Communication system, communication terminal equipment, and communication method between vehicle and access point

Abstract

To solve the problem in which when a tall vehicle is stopped near an access point, the reception of application information from the access point may be impeded.SOLUTION: A vehicle terminal device calculates whether or not radio waves from an access point are shielded by obstacles such as tall vehicles based on obstacle information created at the access point, and, if it is determined that they are shielded, searches for connections to other access points around the access point that is shielded.SELECTED DRAWING: Figure 8

Description

Technical Field

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[0001] This application relates to a communication system, a communication terminal device, and a communication method between a vehicle and an access point.

Background Art

[0002] Conventionally, in order to cope with fluctuations in the communication environment in wireless LAN communication accompanying the movement of users having wireless LAN terminals, an application program is supplied to the terminal device via a base station with which communication has been established, and event information realized by executing this application program is supplied to each base station. Also, a communication system that maintains communication between a terminal device and a base station during the occurrence of an event executed by an application program is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, for example, when a vehicle with a high vehicle height stops near an access point during application information communication, the communication between the vehicle receiving the application information and the access point transmitting the application information is blocked by this vehicle with a high vehicle height, resulting in a communication interruption during service, and there is a problem of preventing the vehicle from receiving application information.

[0005] This invention was made to solve the problems described above, and aims to provide a communication system, a communication terminal device, and a method of communication between a vehicle and an access point, so that even with access points that do not have high-speed roaming capabilities, vehicles are not prevented from receiving application information by obstacles around the access point. [Means for solving the problem]

[0006] The communication system disclosed herein is in the surrounding area Mobile A sensor unit that detects obstacles, a sensor information processing unit that converts the information detected by the sensor unit into data, and based on the sensor information converted into data by the sensor information processing unit, at Mobile An access point that creates obstacle information representing the location and height of obstacles and transmits it to a vehicle, and a roadside section arranged along the road, A vehicle terminal device mounted on a vehicle, which sequentially connects to access points along the roadside along the vehicle's route and acquires obstacle information from the access points. The vehicle terminal device is equipped with radio waves from the access point. Mobile Obstacle information indicates whether or not the view is obstructed by an obstacle. Comparison of the position and height of the moving obstacle and the position and height of the vehicle. The system is characterized by having an access point selection unit that calculates based on the above and, if it is determined that the access point is being shielded, searches for connections to other access points in the vicinity of the shielded access point. [Effects of the Invention]

[0007] According to the communication system disclosed herein, obstacles around the access point will not obstruct the vehicle from receiving application information. [Brief explanation of the drawing]

[0008] [Figure 1] It is a functional block diagram for explaining the communication system according to Embodiment 1. [Figure 2] It is a functional block diagram of the roadside part according to Embodiment 1. [Figure 3] It is a diagram for explaining the data conversion of obstacle information in the sensor information processing unit according to Embodiment 1. [Figure 4] It is a functional block diagram of the access point according to Embodiment 1. [Figure 5] It is a diagram for explaining an example of the hardware configuration of the access point according to Embodiment 1. [Figure 6] It is a functional block diagram of the vehicle terminal device according to Embodiment 1. [Figure 7] It is a diagram for explaining an example of the hardware configuration of the vehicle terminal device according to Embodiment 1. [Figure 8] It is a diagram for explaining the sequence of the communication system according to Embodiment 1. [Figure 9] It is a diagram for explaining the situation on the road in the sequence of the communication system according to Embodiment 1. [Figure 10] It is a flowchart for explaining the procedure at the time of access point selection by the access point selection determination processing unit according to Embodiment 1.

Modes for Carrying Out the Invention

[0009] Hereinafter, a preferred embodiment of the communication system according to the present application will be described with reference to the drawings. Note that the same reference numerals are assigned to the same content and corresponding parts, and detailed descriptions thereof are omitted.

[0010] Embodiment 1. FIG. 1 is a functional block diagram of a communication system according to Embodiment 1. This is a system in which a roadside unit 1 installed around a road and having sensors is connected to a vehicle terminal device 2 mounted on vehicle A by communication. The following description of the roadside unit 1 will be given using four roadside units 1a, 1b, 1c, and 1d provided on the road around a building, but the shape of the road and the number of roadside units are not limited to this.

