Automatic antenna tracking method and automatic antenna tracking system

Abstract

To quickly control the direction of an antenna of a mobile station to an optimal angle without rotating an antenna of a base station.SOLUTION: An automatic tracking system 100 for an antenna mounted on an operation vehicle 10 made to travel by remote control on the basis of a preset operation plan to transmit vehicle information of the operation vehicle 10 to a base station (an operation management device 20) and automatically turn the direction of an antenna 14 for receiving a vehicle control signal transmitted from the base station to the direction of an antenna 22 provided in the base station includes a rotary table 16 with the antenna 14 mounted thereon, target rotation angle calculation means 24 for calculating target rotation angles α being a direction of connecting the antenna 14 and the antenna 22 after a predetermined time at the present position of the operation vehicle 10 or at a position of the operation vehicle 10 after the predetermined time on the basis of the operation plan, and antenna rotation means 17 for rotating the rotary table 16.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a method and system for automatically tracking the direction of an antenna mounted on a moving vehicle to the direction of an antenna of a base station. [Background technology]

[0002] Conventionally, in wireless communication systems using the 60 GHz band (millimeter wave band), the antenna has a high directivity, so the antenna mounted on the vehicle, which acts as the mobile station, is oriented as close as possible to the antenna of the base station. Typically, the antenna of the mobile station is mounted on a rotating platform and mechanically rotated 360 degrees while monitoring the power of the received signal, and the antenna is set to the rotation angle that gives the highest power of the received signal (hereinafter referred to as the reception level) (see, for example, Patent Document 1). In Patent Document 1, in addition to the reception level, fluctuations in the reception level are also checked sequentially, and if the fluctuations are large, it is determined that the antenna orientation is far from the optimal angle and the rotation speed is increased, and if the fluctuations are small, it is determined that the antenna orientation is close to the optimal angle and the rotation speed is slowed down, thereby making it possible to align the antenna orientation to the optimal angle in a shorter time than when the rotation speed of the turntable is constant. In addition, an automatic antenna tracking method has been proposed in which a mobile phone is set up in each of the mobile station and the base station, and these mobile phones are used to exchange location information between the mobile station and the base station, with the mobile station pointing its antenna toward the base station and the base station also pointing its antenna toward the mobile station, thereby causing the antennas of the mobile station and base station to face each other (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 58-147663 [Patent Document 2] Japanese Patent Application Publication No. 09-065444 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the method of Patent Document 1, when the vehicle is moving fast and the positional relationship with the base station changes significantly over time, the reception level fluctuates significantly, making it difficult to match the angle (azimuth angle) to the optimum angle. Furthermore, in the method of Patent Document 2, the antenna orientation is controlled based on the current position of the mobile station, and does not take into account the position after a short time has passed. This makes it difficult to control the antenna orientation to an appropriate angle, for example, when the vehicle goes around a curve. In addition, in Patent Document 2, since the antenna on the base station side is directed toward the mobile station, it is considered that multiple vehicles (mobile stations) are not taken into consideration. Also, when the base station communicates with multiple vehicles (mobile stations), it is preferable not to control the direction of the antenna of the base station.

[0005] The present invention has been made in consideration of the problems in the conventional technology, and aims to provide an automatic antenna tracking method and device that can quickly control the orientation of a mobile station antenna to an optimal angle without rotating the base station antenna. [Means for solving the problem]

