Communication control method and communication system

Abstract

To provide a communication control method and a communication system for appropriately determining a communication carrier to be used in communication between a mobile object that can use a plurality of communication carriers and an external device.SOLUTION: A communication control method for controlling communication between a mobile object that can use a plurality of communication carriers and an external apparatus includes: a process of obtaining actual communication quality information, which is information obtained in real time from a group of communication devices existing in a first area located in a moving direction of the mobile object and indicates actual measured values of communication quality of a plurality of communication carriers in the first area; a priority order determination process of determining a priority order of the plurality of communication carriers in the first area on the basis of the actual communication quality information about the first area; and a process of determining at least one communication carrier to be used for communication between the mobile object and the external apparatus in the first area on the basis of the priority order.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to a technique for controlling communication between a mobile object that can use multiple communication carriers and an external device. [Background technology]

[0002] Patent Document 1 discloses a communication device. The communication device generates device information including its own location information and collects surrounding environment information. The communication device includes a communication unit that communicates with an external communication device, a communication prediction unit that predicts communication quality of the communication unit based on the device information and surrounding environment information, and a communication control unit that controls communication settings of the communication unit based on the communication quality predicted by the communication prediction unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 217459 Summary of the Invention [Problem to be solved by the invention]

[0004] Consider communication between a mobile device and an external device that can use multiple communication carriers. In such communication, it is conceivable to compare the communication qualities of the multiple communication carriers and select a communication carrier to use. The communication quality of each communication carrier can be predicted based on, for example, past communication performance. However, the accuracy of the predicted value of communication quality based on past communication performance is not necessarily high. If the accuracy of the predicted value of communication quality is low, there is a risk that a communication carrier with low quality will be selected.

[0005] An object of the present disclosure is to provide a technology that can appropriately determine a communication carrier to be used in communication between a mobile object that can use multiple communication carriers and an external device. [Means for solving the problem]

[0006] The first aspect relates to a communication control method for controlling communication between a mobile object that can use a plurality of communication carriers and an external device. The communication control method is a process of acquiring actual communication quality information, which is information obtained in real time from a group of communication devices present in a first area located in the moving direction of the mobile object, and which indicates actual measurement values ​​of communication quality of a plurality of communication carriers in the first area; a priority determination process for determining priorities of a plurality of communication carriers in the first area based on actual communication quality information about the first area; determining at least one communication carrier to be used for communication between the mobile object and the external device in the first area based on the priority; Includes:

[0007] The second aspect relates to a communication system for performing communication between a mobile object that can use a plurality of communication carriers and an external device. The communication system comprises one or more processors. The one or more processors a process of acquiring actual communication quality information, which is information obtained in real time from a group of communication devices present in a first area located in the moving direction of the mobile object, and which indicates actual measurement values ​​of communication quality of a plurality of communication carriers in the first area; a priority determination process for determining priorities of a plurality of communication carriers in the first area based on actual communication quality information about the first area; determining at least one communication carrier to be used for communication between the mobile object and the external device in the first area based on the priority; is configured to execute

[0008] The third aspect relates to a communication system. The communication system A mobile device capable of using multiple communication carriers; an external device that communicates with the mobile unit; a management device capable of communicating with a mobile object and an external device; Equipped with. At least one of the mobile body, the external device, and the management device acquires actual communication quality information, which is information obtained in real time from a group of communication devices present in a first area located in the direction of movement of the mobile body, and indicates actual measured values ​​of communication quality of multiple communication carriers in the first area. At least one of the mobile object, the external device, and the management device executes a priority determination process for determining priorities of a plurality of communication carriers in the first area based on actual communication quality information regarding the first area. At least one of the mobile object, the external device, and the management device determines, based on the priority, at least one communication carrier to be used for communication between the mobile object and the external device in the first area. [Effects of the Invention]

