, the impact of discarding unassigned data is minimized.

[0034] 4 is a flowchart showing a second example of the data transmission process. In step S11, the transmitting device 10 acquires the possible communication speed Ri of each communication line Li. In step S12, the transmitting device 10 acquires the data priority of the data to be transmitted D1 to Dm.

[0035] In step S13, the transmitting side device 10 selects the plurality of communication lines L1 to Ln one by one in order. The transmitting side device 10 may obtain the line priorities of the plurality of communication lines L1 to Ln and select the plurality of communication lines L1 to Ln one by one in the order of line priorities.

[0036] In step S14, the transmitting device 10 performs a data allocation process. That is, the transmitting device 10 allocates the data to be transmitted D1 to Dm to the selected communication line Ls in order of data priority so that the selected communication line Ls is used up to the designated speed Ss, which is less than the available communication speed Rs. When the data to be transmitted has been allocated up to the designated speed Ss of the selected communication line Ls, the process proceeds to step S15.

[0037] In step S15, the transmitting-side device 10 determines whether or not allocation of all of the transmission target data D1 to Dm has been completed. If allocation of all of the transmission target data D1 to Dm has been completed (step S15; Yes), the process proceeds to step S19. Otherwise (step S15; No), the process proceeds to step S16.

[0038] In step S16, the transmitting device 10 determines whether all of the communication lines L1 to Ln have been selected. If there are communication lines that have not yet been selected (step S16; No), the process returns to step S13, and the next communication line is selected. On the other hand, if all of the communication lines L1 to Ln have been selected (step S16; Yes), the process proceeds to step S17.

[0039] In step S17, the transmitting-side device 10 discards the unallocated data without allocating it to any communication line. That is, the transmitting-side device 10 excludes the unallocated data from the data to be transmitted. Then, the process proceeds to step S19.

[0040] In step S19, the transmitting-side device 10 transmits the data allocated to each of the communication lines L1 to Ln to the receiving-side device 20 via each of the communication lines L1 to Ln.

[0041] 2-3. Third Example 5 is a conceptual diagram for explaining a third example of data transmission processing by the transmitting-side device 10. Explanations that overlap with the second example above will be omitted as appropriate.

[0042] Among the multiple communication lines L1 to Ln, the one with the lowest line priority will be referred to as the "lowest priority communication line." In the example shown in Fig. 5, the communication line L3 is the lowest priority communication line. According to the third example, when unallocated data occurs, the transmitting side device 10 allocates the unallocated data to the lowest priority communication line at a rate exceeding the designated speed of the lowest priority communication line.

[0043] Since data to be transmitted is allocated at a rate exceeding the designated speed of the lowest priority communication line, communication delays may occur on the lowest priority communication line. However, data to be transmitted with a relatively low data priority is allocated to the lowest priority communication line. Communication delays for data to be transmitted with a relatively low data priority are tolerable. On the other hand, communication delays for data to be transmitted with a high data priority are suppressed.

[0044] 6 is a flowchart showing a third example of the data transmission process. Compared to the second example shown in FIG. 4, step S17 is replaced by step S18. In step S18, the transmitting device 10 allocates unallocated data to the lowest priority communication line at a rate exceeding the designated speed of the lowest priority communication line. The rest is the same as FIG. 4.

[0045] 2-4.Effects As described above, according to this embodiment, the plurality of communication lines L1 to Ln are selected one by one in order. Then, the data to be transmitted is allocated to the selected communication line Ls so that the selected communication line Ls is used up to the designated speed Ss, which is equal to or lower than the communication speed Rs of the selected communication line Ls. In other words, the data to be transmitted is allocated to the selected communication line Ls so that the communication speed Rs of the selected communication line Ls is not exceeded. Therefore, the occurrence of queuing delays is suppressed. In other words, communication delays when transmitting data using the plurality of communication lines L1 to Ln are suppressed.

[0046] Furthermore, according to this embodiment, multiple types of transmission target data D1 to Dm are assigned to the selected communication line Ls in the order of data priority. Therefore, transmission of transmission target data with high data priority is guaranteed. Furthermore, communication delays of transmission target data with high data priority are suppressed.