[0006] The present invention Automatic antenna tracking method relating to is an automatic antenna tracking method for rotating a vehicle-side antenna, which is an antenna mounted on a moving vehicle that is a mobile station, and automatically aligning the antenna with a base station-side antenna, which is an antenna installed in a base station that communicates with the mobile station, and for causing the moving vehicle to travel based on a preset operation plan. To this end, the base station transmits to the moving vehicle vehicle control information for controlling the running of the moving vehicle based on vehicle information including position information, attitude information, and vehicle speed information transmitted from the moving vehicle. At the same time, the current position of the vehicle Place A target rotation angle of the vehicle-side antenna, which is a direction connecting the vehicle-side antenna and the base station-side antenna, is calculated. and transmit it to the vehicle in operation. , the above The traveling vehicle controls the traveling state of the traveling vehicle based on the vehicle control information transmitted from the base station, and also controls the traveling state of the traveling vehicle based on the vehicle control information transmitted from the base station. The orientation of the vehicle-side antenna is adjusted based on the target rotation angle. This makes it possible to quickly control the orientation of the mobile station's antenna to the optimal angle without having to rotate the base station antenna through 360 degrees. In addition, the power (reception level) of a received signal in wireless communication is affected by reflection, diffraction, and scattering due to the arrangement of surrounding objects, so the target rotation angle, which is the direction connecting the base station and the mobile station, is not necessarily the optimal angle for the mobile side antenna. However, by rotating the direction of the mobile station antenna around the calculated target rotation angle, it is possible to find the optimal angle within a limited angle range. In addition, the above-mentioned automatic antenna tracking method is as follows: Vehicles in operation , Preliminary The vehicle was used for a type of operation that runs based on a set operation plan, Operation Not only the vehicle's position and attitude, but also the orientation of the vehicle's antenna can be appropriately controlled. Further, instead of the target rotation angle of the vehicle-side antenna, which is the direction connecting the vehicle-side antenna and the base station-side antenna at the current position of the moving vehicle, a target rotation angle of the vehicle-side antenna, which is the direction connecting the vehicle-side antenna and the base station-side antenna at the position of the moving vehicle after a predetermined time, is calculated and transmitted to the moving vehicle.

[0007] In addition, when there are multiple operating vehicles, when another operating vehicle is located in the direction of the target rotation angle of one of the operating vehicles, and when the reception level of the one operating vehicle is below a preset threshold, the operation plan is changed so that the other operating vehicle is not located in the direction of the target rotation angle, so that even when there are multiple operating vehicles, the communication conditions of each operating vehicle can be optimized. Alternatively, the orientation of the antenna may be adjusted to the angle at which the reception level is the highest within an angle range around the target rotation angle. However, if the adjusted reception level falls below a preset threshold, the operation plan is changed. In addition, since not only the azimuth angle but also the elevation angle can be adjusted, even if another moving vehicle is positioned in the direction where the azimuth angle is the target rotation angle, the communication state of each moving vehicle can be optimized by adjusting the elevation angle of the antenna to the angle with the highest reception level within the adjustable range of the antenna elevation angle.

[0008] In addition, the present invention Automatic antenna tracking method relating tois an automatic antenna tracking method for rotating the orientation of a vehicle-side antenna, which is an antenna mounted on a traveling vehicle that is a mobile station, and automatically aligning the orientation with the direction of a base station-side antenna, which is an antenna provided at a base station that communicates with the mobile station, the traveling vehicle being a vehicle that travels along a preset travel route based on a preset operation plan, the traveling vehicle being caused to travel along the travel route in advance, a rotation angle of the vehicle-side antenna at which a received signal power is maximized when a signal transmitted from the base station is received is obtained for each position on the travel route, and the obtained rotation angle is set as a target rotation angle for each position. Along with, When the vehicle is operated based on the operation plan, The base station transmits to the traveling vehicle vehicle control information for controlling the traveling of the traveling vehicle and a target rotation angle at each of the positions based on vehicle information including position information, attitude information, and vehicle speed information transmitted from the traveling vehicle, and the traveling vehicle controls the traveling state of the traveling vehicle based on the vehicle control information transmitted from the base station and The previously obtained corresponding to each position of the vehicle The orientation of the vehicle-side antenna is adjusted based on the target rotation angle. In this way, if the target rotation angle obtained in advance by running the vehicle along the travel route is incorporated into the operation plan, the orientation of the vehicle's antenna can be set to a position that enables communication with the base station even if there is an obstacle in the direction of the target rotation angle that prevents communication with the base station.