[0011] [Configuration of Roadside Unit] As shown in FIG. 2, the roadside unit 1 includes a sensor unit 10, a sensor information processing unit 11, an access point 12, and an antenna 125 for communication. The sensor unit 10 detects, for example, vehicles and pedestrians, and includes an image recognition camera 101, a LiDAR (Light Detection And Ranging) 102, and a millimeter-wave radar 103. Note that the types of sensors are just an example and are not limited to this. The sensor units, access points, etc. of the roadside units 1a to 1d will be described with a to d attached, such as sensor units 10a to 10d and access points 12a to 12d.

[0012] The sensor information processing unit 11 inputs the sensing results sensed by the sensor unit 10, and by performing processing, it converts the sensor information around the roadside unit 1 into data. For example, as shown in FIG. 3, the sensor information based on the detection points detected by the respective LiDARs 102a to 102d of the roadside units 1a to 1d installed at four locations on the road around the building is indicated by circles, and at the bottom of FIG. 3, the result of summarizing the sensor information of these four LiDARs is shown. Note that a process of grouping detection points indicating the same object into one detection point indicating sensor information may be performed. Also, for accuracy improvement, the sensor information of the detection points of the image recognition camera 101 and the millimeter-wave radar 103 may be similarly mapped and integrated on one map. The sensor information processed in this way is transmitted to the access point 12. In FIG. 3, the hatching that appears to radiate from the roadside units 1a to 1d schematically shows the spread of the sensing range of the LiDAR 102.

[0013] The access point 12 receives digitized sensor information from the sensor information processing unit 11 and creates obstacle information based on this sensor information. Obstacle information includes, for example, the type of sensor information detected (vehicle or pedestrian, etc.), the location of the detected obstacle on the road, the width, length, and height of the vehicle if the detected obstacle is a vehicle, the type of vehicle (passenger car, truck, wagon, etc.), and the characteristics of the vehicle (vehicle with a liftgate, ladder truck, crane truck). Figure 4 is a functional block diagram of the access point 12. It comprises a control unit 121, a wireless communication unit 122, a wired communication unit 123, an information processing unit 124, and an antenna 125.

[0014] The control unit 121 controls the entire access point 12. The wireless communication unit 122 is controlled by the control unit 121 and communicates with the vehicle terminal device 2 via the antenna 125 on a predetermined operating channel in a predetermined wireless band, according to a predetermined protocol.

[0015] The wired communication unit 123 is controlled by the control unit 121 and communicates with access points 12 installed on other roadside sections 1 on predetermined wired channels according to predetermined protocols, and exchanges information.

[0016] The information processing unit 124 may create obstacle information from the digitized sensor information received from the sensor information processing unit 11, and may also transmit the created obstacle information to all access points 12 located along the driving route of vehicle A via the wired communication unit 123. This allows all access points 12 located along the driving route to share obstacle information for the entire driving route. However, due to limitations in memory capacity and processing time, the obstacle information may be shared only in the area up to several access points 12 ahead of the predicted driving route. This obstacle information may be updated at predetermined time intervals.

[0017] Furthermore, the information processing unit transmits obstacle information created at access point 12 and obstacle information from other access points 12 located along the driving route to vehicle terminal devices 2 of vehicles surrounding access point 12 via the wireless communication unit 122. In this embodiment, access point 12 and sensor information processing unit 11 are shown as separate functions, but it is also possible to give the information processing unit 124 of access point 12 the functions of sensor information processing unit 11, so that sensing results are converted into data and obstacle information is created in the information processing unit 124.

[0018] The access point 12 may be partially implemented with dedicated hardware and partially implemented with software or firmware. Furthermore, the functions of each of the above-described parts may be realized by hardware, software, firmware, or a combination thereof.

[0019] Figure 5 shows an example of the microcontroller hardware within the sensor information processing unit 11, control unit 121, and information processing unit 124. It consists of a processor 100a and a storage device 200a. Although not shown, the storage device 200a includes a volatile storage device such as random access memory and a non-volatile auxiliary storage device such as flash memory. Alternatively, a hard disk may be provided as an auxiliary storage device instead of flash memory. The processor 100a performs tasks such as digitizing the sensor information and creating obstacle information by executing a program input from the storage device 200a. In this case, the program is input from the auxiliary storage device to the processor 100a via the volatile storage device. The processor 100a may also output data such as calculation results to the volatile storage device of the storage device 200a, or it may save the data to the auxiliary storage device via the volatile storage device.

[0020] [Vehicle Interior Configuration] As shown in Figure 1, for example, the vehicle's internal configuration includes a vehicle terminal device 2 and surrounding sensors 3 connected to an ECU (Electronic Control Unit) 4.