[0009] According to the present disclosure, actual measurement values ​​of communication quality of multiple communication carriers are obtained in real time from a group of communication devices present in a first area located in the direction of movement of a mobile object. Then, a communication carrier to be used for communication in the first area is determined based on the obtained actual measurement values ​​of communication quality. This makes it possible to more accurately select a high-quality communication carrier compared to when a communication carrier is determined based only on predicted values ​​of communication quality. In other words, it becomes possible to more appropriately determine the communication carrier to be used. [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] 1 is a conceptual diagram for explaining an overview of a remote control system according to an embodiment of the present disclosure. [Figure 3] 1 is a block diagram illustrating an example configuration of a vehicle according to an embodiment of the present disclosure. [Figure 4] FIG. 2 is a block diagram illustrating a configuration example of a remote operator terminal according to an embodiment of the present disclosure. [Figure 5]FIG. 1 is a conceptual diagram for explaining an overview of a communication carrier determination process according to an embodiment of the present disclosure. [Figure 6] 1 is a block diagram illustrating an example of a functional configuration of a communication system according to an embodiment of the present disclosure. [Figure 7] 1 is a flowchart illustrating processing by a communication system according to an embodiment of the present disclosure. [Figure 8] FIG. 10 is a conceptual diagram illustrating a communication quality acquisition process according to an embodiment of the present disclosure. [Figure 9] FIG. 10 is a conceptual diagram illustrating an example of a communication quality acquisition process according to an embodiment of the present disclosure. [Figure 10] FIG. 10 is a conceptual diagram for explaining another example of the communication quality acquisition process according to an embodiment of the present disclosure. [Figure 11] FIG. 2 is a conceptual diagram illustrating a first example of a priority order determination process according to an embodiment of the present disclosure. [Figure 12] FIG. 10 is a conceptual diagram illustrating a second example of a priority order determination process according to an embodiment of the present disclosure. [Figure 13] FIG. 1 is a conceptual diagram illustrating an example of data priority order for multiple types of data 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. Overview of the communication system Consider communication between a moving object and an external device. Examples of moving objects include vehicles, robots, and flying objects. Vehicles may be self-driving vehicles or vehicles driven by a driver. Examples of robots include logistics robots and work robots. Examples of flying objects include airplanes and drones.

[0013] As an example, the following description will consider a case where the moving body is a vehicle. To generalize, the term "vehicle" in the following description will be read as "moving body."

[0014] FIG. 1 is a block diagram for explaining an overview of a communication system 1 according to this embodiment. The communication system 1 includes a vehicle 100, an external device 200, and a management device 300. The external device 200 is located outside the vehicle 100. The management device 300 manages the communication system 1. The management device 300 may be a management server on a cloud. The management server may be configured with multiple servers that perform distributed processing. The vehicle 100, the external device 200, and the management device 300 are connected to each other via a communication network and can communicate with each other. The vehicle 100 and the external device 200 communicate directly or via the management device 300.

[0015] The vehicle 100 is equipped with a wireless communication function and can use multiple communication carriers T1 to Tn, where n is an integer equal to or greater than 2. The multiple communication carriers T1 to Tn can also be referred to as multiple communication methods or multiple communication lines. 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.

[0016] If the external device 200 has a wireless communication function, the external device 200 may also be able to use a plurality of communication carriers T1 to Tn.

[0017] 2. Overview of the remote control system As an example, consider the case where the communication system 1 is a "remote control system" that remotely controls the vehicle 100.

[0018] FIG. 2 is a schematic diagram showing an example configuration of a remote operation system. The remote operation system includes a vehicle 100, a remote operator terminal 200R, and a management device 300. The vehicle 100 is the target of remote operation. The remote operator terminal 200R is a terminal device used by a remote operator O to remotely operate the vehicle 100. The remote operator terminal 200R can also be called a remote operation HMI (Human Machine Interface). This remote operator terminal 200R corresponds to an external device 200 with which the vehicle 100 communicates.

[0019] The management device 300 manages the remote control system. Typically, the management device 300 is a management server on the cloud. The management server may be configured with multiple servers that perform distributed processing.

[0020] The vehicle 100, the remote operator terminal 200R, and the management device 300 can communicate with each other via a communication network. For example, the vehicle 100 and the remote operator terminal 200R communicate with each other via the management device 300. Alternatively, the vehicle 100 and the remote operator terminal 200R may communicate directly without going through the management device 300.

[0021] 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 200R.

[0022] The remote operator terminal 200R receives vehicle information VCL transmitted from the vehicle 100. The remote operator terminal 200R presents the vehicle information VCL to the remote operator O. Specifically, the remote operator terminal 200R 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 operates 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 200R transmits the remote operation information OPE to the vehicle 100.