[0009] Also, The automatic antenna tracking system according to the present invention comprises: An automatic antenna tracking system that is mounted on a vehicle that travels based on a preset operation plan, transmits vehicle information about the vehicle to a base station, and automatically orients the vehicle-side antenna, which is an antenna that receives vehicle control information transmitted from the base station, in the direction of the base station-side antenna, which is an antenna installed in the base station. The vehicle includes the vehicle-side antenna, a wireless device, a location information acquisition means, an automatic driving control means, and a driving means. A rotating table on which the vehicle-side antenna is mounted, The vehicle side antenna and an antenna rotation means for rotating the antenna based on a target rotation angle. The base station includes a base station antenna, a radio, an automatic driving management means, and a target rotation angle calculation means, and the automatic driving management means transmits vehicle control information for controlling the driving of the operating vehicle to the operating vehicle based on vehicle information including position information, attitude information, and vehicle speed information transmitted from the operating vehicle, and transmits position information of the operating vehicle to the target rotation angle calculation means, and the target rotation angle calculation means: Based on the operation plan, the current position of the operating vehicle Place A target rotation angle of the vehicle-side antenna, which is a direction connecting the vehicle-side antenna and the base station-side antenna, is calculated. and transmits the target rotation angle to the moving vehicle, the antenna rotation means drives the turntable to rotate based on the target rotation angle transmitted from the base station, and changes the orientation of the antenna so that the rotation angle of the vehicle-side antenna becomes the target rotation angle, and the automatic driving control means controls the driving state of the moving vehicle based on the vehicle control information transmitted from the base station. Therefore, the direction of the vehicle-side antenna can be quickly controlled to an angle at which the reception level is high. Further, instead of the target rotation angle of the vehicle-side antenna, which is the direction connecting the vehicle-side antenna and the base station-side antenna at the current position of the moving vehicle, a target rotation angle of the vehicle-side antenna, which is the direction connecting the vehicle-side antenna and the base station-side antenna at the position of the moving vehicle after a predetermined time, is calculated and transmitted to the moving vehicle. [Brief description of the drawings]

[0010] [Figure 1] 1 is a functional block diagram showing an automatic antenna tracking system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing an example of the positional relationship between a travel route of a traveling vehicle and a base station. [Diagram 3] FIG. 11 is a diagram showing an automatic antenna tracking method according to the present invention in accordance with the second embodiment. [Figure 4] FIG. 13 is a diagram showing an example in which another moving vehicle causes a communication obstruction. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Embodiment 1 1 is a diagram showing an automatic antenna tracking system 100 according to the first embodiment, in which 10 is a moving vehicle that transports earth and sand, and 20 is a traffic management device that is installed in a remote control room (not shown) and causes the moving vehicle 10 to automatically travel. The traffic management device 20 functions as a base station, and the moving vehicle 10 functions as a mobile station. The operating vehicle 10 is equipped with a driving means 11, a location information acquisition means 12, a radio 13, an antenna 14 which is an antenna on the vehicle side, an automatic driving control means 15, a turntable 16, an antenna rotation means 17, and a network interface 18, and travels along a route determined by remote control based on a pre-set operation plan. In this example, in order to ensure stable travel on unpaved travel routes such as maintained forest roads, an off-road vehicle (crawler carrier) with endless tracked travel means 11 is used as the travel vehicle 10. A vehicle speed sensor (not shown) is attached to the travel means 11 to measure the travel speed (hereinafter referred to as vehicle speed) of the travel vehicle 10. The measured vehicle speed is sent to a radio 13. In the case of an off-road vehicle, the vehicle speed varies depending on whether it is loaded or not, but is approximately 4 km / hr on average. The position information acquisition means 12 includes a global navigation satellite system (GNSS) and an inertial measurement unit (IMU), acquires position information and attitude information (hereinafter referred to as position information) of the traveling vehicle 10, and transmits it to the wireless device 13. Note that a receiving antenna for the GNSS is omitted. The radio 13 transmits the vehicle speed acquired by the driving means 11 and the position information of the moving vehicle 10 acquired by the position information acquisition means 12 as vehicle information from the antenna 14 to the base station, which is the driving management device 20, and also receives vehicle control information and target rotation angle data described later sent from the driving management device 20 via the antenna 14, and sends this information to the automatic driving control means 15 and the antenna rotation means 17, respectively. The automatic driving control means 15 controls the driving means 11 based on the received vehicle control information to change the speed, traveling direction, etc. of the traveling vehicle 10. The rotating base 16 mounts the antenna 14 and rotates to change the orientation of the antenna 14. In this example, the rotating base 16 is configured to rotate the antenna 14 only in a horizontal plane, but it may also be configured to rotate the antenna 14 in a vertical plane to change the elevation angle in addition to the horizontal angle (azimuth angle). In this example, as shown in the upper diagram of Figure 2(b), the rotation angle θ of the antenna 14 is defined as the angle between the traveling direction of the moving vehicle 10 indicated by the solid arrow in the same figure and the transmission direction of the antenna 14 indicated by the dashed arrow, measured counterclockwise from the traveling direction of the moving vehicle 10. The antenna rotation means 17 drives the rotating platform 16 to rotate based on the target rotation angle α, which is data on the target rotation angle sent from the traffic management device 20, and changes the orientation of the antenna 14 so that the rotation angle θ of the antenna 14 becomes the target rotation angle α. The network interface 18 constitutes a wireless communication network between the radio 13 and each of the means other than the traveling means 11, the antenna 14, and the rotating base 16.