[0021] As shown in Figure 6, for example, the vehicle terminal device 2 includes a control unit 20, a wireless communication unit 21, an access point search processing unit 22, an access point connection processing unit 23, a GPS (Global Positioning System) 24, an access point selection decision processing unit 25, an application unit 26, an output unit 27, a route prediction unit 29, and an antenna 30.

[0022] The control unit 20 controls the overall operation of the vehicle terminal device 2. The wireless communication unit 21 is controlled by the control unit 20 and communicates with the access point 12 via the antenna 30 on a predetermined wireless band operating channel according to a predetermined protocol.

[0023] The access point search processing unit 22 searches for nearby access points and supplies the search results to the access point selection decision processing unit 25. This allows vehicle A to have information on the wireless communication area of ​​each access point 12, and for example, when performing autonomous driving, it can determine whether or not the vehicle is within the wireless communication area of ​​an access point 12. Alternatively, the access point search processing unit 22 may store information on the wireless communication area of ​​each access point in advance as a database, and the wireless communication area in the database may be searched from the vehicle's location information. The access point connection processing unit 23 performs a connection process for the selected access point 12.

[0024] GPS24 acquires signals from satellites (not shown) to determine its own position as Earth-based positional information and supplies it to the access point selection / determination processing unit 25. Note that a configuration other than GPS24 is also acceptable as long as its own position can be determined.

[0025] The application unit 26 acquires, stores, and executes application information supplied via the access point connected by the access point connection processing unit 23. In this embodiment, the application information refers to the obstacle information described above.

[0026] The access point selection decision processing unit 25 selects the access point to connect to based on the search results for access points supplied by the access point search processing unit 22, the communication area and signal strength of each access point, the obstacle information created by each access point managed by the application unit 26, and the prediction results of the route prediction unit, and outputs the selection result to the access point connection processing unit 23. The access point selection decision processing unit 25, the access point connection processing unit 23, and the access point search processing unit 22 are collectively referred to as the access point selection unit 28.

[0027] The output unit 27 consists of a display device that displays application information managed by the application unit 26 as an image inside the vehicle, and a speaker that outputs sound, and notifies the inside of the vehicle by outputting images or sound.

[0028] The route prediction unit 29 predicts the vehicle's travel path based on self-position information regarding latitude and longitude from GPS 24, vehicle speed, steering wheel angle during driving, turn signal output, and, in the case of autonomous driving, a pre-stored route schedule for the autonomous driving area.

[0029] The vehicle terminal device 2 may be partially implemented with dedicated hardware and partially implemented with software or firmware. Furthermore, the functions of each of the above-mentioned parts may be realized by hardware, software, firmware, or a combination thereof.

[0030] Figure 7 shows an example of the microcontroller hardware that operates the control unit 20, access point search processing unit 22, access point connection processing unit 23, GPS 24, access point selection judgment processing unit 25, application unit 26, and route prediction unit 29. It consists of a processor 100b and a storage device 200b. Although not shown, the storage device comprises a volatile storage device such as random access memory and a non-volatile auxiliary storage device such as flash memory. Alternatively, a hard disk may be provided as an auxiliary storage device instead of flash memory. The processor 100b executes the operation of each part of the vehicle terminal device 2 described above according to the software input from the storage device 200b. In this case, the program is input from the auxiliary storage device to the processor 100b via the volatile storage device. The processor 100b may also output data such as calculation results to the volatile storage device of the storage device 200b, or it may save the data to the auxiliary storage device via the volatile storage device.

[0031] The typical configuration of the surrounding sensor 3 mounted on the vehicle shown in Figure 1 is an all-around laser radar, but it may also be an image recognition camera that can see all around the vehicle. Alternatively, it may be a millimeter-wave radar or an ultrasonic sensor.

[0032] The operation of the communication system of this embodiment will be explained with reference to Figures 8 and 9. Figure 8 is a sequence diagram of the communication system, and Figure 9 is a diagram illustrating the sequence of Figure 8. The sensor units and access points in the roadside sections 1a to 1h will be described with a to h, such as sensor units 10a to 10h and access points 12a to 12h, respectively.

