Communication quality calculation method, communication quality calculation device, and program

Abstract

A communication quality calculation device 100 according to the present disclosure comprises: an acquisition unit 121 that acquires a spatial map having a plurality of regions obtained by dividing a space of interest in which a mobile body is expected to move into divisions each having a size depending on the moving speed of the mobile body; a spectrum calculation unit 122 that generates a spectrum representing electric power for each frequency of received radio waves in each region in the spatial map on the basis of preset information; and a variation calculation unit 123 that calculates the degree of variation in communication quality between the regions on the basis of spectrum change between the regions in the spatial map.

Description

Communication quality calculation method, communication quality calculation device, and program

[0001] The present invention relates to a communication quality calculation method, a communication quality calculation device, and a program.

[0002] In recent years, advances in wireless communication technology have enabled various types of mobile communications. For example, mobile objects such as automatic guided vehicles (AGVs) that transport cargo within factories and construction machinery that perform work at construction sites are now controlled via wireless communication. Since such mobile communications require high communication quality, it is necessary to monitor the radio wave environment.

[0003] On the other hand, communication quality in wireless communication is affected by fading, a phenomenon in which radio waves arriving with a time difference interfere with each other, causing fluctuations in the strength level of the radio waves. For this reason, Patent Document 1 extracts the feature quantities of radio waves in a time interval that is not affected by fading.

[0004] International Publication No. 2017 / 195842

[0005] However, the technology described in Patent Document 1 mentioned above cannot measure communication quality during a time period affected by fading. Therefore, in mobile communications, when a mobile unit is moving during a time period affected by fading, that is, during a period during which communication quality is measured, it is not possible to predict fading during that time. As a result, there is a problem in that communication quality cannot be accurately predicted in communication control of the mobile unit, and appropriate control cannot be performed.

[0006] Therefore, an object of the present disclosure is to provide a communication quality calculation method that can solve the above-mentioned problem that communication quality cannot be accurately predicted in communication control of a mobile body, and appropriate control cannot be performed.

[0007] A communication quality calculation method according to one embodiment of the present disclosure includes: acquiring a spatial map of a target space in which a mobile object will move, the target space having a plurality of regions divided into regions of a size corresponding to the moving speed of the mobile object; generating a spectrum representing the power of each frequency of received radio waves in each of the regions in the spatial map based on preset information; and calculating a degree of fluctuation in communication quality between the regions based on changes in the spectrum between the regions in the spatial map.

[0008] Furthermore, a communication quality calculation method according to one embodiment of the present disclosure is configured to calculate a degree of fluctuation in communication quality between regions based on changes between regions in a spectrum representing the power of each frequency of received radio waves in each region in a spatial map in which a target space in which a mobile body will move is divided into multiple regions with sizes corresponding to the moving speed of the mobile body, and display the degree of fluctuation on a display device.

[0009] Furthermore, a communication quality calculation device according to one embodiment of the present disclosure includes an acquisition unit that acquires a spatial map in which a target space in which a mobile object will move is divided into a plurality of regions with sizes corresponding to the moving speed of the mobile object; a spectrum calculation unit that generates, based on preset information, a spectrum representing the power of each frequency of a received radio wave in each of the regions in the spatial map; and a fluctuation calculation unit that calculates the degree of fluctuation in communication quality between the regions in the spatial map based on changes in the spectrum between the regions.

[0010] Furthermore, a communication quality calculation device according to one embodiment of the present disclosure is configured to include: a calculation unit that calculates a degree of fluctuation in communication quality between regions in a spatial map in which a target space in which a mobile body will move is divided into a plurality of regions with sizes corresponding to the moving speed of the mobile body, based on changes between the regions in a spectrum that represents the power of each frequency of received radio waves in each of the regions; and a display unit that displays the degree of fluctuation.

[0011] Furthermore, a program that is one form of the present disclosure is configured to cause a computer to execute the following processes: acquire a spatial map of a target space in which a mobile body will move, the target space having a plurality of regions divided into regions of a size corresponding to the moving speed of the mobile body; generate a spectrum representing the power of each frequency of received radio waves in each of the regions in the spatial map based on preset information; and calculate the degree of fluctuation in communication quality between the regions based on changes in the spectrum between the regions in the spatial map.

[0012] With the above-described configuration, the present disclosure can accurately predict communication quality in communication control of a mobile body, and can perform appropriate control.