[0012] The operation management device 20 includes a wireless device 21 , an antenna 22 which is a base station side antenna, an automatic driving management means 23 , a target rotation angle calculation means 24 , and a network interface 25 . The radio 21 receives vehicle information (position, posture, vehicle speed) of the moving vehicle 10 via the antenna 22 and sends it to the automatic driving management means 23, and also transmits vehicle control information for controlling the driving means 11 of the moving vehicle 10 and data on the target rotation angle calculated by the target rotation angle calculation means 24 to the moving vehicle 10, which is a mobile station. The automatic driving management means 23 transmits vehicle control information for controlling the driving of the moving vehicle 10 to the moving vehicle 10 from the vehicle information of the moving vehicle 10 transmitted above via the radio 21 and antenna 22, and also transmits the position information of the moving vehicle 10 to the target rotation angle calculation means 24. The target rotation angle calculation means 24 calculates a target rotation angle α from information on the current position of the traveling vehicle 10 and sends it to the automatic driving management means 23. In this example, as shown in FIG. 2(a), the target rotation angle α is set to the angle θb between the traveling direction of the vehicle 10 at its current position and the direction connecting the antenna 14 (vehicle-side antenna) and the antenna 22 (base station-side antenna). The data on the target rotation angle is sent via the automatic driving management means 23, the radio 21, and the antenna 22 to the traveling vehicle 10 which is a mobile station. The network interface 25 constitutes a wireless communication network between the wireless device 13 and each of the means other than the wireless device 21 and the antenna 22 .

[0013] Next, the automatic antenna tracking method of the present invention will be described. First, the vehicle 10 transmits data on the current position and attitude of the vehicle 10, which is position information acquired by the position information acquisition means 12, to the traffic management device 20, which is a base station. The operation management device 20 extracts vehicle control information for remotely operating the vehicle based on a preset operation plan from the received position information, calculates the target rotation angle α, and transmits this vehicle control information and data on the target rotation angle to the operating vehicle 10. In the moving vehicle 10, the running state of the moving vehicle 10 is controlled based on the vehicle control information, and the rotating base 16 is controlled based on the target rotation angle α so that the orientation of the antenna 14 is in the optimal position (the position where the reception level is maximum). The method for adjusting the orientation of the antenna 14 is as follows.

[0014] Figure 2(a) shows a driving route 1 along which a vehicle 10 travels by automatic driving controlled by remote control. The driving route 1 has an outbound route 1a connecting a vehicle waiting area 2 and a soil loading area 3, a return route 1b connecting the soil loading area 3 and a soil removal area 4, and a return route 1c that returns from the soil removal area 4 to the vehicle waiting area 2. A traveling vehicle 10 departs from the vehicle waiting area 2, loads the collected soil and sand onto its loading platform at the radio-controlled soil loading area 3, transfers the loaded soil and sand to a dump truck (not shown) at the soil removal area 4, and then returns to the vehicle waiting area 2 to wait. For the sake of convenience, the upper side of the figure is regarded as north, the lower side as south, the right side as east, and the left side as west. The operation management device 20, which is the base station, is installed in an operation room (not shown) of the management building 5 on the southeast side. In addition, the running route 1 has a first running path L1 extending north from the north side of the administration building 5, a second running path L2 turning west from the northern end of the first running path L1, a third running path L3 extending west from the western end of the second running path L2, a fourth running path L4 turning south from the western end of the third running path L3, and a fifth running path L5 extending further south from the southern end of the fourth running path L4. Figure 2(b) is a diagram showing the relationship between the position of the moving vehicle 10 on the outbound route 1a and the base station direction, which is the direction connecting the vehicle-side antenna 14 and the base station-side antenna 22.The horizontal axis is the travel distance L (km) of the outbound route length, and the vertical axis is the base station direction θb (deg) measured from the moving vehicle 10, and this base station direction θb becomes the target rotation angle α when the moving vehicle 10 has traveled a specified distance. As can be seen from the figure, the base station direction θb changes gradually on the travel paths L1, L3, and L5, which are close to straight roads. On the other hand, the base station direction θb changes greatly on the travel paths L2 and L4, which include curves. However, since the traveling vehicle 10 travels along a route determined in the operation plan, the location information indicates which travel path the traveling vehicle 10 is traveling along. Therefore, by increasing the rotation speed of the turntable 16 on the travel paths L2 and L4 and decreasing the rotation speed of the turntable 16 on the travel paths L1, L3, and L5, the direction of the antenna 14 can be quickly turned toward the base station without the need to perform a process of checking the fluctuations in the reception level as in the conventional method. Since the reception level of the received signal is affected by the arrangement of surrounding objects, it is preferable to rotate the orientation of the antenna 14 around the target rotation angle α to adjust the orientation of the antenna 14 to an optimal angle. This makes it possible to find the optimal antenna angle within a limited angle range.