[0047] The plurality of communication lines L1 to Ln may be selected one by one in the order of line priority, which is preferable because data to be transmitted with a high data priority is assigned to a communication line with a high line priority.

[0048] The line priority of a communication line Li may be set higher as the available communication speed Ri increases. In this case, data to be transmitted is allocated to the communication line Li in order of the available communication speed Ri. As a result, the number of communication lines in use may be reduced. This is preferable from the viewpoint of reducing communication costs.

[0049] The designated rate Ss may be equal to the possible communication rate Rs, in which case the possible communication rate Rs of the selected communication line Ls can be used effectively without waste.

[0050] 3.Remote Control System Hereinafter, as an application example of the communication system 1 according to the present embodiment, a "remote control system" that remotely controls (remotely drives) a moving object will be considered. Examples of moving objects that can be remotely controlled include vehicles, robots, and flying objects. The vehicle may be an autonomous vehicle or a vehicle driven by a driver. Examples of robots include logistics robots and work robots. Examples of flying objects include airplanes and drones.

[0051] As an example, in the following description, a case will be considered in which the moving object to be remotely controlled is a vehicle. To generalize, the term "vehicle" in the following description will be read as "moving object."

[0052] FIG. 7 is a schematic diagram showing an example of the configuration of a remote operation system. The remote operation system includes a vehicle 100, a remote operator terminal 200, and a management device 300. The vehicle 100 is the target of remote operation. The remote operator terminal 200 is a terminal device used by a remote operator O to remotely operate the vehicle 100. The remote operator terminal 200 can also be called a remote operation HMI (Human Machine Interface). The management device 300 manages the remote operation system. Typically, the management device 300 is a management server on the cloud. The management server may be composed of multiple servers that perform distributed processing.

[0053] The vehicle 100, the remote operator terminal 200, and the management device 300 can communicate with each other via a communication network. The vehicle 100 and the remote operator terminal 200 can communicate with each other via the management device 300. Alternatively, the vehicle 100 and the remote operator terminal 200 may communicate directly without going through the management device 300.

[0054] The vehicle 100 is equipped with various sensors including a camera C. The camera C captures images of the situation around the vehicle 100 and acquires an image IMG showing the situation around the vehicle 100. The vehicle information VCL is information obtained by the various sensors. For example, the vehicle information VCL includes an image IMG obtained by the camera C. The vehicle information VCL may also include the position and status of the vehicle 100 (e.g., speed, steering angle, etc.). The vehicle 100 transmits the vehicle information VCL to the remote operator terminal 200.

[0055] The remote operator terminal 200 receives vehicle information VCL transmitted from the vehicle 100. The remote operator terminal 200 presents the vehicle information VCL to the remote operator O. Specifically, the remote operator terminal 200 is equipped with a display device and displays images IMG and the like on the display device. The remote operator O looks at the displayed information, recognizes the situation around the vehicle 100, and remotely controls the vehicle 100. The remote operation information OPE is information related to remote operation by the remote operator O. For example, the remote operation information OPE includes the amount of operation by the remote operator O. The remote operator terminal 200 transmits the remote operation information OPE to the vehicle 100.

[0056] The vehicle 100 receives the remote operation information OPE transmitted from the remote operator terminal 200. The vehicle 100 performs vehicle driving control in accordance with the received remote operation information OPE. In this manner, the vehicle 100 is remotely operated.

[0057] The transmitting device 10 is either the vehicle 100 or the remote operator terminal 200. The receiving device 20 is the other of the vehicle 100 and the remote operator terminal 200. The data to be transmitted is data required for remote operation by the remote operator O. For example, when the vehicle 100 is the transmitting device 10 and the remote operator terminal 200 is the receiving device 20, the data to be transmitted is vehicle information VCL. On the other hand, when the remote operator terminal 200 is the transmitting device 10 and the vehicle 100 is the receiving device 20, the data to be transmitted is remote operation information OPE.