[0033] While Figure 3 describes the layout using roadside sections 1a to 1d, Figure 9 describes the layout assuming roadside sections 1a to 1h are also present. The sensor units 10a to 10h of roadside sections 1a to 1h acquire sensing results for surrounding obstacles and transmit these sensing results to their respective sensor information processing units 11a to 11h. The sensor information processing units 11a to 11h convert the sensing results into data representing the surrounding obstacles as sensor information. This digitized sensor information is transmitted from the sensor information processing units 11a to 11h to their respective access points 12a to 12h, where access points 12a to 12h create obstacle information based on the sensor information. This obstacle information is transmitted from the wired communication units 123a to 123h of access points 12a to 12h to each access point 12a to 12h. As a result, each access point 12a to 12h shares all obstacle information present on the driving route at that time. This obstacle information is updated at predetermined time intervals.

[0034] For example, as shown in Figure 9(a), vehicle A is automatically operating along a route that circles building P in the direction of the arrow. As the operation progresses, the radio wave strength from access point 12c on the roadside 1c, acquired by the access point search processing unit 22 of the vehicle terminal device 2, weakens. Therefore, the connection with access point 12c is disconnected, and the vehicle A connects to access point 12d, which has the strongest radio wave strength, to acquire obstacle information. The hatching around access points 12c, 12d, and 12e schematically represents the range of the access point's radio waves. Note that access points other than 12c, 12d, and 12e, which are not explained, are omitted.

[0035] Following the connection with access point 12d, the connection with access point 12e is scheduled. However, as shown in Figure 9(b), the sensor unit 10e installed on the roadside 1e of access point 12e senses (Figure 8, step S1) that vehicle B, which is taller than vehicle A, is parked between access point 12e and vehicle A. This sensing result is transmitted to the sensor information processing unit 11e (step S2). The sensor information processing unit 11e processes the received sensing result to convert vehicle B into data as sensor information. The converted sensor information is input from the sensor information processing unit 11e to access point 12e (step S3), and the information processing unit 124e creates obstacle information for vehicle B from the sensor information, including the position of vehicle B on the road, vehicle width, vehicle length, vehicle height, vehicle type, and characteristics of vehicle B. This obstacle information is transmitted from the wired communication unit 123e to the other access points 12a-12d and 12f-12h (step S4). When access point 12d, which is connected to vehicle A, receives obstacle information for vehicle B from access point 12e, it transmits this obstacle information to the wireless communication unit 21 of vehicle A (step S5). The obstacle information for vehicle B received by the wireless communication unit 21 is transmitted to the access point selection decision processing unit 25 (step S5). Furthermore, the predicted route for vehicle A from the route prediction unit 29 is transmitted to the access point selection decision processing unit 25 (step S6).

[0036] The access point selection processing unit 25 selects the access point to connect to, for example, according to the flowchart shown in Figure 10.

[0037] In Figure 10, obstacle information for vehicle B is input to the access point selection decision processing unit 25 (Figure 10, step S12). Furthermore, if it is determined from the predicted path of vehicle A that vehicle A is scheduled to travel around access point 12e, the system calculates whether the connection between access point 12e and vehicle A is blocked by vehicle B based on the obstacle information for vehicle B (step S13). The calculation may involve comparing the position, length, and height of vehicle B obtained from the obstacle information with the position, length, and height of vehicle A managed by the application unit of the vehicle terminal device 2. Alternatively, if there are parts of vehicle B that are taller than the vehicle height of vehicle B, such as having wing-shaped doors, based on the characteristics of the vehicle type of vehicle B obtained from the obstacle information, the height and length of those parts may be compared with the length and height of vehicle A.

[0038] If the calculation results in no obstruction of access point 12e by vehicle B, the process ends without taking any further action, and the connection is switched from access point 12d to access point 12e at the scheduled timing in accordance with the automated driving operation (step S14). If it is determined that access point 12e is obstructed by vehicle B, the system searches for an access point around access point 12e with a radio wave strength higher than that of access point 12d, or with a radio wave strength higher than a predetermined threshold (step S15). In this case, the system may refer to a database of electric field strengths for each access point that vehicle A has stored in advance. If no access point with a radio wave strength higher than that of access point 12d or higher than a predetermined threshold is found (see Figure 9(c)), the system ends without taking any further action, and the system switches from automated driving to manual driving (step S16). Alternatively, the system continues automated driving along the route while detecting obstacles around the vehicle using the surrounding sensors 3 mounted on the vehicle, and connects when it finds the next access point 12f with a high radio wave strength.