[0023] The vehicle 100 receives the remote operation information OPE transmitted from the remote operator terminal 200R. The vehicle 100 performs vehicle driving control in accordance with the received remote operation information OPE. In this way, the vehicle 100 is remotely controlled.

[0024] 2-1. Example of vehicle configuration 3 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 traveling device 130, and a control device 150.

[0025] The communication device 110 communicates with the outside of the vehicle 100. For example, the communication device 110 communicates with the remote operator terminal 200R and the management device 300. The communication device 110 can communicate using a plurality of communication carriers T1 to Tn.

[0026] 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).

[0027] 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.

[0028] 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).

[0029] 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.

[0030] 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.

[0031] 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.

[0032] The driving environment information ENV also includes vehicle state information indicating the vehicle state detected by the vehicle state sensor.

[0033] 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).

[0034] 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).

[0035] 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.

[0036] The control device 150 communicates with the remote operator terminal 200R via the communication device 110.

[0037] The control device 150 transmits the vehicle information VCL to the remote operator terminal 200R. 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.

[0038] Furthermore, the control device 150 receives remote operation information OPE from the remote operator terminal 200R. 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.

[0039] 2-2. Example of remote operator terminal configuration 4 is a block diagram showing an example of the configuration of the remote operator terminal 200 R. The remote operator terminal 200 R includes a communication device 210 , a display device 220 , a remote control member 230 , and a control device 250 .

[0040] The communication device 210 communicates with the vehicle 100 and the management device 300 .

[0041] The display device 220 presents various types of information to the remote operator O by displaying the various types of information.

[0042] 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.

[0043] The control device 250 controls the remote operator terminal 200R. The control device 250 includes one or more processors 260 (hereinafter simply referred to as processor 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 3. Overview of the carrier selection process As described above, the vehicle 100 can use multiple communication carriers T1 to Tn. The communication system 1 determines at least one communication carrier to be used for communication between the vehicle 100 and the external device 200. This process is hereinafter referred to as a "communication carrier determination process."

[0048] 5 is a conceptual diagram for explaining an outline of the communication carrier determination process according to this embodiment. The management device 300 holds "communication quality information QTY" indicating the communication quality of various communication carriers at various locations. Examples of communication quality include communication speed, RTT (Round Trip Time), RSSI (Received Signal Strength Indicator), jitter, etc.

[0049] In particular, the communication quality information QTY includes "actual communication quality information QTY-A." The actual communication quality information QTY-A indicates actual measurement values ​​of communication quality of various communication carriers at various locations. The actual measurement values ​​of communication quality are measured in real time by communication devices 400 located at various locations. Examples of the communication devices 400 include mobile terminals and vehicles. Examples of the mobile terminals include smartphones.

[0050] More specifically, the communication device 400 has a wireless communication function and can use at least one of a plurality of communication carriers T1 to Tn. The communication device 400 communicates using at least one communication carrier. During communication, the communication device 400 measures the communication quality of the communication by that communication carrier in real time. Methods for measuring communication quality are well known. The communication device 400 transmits information indicating its own location and the real-time actual measurement value of the communication quality to the management device 300. The management device 300 can generate and update actual communication quality information QTY-A by collecting information from various communication devices 400 at various locations.

[0051] The first area RA is an area located in the direction of travel of the vehicle 100. In other words, the first area RA is an area to which the vehicle 100 will travel in the near future. For example, the first area RA is an area several kilometers in length.

[0052] The actual communication quality information QTY-A regarding the first area RA indicates actual measurement values ​​of the communication quality of multiple communication carriers T1 to Tn in the first area RA. These actual measurement values ​​are obtained in real time from one or more communication devices 400 (communication device group) present in the first area RA. That is, the management device 300 acquires the actual communication quality information QTY-A regarding the first area RA from one or more communication devices 400 (communication device group) present in the first area RA. The vehicle 100 and the external device 200 can acquire the actual communication quality information QTY-A regarding the first area RA from the management device 300. It can be said that the actual communication quality information QTY-A acquired by the vehicle 100 and the external device 200 indicates quasi-real-time actual measurement values ​​of communication quality.

[0053] The communication system 1 performs a communication carrier determination process for the first area RA based on actual communication quality information QTY-A for the first area RA. Specifically, at least one of the vehicle 100, the external device 200, and the management device 300 determines the priority of multiple communication carriers T1 to Tn in the first area RA based on the actual communication quality information QTY-A for the first area RA. Typically, the higher the actual measured value of communication quality of a communication carrier, the higher the priority. Then, at least one of the vehicle 100, the external device 200, and the management device 300 determines at least one communication carrier to be used for communication between the vehicle 100 and the external device 200 in the first area RA based on the priority.