[0013] 1 is a block diagram showing the overall configuration of a communication quality calculation system according to a first embodiment of the present disclosure. FIG. 1 is a block diagram showing the configuration of a communication quality calculation device disclosed in FIG. 1. FIG. 2 is a diagram showing the state of processing by the communication quality calculation device disclosed in FIG. 1. FIG. 3 is a diagram showing the state of processing by the communication quality calculation device disclosed in FIG. 1. FIG. 4 is a diagram showing the state of processing by the communication quality calculation device disclosed in FIG. 1. FIG. 5 is a diagram showing the state of processing by the communication quality calculation device disclosed in FIG. 1. FIG. 6 is a diagram showing the state of processing by the communication quality calculation device disclosed in FIG. 1. FIG. 7 is a diagram showing the state of processing by the communication quality calculation device disclosed in FIG. 1. FIG. 8 is a diagram showing the state of processing by the communication quality calculation device disclosed in FIG. 1. FIG. 9 is a flowchart showing the operation of the communication quality calculation device disclosed in FIG. 1. FIG. 10 is a block diagram showing the hardware configuration of a communication quality calculation device according to a second embodiment of the present disclosure. FIG. 11 is a block diagram showing the configuration of a communication quality calculation device according to a second embodiment of the present disclosure.

[0014] <First Embodiment> A first embodiment of the present disclosure will be described with reference to Fig. 1 to Fig. 12. Fig. 1 and Fig. 2 are diagrams for explaining the configuration of a communication quality calculation system, and Fig. 3 to Fig. 12 are diagrams for explaining the processing operation of the communication quality calculation system.

[0015] [Configuration] The communication quality calculation system in this embodiment calculates communication quality in a space where a mobile object V is controlled by wireless communication. For example, in this embodiment, the mobile object V is a construction machine that performs work at a construction site. The movement route of the construction machine, which is the mobile object V, is set in advance, and the communication quality calculation system calculates the communication quality of locations related to the movement route in order to visualize it, as an example. However, the mobile object V is not limited to a construction machine, and may be any mobile object, such as an automatic guided vehicle (AGV) that transports cargo within a factory.

[0016] 1, the communication quality calculation system includes a communication quality calculation device 10 connected to a network N. The communication quality calculation device 10 is connected via the network N to a mobile object control device 20 that controls the above-mentioned mobile object V by wireless communication, and a wireless communication device B that controls the wireless communication and transmits and receives signals in the wireless communication.

[0017] The wireless communication device B is, for example, a device that performs wireless communication using 5G (5th Generation: 5th generation mobile communication system), such as a base station. Here, the wireless communication device B has the function of transmitting a control signal to the mobile body V in response to a command from the mobile body control device 20 via wireless communication, and receiving a signal emitted from the mobile body V and transmitting it to the mobile body control device 20. Furthermore, as a basic function, the wireless communication device B measures the communication quality of the wireless communication at regular time intervals and controls the communication quality to be constant. For example, the wireless communication device B measures the communication quality at intervals of several tens of milliseconds (ms). The wireless communication device B also has the function of notifying the communication quality calculation device 10 of setting values ​​related to wireless communication in response to a request from the communication quality calculation device 10, as described below. For example, the wireless communication device B notifies the communication quality calculation device 10 of setting values ​​such as the measurement period of the communication quality and the frame length of the frame, which is the transmission signal. The wireless communication device B may be communication equipment of any communication method.

[0018] The mobile object control device 20 transmits control signals to the mobile object V via the wireless communication device B to control the operation of the mobile object V. For example, the mobile object control device 20 controls the operation of the mobile object V, which is a construction machine, so that the mobile object V moves along a predetermined movement path and performs work. For example, the mobile object control device 20 controls the movement direction, movement speed, arm operation, etc. of the mobile object V. At this time, the mobile object control device 20 also acquires a notification signal from the mobile object V and controls the operation of the mobile object V in accordance with the notification signal. For example, the mobile object control device 20 acquires detection values ​​detected by sensors equipped on the mobile object V, such as movement speed and distance to surrounding objects, and controls the operation of the mobile object V in accordance with the detection values. The mobile object control device 20 also has a function of notifying information regarding the operation of the mobile object V in response to a request from the communication quality calculation device 10, as described below. For example, the mobile object control device 20 notifies the communication quality calculation device 10 of the movement path and movement speed of the mobile object V. Note that the mobile object control device 20 may be a device that controls any mobile object V.