[0039] If access point 12i is found to have a radio wave strength higher than a predetermined threshold, i.e., sufficient radio wave strength for communication, the access point selection determination processing unit 25 selects this access point 12i and instructs the disconnection of access point 12d (step S8 in Figure 8, step S17 in Figure 10) and the connection of access point 12i (step S9 in Figure 8, step S17 in Figure 10). The access point connection processing unit 23 sends a disconnection request to access point 12d via the wireless communication unit 21 (step S10 in Figure 8) and a connection request to access point 12i (step S11 in Figure 8). As a result, as shown in Figure 9(d), access point 12i and the vehicle terminal device 2 are connected, and the service of transmitting obstacle information to vehicle A without interruption can be continued by obtaining application information from the wireless communication unit 122i of access point 12i.

[0040] In the above explanation, the vehicle makes the decision to select an access point, but this decision may also be made at the roadside. In this case, information other than obstacle information that is digitized at the roadside, such as information about the vehicle that is expected to connect to the access point 12 that will be compared with the obstacle (location on the road, vehicle width, vehicle length, vehicle height, vehicle type, vehicle characteristics, radio wave strength information, etc.), and route prediction information may be transmitted from the vehicle terminal device 2 to the access point 12 at the roadside 1.

[0041] Alternatively, the sensor unit 10 and sensor information processing unit 11 located on the roadside may be mounted on a vehicle. In this case, the sensor units mounted on multiple vehicles traveling along the route sense obstacles around each access point, the sensing results are converted into data by the sensor information processing unit mounted on the vehicle, and the converted sensor information is transmitted from the wireless communication unit 21 to the access points around the vehicle. The access points create obstacle information based on the received sensor information and share the obstacle information created at each access point along the route. The subsequent process is the same as in step S5 and onward described above.

[0042] Furthermore, if vehicle A and access point 12d are connected and, for example, a tall vehicle B is parked around the access point, the sensor unit 10d may sense vehicle B (step S1), the sensor information processing unit 11d may convert the sensing result into data as sensor information (step S3), access point 12d may create obstacle information (step S4), and transmit it to the wireless communication unit of vehicle A. In this case, based on the received obstacle information, the access point selection determination processing unit 25 calculates whether the connection between access point 12d and vehicle A is blocked by vehicle B based on the obstacle information (step S13). If it is determined that the connection is blocked, it searches for whether there is an access point around access point 12d with a radio wave strength higher than that of access point 12d, or with a radio wave strength higher than a predetermined threshold (step S15). If another access point is found, steps S8 to S11 are performed as described above.

[0043] As described above, according to this embodiment, even with access points that do not have high-speed roaming capabilities, the vehicle can calculate whether or not radio waves from the access point are blocked by the obstacles based on obstacle information, and if it is determined that the radio waves are blocked, it can search for connections with other access points in the vicinity of the blocked access point and switch to the access point, thereby eliminating communication interruptions of application information transmitted from the access point.

[0044] Although this application describes exemplary embodiments, the various features, aspects, and functions described in the embodiments are not limited to the application of any particular embodiment, but can be applied individually or in various combinations to the embodiments. Accordingly, countless variations not illustrated are conceivable within the scope of the technology disclosed in this specification. These include, for example, modifications, additions, or omissions of at least one component. [Explanation of Symbols]

[0045] 1: Roadside section, 2: Vehicle terminal device, 3: Surrounding sensor, 4: ECU, 10: Sensor section, 11: Sensor information processing section, 12: Access point, 20: Control section, 21: Wireless communication section, 22: Access point search processing section, 23: Access point connection processing section, 24: GPS, 25: Access point selection judgment processing section, 26: Application section, 27: Output section, 28: Access point selection section, 29: Route prediction section, 30: Antenna, 100a, 100b: Processor, 121: Control section, 122: Wireless communication section, 123: Wired communication section, 124: Information processing section, 125: Antenna, 200a, 200b: Memory device.

Claims

1. A roadside unit comprising: a sensor unit for detecting moving obstacles in the surrounding area; a sensor information processing unit for digitizing the information detected by the sensor unit; and an access point for creating obstacle information representing at least the position and height of the moving obstacles based on the sensor information processed by the sensor information processing unit, and transmitting it to a vehicle, wherein the roadside unit is arranged along the road. A vehicle terminal device mounted on the vehicle, which sequentially connects to access points along the roadside along the vehicle's route and acquires obstacle information from the access points. A communication system comprising the following: The vehicle terminal device calculates whether radio waves from the access point are blocked by the moving obstacle based on a comparison of the position and height of the moving obstacle in the obstacle information with the position and height of the vehicle, and if it is determined that the radio waves are blocked, it has an access point selection unit that searches for connections to other access points around the blocked access point.