[0054] The result of the communication carrier determination process is notified to the vehicle 100. The vehicle 100 communicates with the external device 200 using the determined communication carrier.

[0055] <Effects> As described above, according to the present embodiment, actual measurement values ​​of communication quality of a plurality of communication carriers T1 to Tn are obtained in real time from a group of communication devices present in the first area RA located in the moving direction of the vehicle 100. Then, the communication carrier to be used for communication in the first area RA is determined based on the obtained actual measurement values ​​of communication quality. This makes it possible to more accurately select a high-quality communication carrier compared to when the communication carrier is determined based only on the predicted value of communication quality. In other words, it becomes possible to more appropriately determine the communication carrier to be used.

[0056] 2, the information (VCL, OPE) required for remotely controlling the vehicle 100 is communicated via a high-quality communication carrier. Therefore, the accuracy of remotely controlling the vehicle 100 is improved.

[0057] 4. Processing related to telecommunications carrier determination processing 6 is a block diagram showing an example of a functional configuration of a communication system 1 according to this embodiment. The communication system 1 includes, as functional blocks, an area information acquisition unit 10, a communication quality acquisition unit 20, a priority determination unit 30, and a communication carrier determination unit 40. These functional blocks are included in at least one of the vehicle 100, the external device 200, and the management device 300. These functional blocks may be distributed among the vehicle 100, the external device 200, and the management device 300. Because the vehicle 100, the external device 200, and the management device 300 can communicate with each other, information required for processing can be shared among the vehicle 100, the external device 200, and the management device 300.

[0058] Generally speaking, the area information acquisition unit 10, communication quality acquisition unit 20, priority determination unit 30, and communication carrier determination unit 40 are realized by one or more processors that perform various information processing and one or more storage devices that store various information necessary for processing.

[0059] 7 is a flowchart showing the processing performed by the communication system 1 according to this embodiment. Each step of the processing will be described below.

[0060] 4-1. Area information acquisition process (step S10) In step S10, the area information acquisition unit 10 acquires information on a first area RA located in the moving direction of the vehicle 100. More specifically, the area information acquisition unit 10 acquires information on the current position and moving direction of the vehicle 100 from the vehicle 100. Instead of or together with the moving direction, information on a target route of the vehicle 100 may be acquired. The area information acquisition unit 10 recognizes the first area RA based on the current position and moving direction or the target route of the vehicle 100. The first area RA is, for example, an area having a length of about several kilometers.

[0061] 4-2. Communication quality acquisition process (step S20) In step S20, the communication quality acquisition unit 20 acquires communication quality information QTY relating to the first area RA. Fig. 8 is a conceptual diagram for explaining this communication quality acquisition process.

[0062] The communication quality acquisition unit 20 acquires actual communication quality information QTY-A indicating actual measurement values ​​of communication quality of a plurality of communication carriers T1 to Tn in the first area RA. These actual measurement values ​​are obtained in real time from one or more communication devices 400 (communication device group) present in the first area RA. Considering the communication time from the communication device 400, it can be said that the actual communication quality information QTY-A indicates quasi-real-time actual measurement values ​​of communication quality.

[0063] It is not necessarily the case that sufficient actual measurement values ​​of communication quality for all of the multiple communication carriers T1 to Tn can be obtained. Depending on the number of communication devices 400 present in the first area RA and the communication carriers used by those communication devices 400, it is possible that sufficient actual measurement values ​​of communication quality for a certain communication carrier cannot be obtained. If the number of samples of the actual measurement values ​​of communication quality for a communication carrier Ti (i = 1 to n) in the first area RA is equal to or greater than a threshold, the actual measurement values ​​of communication quality for that communication carrier Ti are deemed significant and usable for processing. On the other hand, if the number of samples of the actual measurement values ​​of communication quality for a communication carrier Ti in the first area RA is less than the threshold, the actual measurement values ​​of communication quality for that communication carrier Ti are deemed unusable.