[0019] The communication quality calculation device 10 is composed of one or more information processing devices each including a calculation device and a storage device. The communication quality calculation device 10 may be an information processing device managed by a service provider that uses the mobile object V, or may be an information processing device managed by a service provider that provides a service for measuring the communication quality of the space in which the mobile object V operates. As shown in FIG. 2 , the communication quality calculation device 10 includes an acquisition unit 11, a spatial resolution calculation unit 12, a spectrum calculation unit 13, a fluctuation intensity calculation unit 14, and an output unit 15. The functions of the acquisition unit 11, the spatial resolution calculation unit 12, the spectrum calculation unit 13, the fluctuation intensity calculation unit 14, and the output unit 15 can be realized by the calculation device executing a program for realizing each function stored in the storage device. The communication quality calculation device 10 also includes an acquired information storage unit 16, a map information storage unit 17, and a power information storage unit 18. The acquired information storage unit 16, the map information storage unit 17, and the power information storage unit 18 are each composed of a storage device. Furthermore, a display device 19 such as a display is connected to the communication quality calculation device 10. Each component will be described in detail below.

[0020] The acquisition unit 11 acquires information necessary for calculating communication quality from the wireless communication device B, the mobile object control device 20, and its own storage device, and stores the information in the acquired information storage unit 16. Specifically, the acquisition unit 11 acquires the communication quality measurement period and the frame length as wireless communication setting values ​​from the wireless communication device B. The acquisition unit 11 may extract and acquire the wireless communication setting values ​​by traffic monitoring. For example, the acquisition unit 11 may perform traffic monitoring and estimate the setting values ​​from the frame interval, etc. The acquisition unit 11 also acquires the movement path and movement speed of the mobile object V from the mobile object control device 20. The acquisition unit 11 also acquires information about the target space in which the mobile object V will move, which is stored in the map information storage unit 17. Here, the acquisition unit 11 acquires map information representing the entire space (target space) in which the mobile object V is set to move, and information for calculating the power spectrum when receiving radio waves emitted from the wireless communication device B within the space. The power spectrum is a spectrum representing the power of each frequency of received radio waves in a predetermined area within the space, as shown in FIG. 3 . For example, the information for calculating the power spectrum may be a power spectrum generated by measuring received radio waves in advance in each region that is pre-divided within a space specified by the map information. Alternatively, the information for calculating the power spectrum may be a reference power spectrum and information on the position, structure, and installation of each region within the space, and the power spectrum in each region within the space can be calculated by performing a simulation using a pre-set calculation formula using this information. Note that the acquisition unit 11 may acquire the above-mentioned information from any information processing device.

[0021] The spatial resolution calculation unit 12 (acquisition unit) calculates the spatial resolution that defines the size of each region into which space is divided based on the measurement period and frame length, which are the setting values ​​for wireless communication acquired as described above, and the moving speed of the moving object, and generates a space map in which the space is divided into multiple regions based on the spatial resolution. For example, the spatial resolution is calculated to satisfy the following condition: moving distance for one frame≦spatial resolution×2≦distance traveled in the measurement period

[0022] Here, if the frame length of one frame is 1 ms, the moving speed of the moving body V is 6 km / h (kilometers per hour), and the measurement period is 40 ms, the moving distance of the moving body V for one frame is 1.6 mm (millimeters), the distance traveled by the moving body V during the measurement period is 66 mm, and the spatial resolution is calculated to be, for example, 1 mm. The spatial resolution calculation unit 12 then generates a spatial map M1 in which the previously acquired space in which the moving body V moves, acquired as described above, is divided into regions R each having a length and width of 1 mm, as shown in the upper diagram of FIG. 4 , according to the calculated spatial resolution of 1 mm. As a result, the spatial map is formed such that the size of each region R is smaller the slower the moving speed of the moving body V, and the size of each region R is larger the faster the moving speed of the moving body V. The lower diagram of FIG. 4 shows a spatial map M2 in which the moving speed of the moving body V is faster than in the above case, and in this case, the size of each region R is larger than in the above case. By calculating the spatial resolution in this way, the size of the divided regions R is set to a size equal to or larger than the range over which the moving object V moves in the frame length, and such that the moving object V moving during the measurement period spans two or more regions R. In the above example, the measurement period is 40 ms, and 66 regions R are set within the 66 mm distance that the moving object V moves during that period.