[0058] 3-1. First example of data priority 8 is a conceptual diagram for explaining a first example of data priority of data to be transmitted. In the example shown in Fig. 8, a vehicle 100 is the transmitting device 10, and a remote operator terminal 200 is the receiving device 20. The data to be transmitted from the vehicle 100 to the remote operator terminal 200 includes an image IMG obtained by a camera C mounted on the vehicle 100.

[0059] 8, the vehicle 100 is equipped with a front camera C1, a left front camera C2, a right front camera C3, and a rear camera C4. The front camera C1 acquires a front image IMG1. The left front camera C2 acquires a left front image IMG2. The right front camera C3 acquires a right front image IMG3. The rear camera C4 acquires a rear image IMG4.

[0060] The multiple types of transmission target data D1 to D4 are multiple types of images IMG1 to IMG4 obtained by the multiple cameras C1 to C4, respectively. The data priority of the transmission target data D1 to D4 corresponds to the data priority of the images IMG1 to IMG4. The data priority of the images IMG1 to IMG4 depends on the planned movement direction of the vehicle 100. More specifically, the data priority of an image closer to the planned movement direction is set higher than the data priority of an image farther from the planned movement direction. The circled numbers in FIG. 8 indicate the data priority.

[0061] When the vehicle 100 travels straight, the expected direction of travel of the vehicle 100 is forward. In this case, the data priority of the front image IMG1 is the highest, and the priority of the rear image IMG4 is the lowest. The priorities of the left front image IMG2 and the right front image IMG3 are lower than the front image IMG1 and higher than the rear image IMG4.

[0062] When the vehicle 100 turns left, the planned direction of travel of the vehicle 100 is leftward. In this case, the priority of the left front image IMG2 is higher than the priority of the right front image IMG3. The priority of the front image IMG1 is lower than the left front image IMG2 but higher than the right front image IMG3. The priority of the rear image IMG4 is the lowest.

[0063] When the vehicle 100 turns right, the planned direction of travel of the vehicle 100 is to the right. In this case, the priority of the right front image IMG3 is higher than the priority of the left front image IMG2. The priority of the front image IMG1 is lower than the right front image IMG3 but higher than the left front image IMG2. The priority of the rear image IMG4 is the lowest.

[0064] The intended travel direction of the vehicle 100 can be recognized based on, for example, at least one of the steering direction, steering angle, turn signal information, and shift position. As another example, the intended travel direction of the vehicle 100 may be recognized based on the current position and target route of the vehicle 100.

[0065] 3-2. Second example of data priority Fig. 9 is a conceptual diagram for explaining a second example of the data priority of data to be transmitted. In the example shown in Fig. 9, the remote operator terminal 200 is the transmitting-side device 10, and the vehicle 100 is the receiving-side device 20. The data to be transmitted from the remote operator terminal 200 to the vehicle 100 includes remote operation information OPE.

[0066] In the example shown in Fig. 9, the multiple types of transmission target data D1 to D6 are steering angle, accelerator amount, brake amount, horn, right blinker, and left blinker. Each transmission target data is characterized in terms of whether signal discontinuity is acceptable, whether a predetermined level of delay is acceptable, and whether a predetermined level of signal loss is acceptable. In Fig. 9, a circle indicates that something is acceptable, and a cross indicates that something is not acceptable.

[0067] For the steering angle, accelerator amount, and brake amount, signal discontinuity is not allowed, a predetermined level of delay is not allowed, and a predetermined level of signal loss is not allowed, and the data priority of such steering angle, accelerator amount, and brake amount is set relatively high.

[0068] On the other hand, for the right and left turn signals, discontinuity of the signal, a predetermined level of delay, and a predetermined level of signal loss are allowed, and the data priority of such right and left turn signals is set to a relatively low level.

[0069] If two or more pieces of data to be transmitted have the same data priority, the data priority may be adjusted in the order of earliest input by the remote operator O. Alternatively, the data priority of two or more pieces of data to be transmitted may be designed in advance so that they do not have the same data priority.