[0064] A communication carrier for which actual measurement values ​​of communication quality are not available is hereinafter referred to as a "sample-insufficient communication carrier." If some of the multiple communication carriers T1 to Tn in the first area RA are sample-insufficient communication carriers, the communication quality acquisition unit 20 may predict the communication quality of the sample-insufficient communication carriers in the first area RA. The predicted communication quality information QTY-B indicates a predicted value of communication quality for each location.

[0065] More specifically, the performance database DB indicates the past performance of communication quality of multiple communication carriers T1 to Tn for each location. The performance database DB can also be said to be a collection of past actual communication quality information QTY-A. Typically, the management device 300 holds and updates the performance database DB. The communication quality acquisition unit 20 accesses the performance database DB for the first area RA and predicts the current communication quality of communication carriers with insufficient samples in the first area RA based on the past communication quality in the first area RA. In other words, the communication quality acquisition unit 20 accesses the performance database DB for the first area RA and acquires a predicted value of the communication quality of communication carriers with insufficient samples in the first area RA. For example, the past communication quality is used as the predicted value of the current communication quality.

[0066] However, the accuracy of the predicted value of communication quality based on the performance database DB is not necessarily high. In order to improve the accuracy of the predicted value of communication quality, the following method may be used.

[0067] 9 and 10 are conceptual diagrams for explaining a method for improving the accuracy of predicted values ​​of communication quality. The second area RB is an area in which the vehicle 100 is traveling, and is located just before the first area RA. In the second area RB, the vehicle 100 communicates using a specific communication carrier Tj. In FIGS. 9 and 10, the vertical axis represents the communication quality of the specific communication carrier Tj, and the horizontal axis represents the position.

[0068] The actual measurement value of the communication quality of the specific communication carrier Tj in the second area RB is obtained from at least the results of communication by the vehicle 100 itself. In the example shown in Figures 9 and 10, the actual measurement value of the communication quality in the second area RB deviates from the predicted value of the communication quality obtained from the performance database DB. In other words, the accuracy of the predicted value of the communication quality obtained from the performance database DB is low.

[0069] The specific communication carrier Tj in the first area RA is a sample-shortage communication carrier. That is, the actual measurement value of the communication quality of the specific communication carrier Tj in the first area RA is not available. In the example shown in Fig. 9, a predicted value obtained from the performance database DB is used as the communication quality of the specific communication carrier Tj in the first area RA. However, as in the case of the second area RB, the predicted value of the communication quality obtained from the performance database DB may deviate from the actual measurement value.

[0070] Therefore, in order to improve the accuracy of the predicted value of communication quality, a method such as that shown in FIG. 10 is used. Specifically, the communication quality acquisition unit 20 acquires a predicted value of communication quality of a specific communication carrier Tj in the first area RA based on an actual measurement value of communication quality of the specific communication carrier Tj in a second area RB immediately before the first area RA. This is based on the knowledge that the communication quality of the specific communication carrier Tj in the second area RB is likely to continue in the first area RA. The actual measurement value of communication quality of the specific communication carrier Tj in the second area RB is obtained from the results of communication by the vehicle 100 itself. For example, the communication quality acquisition unit 20 uses the actual measurement value of communication quality of the specific communication carrier Tj in the second area RB as the predicted value of communication quality of the specific communication carrier Tj in the first area RA. As another example, the communication quality acquisition unit 20 may calculate a weighted average value of the actual measurement value of communication quality in the second area RB and past communication quality in the first area RA as the predicted value of communication quality in the first area RA. The weight in the weighted average value may be set arbitrarily. In either case, the accuracy of the predicted value of communication quality is improved.

[0071] 4-3. Priority Determination Process (Step S30) In step S30, the priority order determination unit 30 determines the priorities of the multiple communication carriers T1 to Tn in the first area RA based on the communication quality information QTY for the first area RA. Various examples of information can be considered as information used in this priority order determination process.

[0072] If all actual measurement values ​​of the communication quality of the communication carriers T1 to Tn in the first area RA are available, the actual measurement values ​​are used. In this case, the priority order determiner 30 determines the priorities of the multiple communication carriers T1 to Tn in the first area RA based on the actual communication quality information QTY-A.

[0073] If actual measurement values ​​of the communication quality of all the communication carriers T1 to Tn in the first area RA are unavailable, the above-mentioned predicted values ​​are used instead. In this case, the priority order determination unit 30 determines the priorities of the multiple communication carriers T1 to Tn in the first area RA based on the predicted communication quality information QTY-B.