[0015] Embodiment 2 In the first embodiment, the orientation of the vehicle-side antenna 14 was adjusted based on the target rotation angle α calculated from information on the current position of the moving vehicle 10. However, as shown in FIG. 3, by calculating the target rotation angle α(tk+Δtk) of the moving vehicle 10 at a time a predetermined time Δt has elapsed from the time tk of the current position and adjusting the orientation of the vehicle-side antenna 14 based on this α(tk+Δtk), the orientation of the antenna 14 can be quickly turned toward the base station even on roads such as roads L2 and L4 where the change in the base station direction θb is large. That is, since the traveling vehicle 10 travels along a travel route determined in the operation plan, the position of the traveling vehicle 10 at time t=tk+Δt after a predetermined time Δt has elapsed can be obtained from the time tk of the current position of the traveling vehicle 10 and the vehicle speed. Therefore, instead of the target rotation angle α(tk) which is the base station direction θb seen from the position of the traveling vehicle 10 at time t=tk, the base station direction θb' seen from the position of the traveling vehicle 10 at time t=tk+Δt is set as the target rotation angle α(tk+Δt) at time t=tk+Δt, and the antenna 14 is rotated using this target rotation angle α(tk+Δt), so that the orientation of the antenna 14 can be adjusted to an optimal angle. The calculation of the target rotation angle α(tk+Δt) is performed by the target rotation angle calculation means 24 of the operation management device 20. As a result, even in a location where the target rotation angle α changes significantly, such as on the travel paths L2 and L4, the antenna 14 can be quickly oriented toward the base station. It is preferable that the above-mentioned Δtk is set in the range of several seconds to several tens of seconds when the traveling vehicle 10 has a slow moving speed, such as an off-road vehicle. Furthermore, the target rotation angle α may be a calculated value of α(tk+Δt) and α(tk), such as α={α(tk+Δt)+α(tk)} / 2.

[0016] Embodiment 3 In the above-described embodiment 1, the orientation of the vehicle-side antenna 14 was adjusted based on the target rotation angle α(tk) calculated from information on the current position of the moving vehicle 10. However, if there is an object that obstructs radio waves, such as a building, in the base station direction θb, even if the orientation of the vehicle-side antenna 14 is toward the base station direction θb, the base station direction θb may not be in a position where the reception level is maximum. Therefore, the operating vehicle 10 is caused to travel along a driving route set in an operation plan, and the rotation angle α0 of the vehicle-side antenna 14 at which the reception level when receiving a signal transmitted from the operation management device 20 as a base station is maximized is determined in advance for each position on the driving route, and the data on this rotation angle α0 is stored in the automatic driving management means 23 together with vehicle information.When the operating vehicle 10 is caused to travel based on the operation plan, the orientation of the antenna 14, which is the vehicle-side antenna, is adjusted based on the previously determined target rotation angle α0, so that the orientation of the antenna 14 can be set to a position at which the reception level from the base station, the operation management device 20, is maximized. In this way, by adding the previously determined target rotation angle α0 to the vehicle information of the moving vehicle 10, the orientation of the vehicle-side antenna 14 can be adjusted to a position where the reception level is maximized even if there is an obstacle to radio waves in the direction θb toward the base station.

[0017] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included in the technical scope of the present invention.