[0070] Effects As described above, the communication system 1 according to this embodiment can be applied to a remote control system. The transmitting device 10 is one of the vehicle 100 and the remote operator terminal 200. The receiving device 20 is the other of the vehicle 100 and the remote operator terminal 200. The data to be transmitted is data required for remote control by the remote operator O. The above-described data transmission process reduces delays in data communication required for remote control. This improves the accuracy of remote control.

[0071] 4. Vehicle Examples 4-1.Configuration example 10 is a block diagram showing an example of the configuration of the vehicle 100. The vehicle 100 includes a communication device 110, a sensor group 120, a driving device 130, and a control device 150.

[0072] The communication device 110 communicates with the outside of the vehicle 100. For example, the communication device 110 communicates with the remote operator terminal 200 and the management device 300. The communication device 110 includes a plurality of communication interfaces 11-1 to 11-n shown in FIG.

[0073] The sensor group 120 includes a recognition sensor, a vehicle state sensor, a position sensor, etc. The recognition sensor recognizes (detects) the situation around the vehicle 100. Examples of the recognition sensor include a camera C, a LIDAR (Laser Imaging Detection and Ranging), and a radar. The vehicle state sensor detects the state of the vehicle 100. The vehicle state sensor includes a speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, a gear position sensor, etc. The position sensor detects the position and orientation of the vehicle 100. For example, the position sensor includes a GNSS (Global Navigation Satellite System).

[0074] The traveling device 130 includes a steering device, a drive device, and a braking device. The steering device steers the wheels. For example, the steering device includes an electric power steering (EPS) device. The drive device is a power source that generates driving force. Examples of the drive device include an engine, an electric motor, and an in-wheel motor. The braking device generates braking force.

[0075] The control device 150 is a computer that controls the vehicle 100. The control device 150 includes one or more processors 160 (hereinafter simply referred to as processors 160) and one or more storage devices 170 (hereinafter simply referred to as storage devices 170). The processors 160 execute various processes. For example, the processors 160 include a CPU (Central Processing Unit). The storage devices 170 store various information required for processing by the processors 160. Examples of the storage devices 170 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc. The control device 150 may include one or more ECUs (Electronic Control Units).

[0076] The vehicle control program PROG1 is a computer program executed by the processor 160. The functions of the control device 150 are realized by the processor 160 executing the vehicle control program PROG1. The vehicle control program PROG1 is stored in the storage device 170. Alternatively, the vehicle control program PROG1 may be recorded on a computer-readable recording medium.

[0077] 4-2. Driving environment information The control device 150 uses the sensor group 120 to acquire driving environment information ENV that indicates the driving environment of the vehicle 100. The driving environment information ENV is stored in the storage device 170.

[0078] The driving environment information ENV includes surrounding situation information indicating the recognition results of the recognition sensor. For example, the surrounding situation information includes an image IMG captured by the camera C. The surrounding situation information may also include object information regarding objects around the vehicle 100. Examples of objects around the vehicle 100 include pedestrians, other vehicles, white lines, traffic lights, signs, roadside structures, etc. The object information indicates the relative position and relative speed of the object with respect to the vehicle 100.

[0079] The driving environment information ENV also includes vehicle state information indicating the vehicle state detected by the vehicle state sensor.

[0080] Furthermore, the driving environment information ENV includes vehicle position information indicating the position and direction of the vehicle 100. The vehicle position information is obtained by a position sensor. Highly accurate vehicle position information may be obtained by a self-position estimation process (localization) using map information and surrounding situation information (object information).

[0081] 4-3.Vehicle driving control The control device 150 executes vehicle driving control to control the driving of the vehicle 100. The vehicle driving control includes steering control, drive control, and braking control. The control device 150 executes vehicle driving control by controlling the driving device 130 (steering device, drive device, and brake device).

[0082] The control device 150 may perform automatic driving control based on the driving environment information ENV. More specifically, the control device 150 generates a driving plan for the vehicle 100 based on the driving environment information ENV. Furthermore, the control device 150 generates a target trajectory required for the vehicle 100 to drive according to the driving plan based on the driving environment information ENV. The target trajectory includes a target position and a target speed. Then, the control device 150 performs vehicle driving control so that the vehicle 100 follows the target trajectory.