[0074] If actual measurement values ​​of the communication quality of some of the communication carriers T1 to Tn in the first area RA are unavailable, only the available actual measurement values ​​are used. In this case, the priority order determination unit 30 determines the priority order of only the communication carriers for which actual measurement values ​​are available, based on the actual communication quality information QTY-A. Communication carriers for which actual measurement values ​​are unavailable are excluded from the candidates.

[0075] Alternatively, if actual measurement values ​​of the communication quality of some of the communication carriers T1 to Tn in the first area RA are unavailable, both the available actual measurement values ​​and predicted values ​​may be used. In this case, the priority order determination unit 30 determines the priorities of the multiple communication carriers T1 to Tn in the first area RA based on the actual measurement values ​​indicated by the actual communication quality information QTY-A and the predicted values ​​indicated by the predicted communication quality information QTY-B.

[0076] 4-3-1. First example of priority determination process FIG. 11 is a conceptual diagram for explaining a first example of the priority determination process. The vertical axis represents communication quality, and the horizontal axis represents location. Communication quality is an actually measured value or a predicted value. Here, three carriers, a first communication carrier T1, a second communication carrier T2, and a third communication carrier T3, are considered as examples.

[0077] For the first communication carrier T1, information on communication quality at multiple first locations within the first area RA exists. The priority determination unit 30 calculates the average value of the communication quality of the first communication carrier T1 at multiple first locations within the first area RA. This average value is hereinafter referred to as the "first average communication quality."

[0078] For the second communication carrier T2, information on communication quality at multiple second locations within the first area RA exists. The priority determination unit 30 calculates the average value of the communication quality of the second communication carrier T2 at multiple second locations within the first area RA. This average value is hereinafter referred to as the "second average communication quality."

[0079] For the third communication carrier T3, information on communication quality at multiple third locations within the first area RA exists. The priority determination unit 30 calculates the average value of the communication quality of the third communication carrier T3 at multiple third locations within the first area RA. This average value is hereinafter referred to as the "third average communication quality."

[0080] The priority order determination unit 30 determines the priorities of the communication carriers T1 to T3 by comparing the average communication quality of each of the communication carriers T1 to T3. More specifically, the higher the average communication quality, the higher the priority is set. In the example shown in FIG. 11, the first average communication quality is higher than the second average communication quality, which is higher than the third average communication quality. Therefore, the priority order determination unit 30 sets the priority of the first communication carrier T1 higher than the priority of the second communication carrier T2. Furthermore, the priority order determination unit 30 sets the priority of the second communication carrier T2 higher than the priority of the third communication carrier T3.

[0081] 4-3-2. Second example of priority determination process 12 is a conceptual diagram illustrating a second example of the priority order determination process. In the example shown in FIG. 12, there is little difference between the first average communication quality and the second average communication quality. In this case, the priority order determination unit 30 may determine the priority order taking into account variations in communication quality in the first area RA.

[0082] The "variation parameter" is a parameter that reflects the variation in communication quality in the first area RA. For example, the variation parameter is the variance of communication quality in the first area RA. As another example, the variation parameter is the standard deviation of communication quality in the first area RA.

[0083] The first variation parameter is a variation parameter that reflects the variation in communication quality of the first communication carrier T1 at a plurality of first locations in the first area RA. The second variation parameter is a variation parameter that reflects the variation in communication quality of the second communication carrier T2 at a plurality of second locations in the first area RA. The priority determination unit 30 calculates the first variation parameter and the second variation parameter. Then, the priority determination unit 30 compares the first variation parameter with the second variation parameter and sets a higher priority to the first communication carrier T1 or the second communication carrier T2 that has smaller variation.

[0084] This can be generalized as follows. When the first average communication quality is higher than the second average communication quality by a predetermined threshold or more, the priority determination unit 30 sets the priority of the first communication carrier T1 higher than the priority of the second communication carrier T2. When the second average communication quality is higher than the first average communication quality by a predetermined threshold or more, the priority determination unit 30 sets the priority of the second communication carrier T2 higher than the priority of the first communication carrier T1. When the difference between the first average communication quality and the second average communication quality is less than the predetermined threshold, the priority determination unit 30 sets the priority of the first communication carrier T1 or the second communication carrier T2, whichever has smaller variation, higher based on a comparison between the first variation parameter and the second variation parameter.