[0018] For example, in the above embodiment, the number of traveling vehicles 10 is one, but it goes without saying that the present invention can also be applied to cases where there are a plurality of traveling vehicles 10. In addition, when there are a plurality of operating vehicles 10, for example, as shown in FIG. 4, there may be another operating vehicle 10B that departs in the direction of the target rotation angle of the preceding operating vehicle 10A. In this case, the reception level of the operating vehicle 10A may decrease. In this case, it is preferable to determine whether the reception level is equal to or higher than a preset threshold (target reception level), and if the reception level is lower than the threshold, to change the operation plan, such as delaying the departure time of the operating vehicle 10B. In addition, there are a method of adjusting the angle only near the optimal angle and setting the angle with the highest reception level within the angle range at the time of adjustment, a method of providing a rotation mechanism that rotates the elevation angle in addition to the azimuth angle on the rotating platform 16 mounted on the operating vehicle 10, and adjusting the elevation angle of the antenna 14, which is usually set to 0 degrees, up and down to the elevation angle with the highest reception level, and the like. It goes without saying that when the reception level is equal to or higher than a preset threshold, communication continues even if the reception level is decreased. As a result, even if there are a plurality of vehicles 10 in service, the communication conditions of each vehicle 10 can be optimized. In the above embodiment, the vehicle 10 is an off-road vehicle, but the vehicle 10 is not limited to this. It may be any vehicle that runs on a predetermined route, such as a material transport vehicle, and is remotely controlled or automatically driven based on a program, based on a preset operation plan. [Explanation of symbols]

[0019] 1 Travel route, 1a Outward trip, 1b Return trip, 1c Return trip, 2 Vehicle waiting area, 3. Soil loading area, 4. Soil removal area, 5. Administration building, 10 Vehicle, 11 Traveling means, 12 Location information acquisition means, 13 Radio, 14 Antenna, 15 Automatic travel control means, 16 Rotating table, 17 Antenna rotation means, 18 network interfaces, 20 Operation control device, 21 Radio, 22 Antenna, 23 Automatic driving control means, 24 target rotation angle calculation means, 25 network interface, 100 Antenna automatic tracking system.

Claims

1. An automatic antenna tracking method for automatically aligning a vehicle-side antenna, which is an antenna mounted on a moving vehicle that is a mobile station, with a base station-side antenna, which is an antenna provided in a base station that communicates with the mobile station, by rotating the vehicle-side antenna, To cause the vehicle to travel based on a preset operation plan, The base station transmits to the moving vehicle vehicle control information for controlling the traveling of the moving vehicle based on vehicle information including position information, attitude information, and vehicle speed information transmitted from the moving vehicle, and calculates a target rotation angle of the vehicle-side antenna, which is a direction connecting the vehicle-side antenna and the base station-side antenna at the current position of the moving vehicle, and transmits the target rotation angle to the moving vehicle. The automatic antenna tracking method is characterized in that the moving vehicle controls the running state of the moving vehicle based on vehicle control information sent from the base station, and adjusts the orientation of the vehicle-side antenna based on a target rotation angle sent from the base station.

2. A method for automatically tracking an antenna, which rotates the direction of a vehicle-side antenna, which is an antenna mounted on a moving vehicle that is a mobile station, and automatically aligns the direction with a base station-side antenna, which is an antenna installed in a base station that communicates with the mobile station, comprising: To cause the vehicle to travel based on a preset operation plan, the base station transmits to the moving vehicle vehicle control information for controlling the traveling of the moving vehicle based on vehicle information including position information, attitude information, and vehicle speed information transmitted from the moving vehicle, and calculates a target rotation angle of the vehicle-side antenna, which is a direction connecting the vehicle-side antenna and the base station-side antenna at the position of the moving vehicle after a predetermined time, and transmits the target rotation angle to the moving vehicle; The automatic antenna tracking method is characterized in that the moving vehicle controls the running state of the moving vehicle based on vehicle control information sent from the base station, and adjusts the orientation of the vehicle-side antenna based on a target rotation angle sent from the base station.

3. The automatic antenna tracking method according to claim 1 or 2, characterized in that, when there are a plurality of operating vehicles, one of the plurality of operating vehicles has another operating vehicle positioned in the direction of a target rotation angle of the other operating vehicle, and the received signal power of the one operating vehicle falls below a preset threshold, the operation plan is changed.

4. The automatic antenna tracking method according to claim 1 or 2, characterized in that when there are multiple operating vehicles and one of the multiple operating vehicles is located in the direction of the target rotation angle of another operating vehicle, the orientation of the antenna is adjusted to the angle with the highest received signal power within the peripheral angle range of the target rotation angle.

5. The automatic antenna tracking method according to claim 1 or 2, characterized in that when there are a plurality of moving vehicles and one of the plurality of moving vehicles is located in the direction of the target rotation angle of another moving vehicle, the elevation angle of the antenna is adjusted to the angle with the highest received signal power within the adjustable range of the antenna elevation angle.