[0083] 4-4. Processing related to remote control The following describes a case where the vehicle 100 is remotely controlled. The control device 150 communicates with the remote operator terminal 200 via the communication device 110.

[0084] The control device 150 transmits the vehicle information VCL to the remote operator terminal 200. The vehicle information VCL is information necessary for remote operation by the remote operator O, and includes at least a part of the driving environment information ENV described above. For example, the vehicle information VCL includes surrounding situation information (particularly, images IMG). The vehicle information VCL may further include vehicle state information and vehicle position information.

[0085] Furthermore, the control device 150 receives remote operation information OPE from the remote operator terminal 200. The remote operation information OPE is information related to remote operation by the remote operator O. For example, the remote operation information OPE includes an operation amount by the remote operator O. The control device 150 performs vehicle travel control in accordance with the received remote operation information OPE.

[0086] The control device 150 may execute data transmission processing using multiple communication lines L1 to Ln (see Section 2 above).

[0087] More specifically, the control device 150 acquires the possible communication speeds R1 to Rn of each of the multiple communication lines L1 to Ln. The possible communication speed Ri of the communication line Li may be an actual measurement value or an estimated value. For example, the possible communication speed Ri (throughput) can be measured based on the amount of data transmitted from the vehicle 100 to the remote operator terminal 200 and feedback from the remote operator terminal 200. As another example, a communication history database may be prepared that accumulates the actual measurement values ​​of the possible communication speeds Ri of the communication line Li for each location. By referring to the communication history database, the possible communication speed Ri of the communication line Li in the vicinity of the location of the vehicle 100 can also be estimated (predicted).

[0088] Furthermore, the control device 150 acquires data priorities of the multiple types of data D1 to Dm to be transmitted. For example, priority policy information POL1 indicating a policy for setting data priority is stored in advance in the storage device 170. The control device 150 sets data priorities of the multiple types of data D1 to Dm to be transmitted in accordance with the priority policy information POL1.

[0089] For example, as shown in FIG. 8 above, the transmission target data D1 to D4 are images IMG1 to IMG4 obtained by multiple cameras C1 to C4, respectively. The data priority of the transmission target data D1 to D4 corresponds to the data priority of the images IMG1 to IMG4. The data priority of the images IMG1 to IMG4 depends on the planned direction of travel of the vehicle 100. The data priority of an image closer to the planned direction of travel is set higher than the data priority of an image farther from the planned direction of travel.

[0090] The control device 150 acquires reference information reflecting the planned movement direction of the vehicle 100. For example, the reference information includes at least one of a steering wheel steering direction, a steering wheel steering angle, blinker information, and a gear position. Such reference information is obtained from driving environment information ENV (vehicle state information). As another example, the reference information may include the current position and a target route of the vehicle 100. The current position of the vehicle 100 is obtained from the driving environment information ENV (vehicle position information). The target route is determined and understood by the control device 150. The control device 150 sets data priorities of the multiple types of images IMG1 to IMG4 based on the planned movement direction indicated by the reference information.

[0091] The control device 150 selects the multiple communication lines L1 to Ln one by one in order. At this time, the control device 150 may obtain the line priorities of the multiple communication lines L1 to Ln and select the multiple communication lines L1 to Ln one by one in the order of line priorities. For example, the line priority of the communication line Li may be set higher the higher the available communication speed Ri. As another example, the line priority of the communication line Li may be set higher the lower the communication cost. Then, the control device 150 assigns the multiple types of transmission target data D1 to Dm to the selected communication line Ls in the order of data priority so that the selected communication line Ls is used up to a designated speed Ss that is equal to or lower than the available communication speed Rs of the selected communication line Ls.

[0092] 5. Example of a remote operator terminal 11 is a block diagram showing an example of the configuration of the remote operator terminal 200. The remote operator terminal 200 includes a communication device 210, a display device 220, a remote control member 230, and a control device 250.

[0093] The communication device 210 communicates with the vehicle 100 and the management device 300. The communication device 210 includes a plurality of communication interfaces 11-1 to 11-n shown in FIG.