[0085] 4-4. Communication Carrier Determination Process (Step S40) In step S40, the communication carrier determination unit 40 determines at least one communication carrier to be used for communication between the vehicle 100 and the external device 200 in the first area RA, based on the above-mentioned priority order.

[0086] For example, when one communication carrier is used, the communication carrier determination unit 40 selects the communication carrier with the highest priority.

[0087] As another example, multiple types of data may be transmitted in parallel via two or more communication carriers, in which case the communication carrier determination unit 40 selects two or more communication carriers in accordance with the order of priority.

[0088] The communication carrier determination unit 40 may set data priorities for multiple types of data. In this case, the communication carrier determination unit 40 assigns data with a higher data priority to a communication carrier with a higher priority.

[0089] Fig. 13 is a conceptual diagram for explaining an example of the data priority order of multiple types of data. In the example shown in Fig. 13, 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.

[0090] A plurality of types of images IMG1 to IMG4 are transmitted from the vehicle 100 to the remote operator terminal 200R. The data priority of the images IMG1 to IMG4 depends on the planned direction of travel of the vehicle 100. More specifically, 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. The circled numbers in FIG. 13 indicate the data priority.

[0091] 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 data priority of the rear image IMG4 is the lowest. The data priority of the left front image IMG2 and the right front image IMG3 is lower than that of the front image IMG1, but higher than that of the rear image IMG4.

[0092] When the vehicle 100 turns left, the planned direction of travel of the vehicle 100 is leftward. In this case, the left front image IMG2 has a higher priority than the right front image IMG3. The front image IMG1 has a lower priority than the left front image IMG2 but a higher priority than the right front image IMG3. The rear image IMG4 has the lowest priority.

[0093] When the vehicle 100 turns right, the planned direction of travel of the vehicle 100 is to the right. In this case, the right front image IMG3 has a higher priority than the left front image IMG2. The front image IMG1 has a lower priority than the right front image IMG3 but a higher priority than the left front image IMG2. The rear image IMG4 has the lowest priority.

[0094] 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.

[0095] 4-5. Communication process (step S50) The result of the communication carrier determination process is notified to vehicle 100. In step S50, vehicle 100 communicates with external device 200 using the determined communication carrier. [Explanation of symbols]

[0096] 1. Communication Systems 10 Area information acquisition unit 20 Communication quality acquisition unit 30 Priority Determination Unit 40 Telecommunications Carrier Decision Department 100 vehicles 200 External device 200R Remote Operator Terminal 300 Management device 400 Communication Devices DB performance database QTY Communication quality information QTY-A Actual communication quality information QTY-B predicted communication quality information RA Area 1 RB Area 2 T1~Tn Telecommunications carriers

Claims

1. A communication control method for controlling communication between a mobile object capable of using a plurality of communication carriers and an external device, comprising: a process of acquiring actual communication quality information, which is information obtained in real time from a group of communication devices present in a first area located in a moving direction of the mobile object, and which indicates actual measurement values ​​of communication quality of the plurality of communication carriers in the first area; a priority determination process for determining priorities of the plurality of communication carriers in the first area based on the actual communication quality information regarding the first area; determining, based on the priority, at least one communication carrier to be used for the communication between the mobile object and the external device in the first area; Including, A communication carrier with insufficient samples is a communication carrier in which the number of samples of the actual measurement value of the communication quality in the first area is less than a threshold value, The priority order determination process excludes the communication carrier with insufficient samples from candidates, and determines the priority order of only the communication carriers other than the communication carrier with insufficient samples among the plurality of communication carriers. Communication control method.

2. A communication control method for controlling communication between a mobile object capable of using a plurality of communication carriers and an external device, comprising: a process of acquiring actual communication quality information, which is information obtained in real time from a group of communication devices present in a first area located in a moving direction of the mobile object, and which indicates actual measurement values ​​of communication quality of the plurality of communication carriers in the first area; a priority determination process for determining priorities of the plurality of communication carriers in the first area based on the actual communication quality information regarding the first area; determining, based on the priority, at least one communication carrier to be used for the communication between the mobile object and the external device in the first area; Including, A communication carrier with insufficient samples is a communication carrier in which the number of samples of the actual measurement value of the communication quality in the first area is less than a threshold value, The communication control method further includes: When the mobile unit communicates using the communication carrier with insufficient samples in a second area immediately before the first area, a predicted value of communication quality of the communication carrier with insufficient samples in the first area is obtained based on an actual measurement value of communication quality of the communication carrier with insufficient samples in the second area. Including, The priority order determination process determines the priority order of the plurality of communication carriers in the first area based on the actual measurement values ​​of the communication quality of communication carriers other than the communication carrier with insufficient samples in the first area and the predicted value of the communication quality of the communication carrier with insufficient samples. Communication control method.