2. The communication system according to claim 1, wherein the vehicle terminal device further includes a route prediction unit that predicts the vehicle's operating route, and calculates whether radio waves are blocked by the mobile obstacles around the access points to which connections are predicted on the predicted operating route, based on a comparison of the position and height of the mobile obstacles in the obstacle information with the position and height of the vehicle, and if it is determined that the radio waves are blocked, it searches for connections with other access points around the blocked access point.

3. A roadside unit comprising: a sensor unit for detecting surrounding moving obstacles; a sensor information processing unit for digitizing the information detected by the sensor unit; an access point for creating obstacle information representing at least the position and height of the moving obstacles based on the sensor information digitized by the sensor information processing unit and transmitting it to the vehicle; and an access point selection unit for calculating whether radio waves from the access point are blocked by the moving obstacles based on a comparison of the position and height of the moving obstacles in the obstacle information with the position and height of the vehicle, and if it is determined that the radio waves are blocked, searching for connections to other access points around the blocked access point, and arranged along the roadside, A vehicle terminal device mounted on the vehicle, which sequentially connects to the roadside access points along the vehicle's route, obtains information on other access points found from the access points, and connects to the other access points. A communication system equipped with this system.

4. The communication system according to claim 3, wherein the vehicle terminal device further includes a route prediction unit that predicts the vehicle's route, transmits the predicted route to the roadside unit, and the receiving roadside unit calculates whether radio waves are blocked by the mobile obstacles around the access points to which connection is predicted based on the route, based on a comparison of the position and height of the mobile obstacles in the obstacle information with the position and height of the vehicle, and if it is determined that the radio waves are blocked, searches for connections to other access points around the blocked access point.

5. The communication system according to any one of claims 1 to 4, characterized in that the access points on the roadside arranged along the aforementioned route are connected to each other and share obstacle information created at each access point.

6. A communication terminal device comprising: a wireless communication unit that sequentially connects to access points arranged along the roadside along the vehicle's route and acquires obstacle information from the connected access points, representing at least the position and height of moving obstacles around the access points; and an access point selection unit that calculates whether radio waves from the access points are blocked by the moving obstacles based on a comparison of the position and height of the moving obstacles in the obstacle information with the position and height of the vehicle, and if it is determined that the radio waves are blocked, searches for connections to other access points around the access point that is being blocked.

7. A communication terminal device comprising: a sensor unit mounted on a vehicle for detecting obstacles; a sensor information processing unit for converting information detected by the sensor unit into data; a wireless communication unit that sequentially connects to access points arranged along the roadside along the vehicle's route, transmits sensor information from the sensor information processing unit to the access points, and obtains obstacle information from the connected access points, which is created based on sensor information transmitted from vehicles that have passed around the access points and represents at least the position and height of the obstacles; and an access point selection unit that calculates whether radio waves from the access points are blocked by obstacles based on the obstacle information, and if it is determined that they are blocked, searches for connections to other access points around the blocked access point.

8. The communication terminal device further comprises a route prediction unit that predicts the route, and calculates whether radio waves from access points to which connections are expected along the predicted route are blocked based on the obstacle information, and if it is determined that they are blocked, searches for connections with other access points around the blocked access point, as described in 6 or 7.

9. A method for communicating between a vehicle and an access point, characterized by sensing moving obstacles around an access point where connection is expected, digitizing the sensing results, creating obstacle information representing at least the position and height of the moving obstacles based on the digitized sensor information, calculating whether radio waves from the access point where connection is expected are blocked by the moving obstacles based on a comparison of the position and height of the moving obstacles in the obstacle information with the position and height of the vehicle, searching for connections with other access points around the blocked access point if it is determined that the radio waves are blocked, and transmitting to the vehicle that if there are other access points with radio wave strength above a predetermined level, that access point should be selected for connection.

10. A method for communicating between a vehicle and an access point, characterized by sensing moving obstacles around an access point to which connection is expected, digitizing the sensing results, creating obstacle information representing at least the position and height of the moving obstacles based on the digitized sensor information, transmitting the created obstacle information to the vehicle via an access point connected to the vehicle, and in the receiving vehicle, calculating whether radio waves from the access point to which connection is expected are blocked by the moving obstacles based on a comparison of the position and height of the moving obstacles in the obstacle information with the position and height of the vehicle, and if it is determined that the radio waves are blocked, searching for connections with other access points around the blocked access point, and if there is an access point with a radio wave strength above a predetermined level, selecting that access point for connection.

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