[0094] The display device 220 presents various types of information to the remote operator O by displaying the various types of information.

[0095] The remote control members 230 are members that are operated by the remote operator O when remotely operating the vehicle 100. The remote control members include a steering wheel, an accelerator pedal, a brake pedal, a turn signal, and the like.

[0096] The control device 250 controls the remote operator terminal 200. The control device 250 includes one or more processors 260 (hereinafter simply referred to as processors 260) and one or more storage devices 270 (hereinafter simply referred to as storage devices 270). The processor 260 executes various processes. For example, the processor 260 includes a CPU. The storage device 270 stores various information required for processing by the processor 260. Examples of the storage device 270 include volatile memory, non-volatile memory, HDD, SSD, etc.

[0097] The remote operation control program PROG2 is a computer program executed by the processor 260. The functions of the control device 250 are realized by the processor 260 executing the remote operation control program PROG2. The remote operation control program PROG2 is stored in the storage device 270. Alternatively, the remote operation control program PROG2 may be recorded on a computer-readable recording medium. The remote operation control program PROG2 may be provided via a network.

[0098] The control device 250 communicates with the vehicle 100 via the communication device 210. The control device 250 receives vehicle information VCL transmitted from the vehicle 100. The control device 250 presents the vehicle information VCL to the remote operator O by displaying the vehicle information VCL on the display device 220. The remote operator O can recognize the state of the vehicle 100 and the surrounding circumstances based on the vehicle information VCL displayed on the display device 220.

[0099] The remote operator O operates the remote control member of the remote control unit 230. The amount of operation of the remote control member 230 is detected by a sensor installed on the remote control member 230. The control device 250 generates remote operation information OPE that reflects the amount of operation of the remote control member 230 by the remote operator O. Then, the control device 250 transmits the remote operation information OPE to the vehicle 100 via the communication device 210.

[0100] The control device 250 may execute data transmission processing using multiple communication lines L1 to Ln (see Section 2 above).

[0101] More specifically, the control device 250 acquires the possible communication speeds R1 to Rn of each of the multiple communication lines L1 to Ln. The control device 250 also acquires the data priorities of the multiple types of data D1 to Dm to be transmitted. For example, priority policy information POL2 indicating a policy for setting data priority is stored in advance in the storage device 270 (see FIG. 9). The control device 250 sets the data priorities of the multiple types of data D1 to Dm to be transmitted in accordance with the priority policy information POL2.

[0102] The control device 250 selects the multiple communication lines L1 to Ln one by one in order. At this time, the control device 250 may obtain the line priorities of the multiple communication lines L1 to Ln and select the multiple communication lines L1 to Ln one by one in the order of line priorities. For example, the line priority of the communication line Li may be set higher the higher the available communication speed Ri. As another example, the line priority of the communication line Li may be set higher the lower the communication cost. Then, the control device 250 assigns the multiple types of transmission target data D1 to Dm to the selected communication line Ls in the order of data priority so that the selected communication line Ls is used up to a designated speed Ss that is equal to or lower than the available communication speed Rs of the selected communication line Ls. [Explanation of symbols]

[0103] 1. Communication Systems 10. Transmitting Device 11 Communication Interface 12 Control device 20 Receiving device 30 Communication Network 100 vehicles 200 Remote Operator Terminal 300 Management device D1~Dm Data to be sent L1~Ln communication lines R1~Rn Communication speed S1~Sn Specified speed OPE Remote Operation Information VCL vehicle information

Claims

1. A communication control method for controlling communication between a transmitting device and a receiving device, comprising: a data transmission process for transmitting a plurality of types of transmission target data in parallel from the transmitting device to the receiving device using a plurality of communication lines; The data transmission process includes: acquiring an available communication speed for each of the plurality of communication lines; acquiring data priorities of the plurality of types of data to be transmitted; selecting the plurality of communication lines one by one in turn; allocating the plurality of types of data to be transmitted to the selected communication line in order of data priority so that the selected communication line is used up to a designated speed that is equal to or lower than the available communication speed; Including, the plurality of types of data to be transmitted include first data to be transmitted and second data to be transmitted, the data priority of which is lower than that of the first data to be transmitted; the plurality of communication lines include a first communication line and a second communication line selected next to the first communication line, If there is a margin in the designated speed of the first communication line after the first transmission target data is allocated to the first communication line, the data transmission process allocates at least a part of the second transmission target data to the first communication line; When the designated speed of the first communication line is used up at a stage where a part of the first transmission target data is allocated to the first communication line, the data transmission process allocates the remainder of the first transmission target data to the second communication line. Communication control method.