3. A communication control method according to claim 2, The actual measurement value of the communication quality of the communication carrier with insufficient samples in the second area is used as the predicted value of the communication quality of the communication carrier with insufficient samples in the first area. Communication control method.

4. 4. A communication control method according to claim 1, further comprising: the plurality of communication carriers include a first communication carrier and a second communication carrier; The priority determination process includes: calculating a first average communication quality that is an average value of the communication quality of the first communication carrier at a plurality of first locations within the first area; calculating a second average communication quality that is an average value of the communication quality of the second communication carrier at a plurality of second locations within the first area; determining the priority order of the first communication carrier and the second communication carrier based on a comparison between the first average communication quality and the second average communication quality; Contains Communication control method.

5. 5. The communication control method according to claim 4, The priority determination process includes a process of setting the priority of the first communication carrier higher than the priority of the second communication carrier when the first average communication quality is higher than the second average communication quality. Communication control method.

6. 5. The communication control method according to claim 4, The priority determination process further includes: calculating a first variation parameter that reflects a variation in the communication quality of the first communication carrier at the plurality of first locations; calculating a second variation parameter that reflects a variation in the communication quality of the second communication carrier at the plurality of second locations; If the first average communication quality is higher than the second average communication quality by a predetermined threshold or more, setting the priority of the first communication carrier higher than the priority of the second communication carrier; a process of setting the priority of the first communication carrier or the second communication carrier having a smaller variation higher based on a comparison between the first variation parameter and the second variation parameter when a difference between the first average communication quality and the second average communication quality is less than the predetermined threshold value; Contains Communication control method.

7. 2. The communication control method according to claim 1, The moving object is a target for remote control by a remote operator. Communication control method.

8. A communication system for performing communication between a mobile object that can use a plurality of communication carriers and an external device, one or more processors; the one or more processors: a process of acquiring actual communication quality information, which is information obtained in real time from a group of communication devices present in a first area located in a moving direction of the mobile object, and which indicates actual measurement values ​​of communication quality of the plurality of communication carriers in the first area; a priority determination process for determining priorities of the plurality of communication carriers in the first area based on the actual communication quality information regarding the first area; determining, based on the priority, at least one communication carrier to be used for the communication between the mobile object and the external device in the first area; configured to run A communication carrier with insufficient samples is a communication carrier in which the number of samples of the actual measurement value of the communication quality in the first area is less than a threshold value, The priority order determination process excludes the communication carrier with insufficient samples from candidates, and determines the priority order of only the communication carriers other than the communication carrier with insufficient samples among the plurality of communication carriers. Communication system.

9. A communication system for performing communication between a mobile object that can use a plurality of communication carriers and an external device, one or more processors; the one or more processors: a process of acquiring actual communication quality information, which is information obtained in real time from a group of communication devices present in a first area located in a moving direction of the mobile object, and which indicates actual measurement values ​​of communication quality of the plurality of communication carriers in the first area; a priority determination process for determining priorities of the plurality of communication carriers in the first area based on the actual communication quality information regarding the first area; determining, based on the priority, at least one communication carrier to be used for the communication between the mobile object and the external device in the first area; configured to run A communication carrier with insufficient samples is a communication carrier in which the number of samples of the actual measurement value of the communication quality in the first area is less than a threshold value, The one or more processors further When the mobile unit communicates using the insufficiently sampled communication carrier in a second area immediately before the first area, a process of acquiring a predicted value of communication quality of the insufficiently sampled communication carrier in the first area based on an actual measurement value of communication quality of the insufficiently sampled communication carrier in the second area. configured to run The priority order determination process determines the priority order of the plurality of communication carriers in the first area based on the actual measurement values ​​of the communication quality of communication carriers other than the communication carrier with insufficient samples in the first area and the predicted value of the communication quality of the communication carrier with insufficient samples. Communication system.

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