6. An automatic antenna tracking method for automatically aligning a vehicle-side antenna, which is an antenna mounted on a moving vehicle that is a mobile station, with a base station-side antenna, which is an antenna provided in a base station that communicates with the mobile station, by rotating the vehicle-side antenna, The vehicle is a vehicle that travels along a preset travel route based on a preset operation plan, The vehicle is caused to travel along the travel route in advance, and a rotation angle of the vehicle-side antenna at which a received signal power becomes maximum when a signal transmitted from the base station is received is obtained for each position on the travel route, and the obtained rotation angle is set as a target rotation angle at each position, When the vehicle is operated based on the operation plan, the base station transmits to the moving vehicle vehicle control information for controlling the traveling of the moving vehicle and a target rotation angle at each of the positions based on vehicle information including position information, attitude information, and vehicle speed information transmitted from the moving vehicle; The automatic antenna tracking method is characterized in that the moving vehicle controls the running state of the moving vehicle based on vehicle control information sent from the base station, and adjusts the orientation of the vehicle-side antenna based on the target rotation angle corresponding to each of the positions of the moving vehicle that is previously determined and sent from the base station.

7. An automatic antenna tracking system that is mounted on a vehicle that travels based on a preset operation plan, transmits vehicle information of the vehicle to a base station, and automatically orients a vehicle-side antenna, which is an antenna that receives vehicle control information transmitted from the base station, in the direction of a base station-side antenna, which is an antenna provided in the base station, The operating vehicle includes the vehicle-side antenna, a wireless device, a location information acquisition means, an automatic driving control means, a driving means, a rotating platform on which the vehicle-side antenna is mounted, and an antenna rotation means for rotating the rotating platform based on a target rotation angle of the vehicle-side antenna, The base station includes a base station side antenna, a wireless device, an automatic driving management means, and a target rotation angle calculation means, the automatic driving management means transmits vehicle control information for controlling the driving of the operating vehicle to the operating vehicle based on vehicle information including position information, attitude information, and vehicle speed information transmitted from the operating vehicle, and transmits position information of the operating vehicle to the target rotation angle calculation means; the target rotation angle calculation means calculates a target rotation angle of the vehicle-side antenna, which is a direction connecting the vehicle-side antenna and the base station-side antenna at the current position of the operating vehicle, based on the operation plan, and transmits the target rotation angle to the operating vehicle; the antenna rotation means drives the rotary table to rotate based on the target rotation angle transmitted from the base station, and changes the orientation of the antenna so that the rotation angle of the vehicle-side antenna becomes the target rotation angle; An automatic antenna tracking system, characterized in that the automatic driving control means controls the driving state of the moving vehicle based on vehicle control information sent from the base station.

8. An automatic antenna tracking system that is mounted on a vehicle that travels based on a preset operation plan, transmits vehicle information about the vehicle to a base station, and automatically orients a vehicle-side antenna, which is an antenna that receives vehicle control information transmitted from the base station, in the direction of a base station-side antenna, which is an antenna installed in the base station, The operating vehicle includes the vehicle-side antenna, a wireless device, a location information acquisition means, an automatic driving control means, a driving means, a rotating platform on which the vehicle-side antenna is mounted, and an antenna rotation means for rotating the rotating platform based on a target rotation angle of the vehicle-side antenna, The base station includes a base station side antenna, a wireless device, an automatic driving management means, and a target rotation angle calculation means, the automatic driving management means transmits vehicle control information for controlling the driving of the operating vehicle to the operating vehicle based on vehicle information including position information, attitude information, and vehicle speed information transmitted from the operating vehicle, and transmits position information of the operating vehicle to the target rotation angle calculation means; the target rotation angle calculation means calculates a target rotation angle of the vehicle-side antenna, which is a direction connecting the vehicle-side antenna and the base station-side antenna at a position of the operating vehicle after a predetermined time, based on the operation plan, and transmits the target rotation angle to the operating vehicle; the antenna rotation means drives the rotary table to rotate based on the target rotation angle transmitted from the base station, and changes the orientation of the antenna so that the rotation angle of the vehicle-side antenna becomes the target rotation angle; An automatic antenna tracking system, characterized in that the automatic driving control means controls the driving state of the moving vehicle based on vehicle control information sent from the base station.

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