2. 2. The communication control method according to claim 1, The unallocated data is data to be transmitted that is not allocated to any of the plurality of communication lines after the specified speeds of all of the plurality of communication lines have been used up, The data transmission process further includes discarding the unallocated data without allocating it to a communication line. Communication control method.

3. 2. The communication control method according to claim 1, The step of selecting the plurality of communication lines one by one in turn comprises: acquiring line priorities of the plurality of communication lines; selecting the plurality of communication lines one by one in the order of line priority; Contains Communication control method.

4. 4. The communication control method according to claim 3, The unallocated data is data to be transmitted that is not allocated to any of the plurality of communication lines after the specified speeds of all of the plurality of communication lines have been used up, the lowest priority communication line is a communication line having the lowest line priority among the plurality of communication lines; The data transmission process further includes allocating the unallocated data to the lowest priority communication line at a rate exceeding the designated rate of the lowest priority communication line. Contains Communication control method.

5. 4. The communication control method according to claim 3, The lower the communication cost, the higher the line priority is set. The plurality of communication lines are selected one by one in order from the lowest communication cost. Communication control method.

6. 6. The communication control method according to claim 5, the plurality of communication lines include a first communication line of a wireless LAN (Local Area Network) system and a second communication line of a cellular system; The first communication line is selected before the second communication line. Communication control method.

7. a transmitting device; Receiving device and Equipped with the transmitting device executes a data transmission process to transmit a plurality of types of transmission target data to the receiving device in parallel using a plurality of communication lines; The data transmission process includes: acquiring an available communication speed for each of the plurality of communication lines; acquiring data priorities of the plurality of types of data to be transmitted; selecting the plurality of communication lines one by one in turn; allocating the plurality of types of data to be transmitted to the selected communication line in order of data priority so that the selected communication line is used up to a designated speed that is equal to or lower than the available communication speed; Including, the plurality of types of data to be transmitted include first data to be transmitted and second data to be transmitted, the data priority of which is lower than that of the first data to be transmitted; the plurality of communication lines include a first communication line and a second communication line selected next to the first communication line, If there is a margin in the designated speed of the first communication line after the first transmission target data is allocated to the first communication line, the data transmission process allocates at least a part of the second transmission target data to the first communication line; When the designated speed of the first communication line is used up at a stage where a part of the first transmission target data is allocated to the first communication line, the data transmission process allocates the remainder of the first transmission target data to the second communication line. Communication system.

8. A transmitting device that transmits data to a receiving device, a control device that executes a data transmission process for transmitting a plurality of types of transmission target data to the receiving device in parallel using a plurality of communication lines; The data transmission process includes: acquiring an available communication speed for each of the plurality of communication lines; acquiring data priorities of the plurality of types of data to be transmitted; selecting the plurality of communication lines one by one in turn; allocating the plurality of types of data to be transmitted to the selected communication line in order of data priority so that the selected communication line is used up to a designated speed that is equal to or lower than the available communication speed; Including, the plurality of types of data to be transmitted include first data to be transmitted and second data to be transmitted, the data priority of which is lower than that of the first data to be transmitted; the plurality of communication lines include a first communication line and a second communication line selected next to the first communication line, If there is a margin in the designated speed of the first communication line after the first transmission target data is allocated to the first communication line, the data transmission process allocates at least a part of the second transmission target data to the first communication line; When the designated speed of the first communication line is used up at a stage where a part of the first transmission target data is allocated to the first communication line, the data transmission process allocates the remainder of the first transmission target data to the second communication line. Sending device.

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