[0023] Note that the spatial resolution calculation unit 12 is not necessarily limited to generating the spatial map by the above-described method. For example, the spatial resolution calculation unit 12 may obtain and use a spatial map prepared in advance by dividing the spatial map into regions R having sizes corresponding to the moving speed of the moving body V from the map information storage unit 17. Furthermore, the spatial resolution calculation unit 12 may generate a spatial map by changing the size of each region according to the moving speed of the moving body V from a prepared spatial map in which multiple regions are set.

[0024] The spectrum calculation unit 13 generates a power spectrum that represents the power of each frequency of the received radio wave in each region R in the spatial map generated as described above. The power spectrum is a graph with frequency on the horizontal axis and power on the vertical axis, as shown in Fig. 3. At this time, the spectrum calculation unit 13 calculates a power spectrum for each region R in the spatial map, and generates a power map in which a power spectrum X is associated with each region, as shown in Fig. 5, and stores the power information storage unit 18. For example, the upper diagram in Fig. 5 shows the power spectrum for each region R. １１ , R １２ , ...each power spectrum R １１ , R １２ , ... to generate a power map M11 in which a power spectrum is associated with each region. Note that even in a power map M12 in which the regions are formed even smaller, as shown in the lower diagram of Figure 5, the power spectrum of each region is calculated and associated.

[0025] The spectrum calculation unit 13 calculates the power spectrum for each region through simulation using the information acquired as described above. For example, information on a reference power spectrum for the space is prepared in advance, and the power spectrum is used to calculate an estimated power spectrum for each region using a predetermined calculation formula based on information such as the position, structure, and installed objects of each region within the space. Alternatively, the spectrum calculation unit 13 may acquire a power spectrum generated by measuring received radio waves in each region into which the space is pre-divided, and use the acquired power spectrum. Furthermore, the spectrum calculation unit 13 may calculate the power spectrum of a new region generated by dividing or aggregating the size of each region from the power spectrum prepared in advance corresponding to each region within the space. The spectrum calculation unit 13 may calculate or acquire the power spectrum of each region within the space using any method.

[0026] The fluctuation intensity calculation unit 14 (fluctuation calculation unit) calculates the degree of fluctuation in communication quality between regions based on changes in power spectra between regions within the spatial map generated as described above. In this case, the fluctuation intensity calculation unit 14 may calculate the degree of fluctuation in communication quality between adjacent regions by examining changes in power spectra between such regions, or may calculate the degree of fluctuation in communication quality between such regions by examining changes in power spectra between regions located apart across another region. Furthermore, the fluctuation intensity calculation unit 14 may also distinguish between the directions of movement between the regions, examine changes in spectra between the regions for each direction of movement, and calculate the degree of fluctuation in communication quality between such regions. Here, the term "degree of fluctuation" in this application can also be interpreted as the degree of change, the degree of change, the intensity of fluctuation (the strength of fluctuation), the magnitude of fluctuation, the extent of fluctuation, etc.

[0027] Here, adjacent regions R in the power map M11 shown in the upper diagram of FIG. １１ , R １２ A method for calculating the degree of fluctuation in communication quality will be described using an example of the region R. １１ , R １２ Each power spectrum X １１ , X １２Here, the region R １１ From region R １２ First, in the upper diagram of FIG. １１ Power spectrum X １１ For region R １２ Power spectrum X １２ In this case, the received power increases as the moving object V moves in the direction of movement, so it is not necessary to consider the communication quality. １１ Power spectrum X １１ For region R １２ Power spectrum X １２ In this case, the received power decreases as the moving body V moves in the direction of movement, so attention must be paid to a decrease in communication quality. For this reason, when the amount of power of the received signal decreases in the direction of movement, as shown in the lower diagram of FIG. 6 , the fluctuation intensity calculation unit 14 calculates the degree of fluctuation in communication quality in that direction of movement so that the greater the decrease in the amount of power of the received signal in that direction of movement, the greater the value of fluctuation intensity D, which represents the degree of fluctuation in communication quality in that direction of movement. More specifically, the sum of the amounts of decrease in the amount of power of the received signal in the direction of movement is calculated as fluctuation intensity D.

[0028] As an example, as shown in FIG. １１ Power spectrum X １１ For region R １２ Power spectrum X １２ In this case, the amount of power is reduced by 5 dB (decibels). １１ From region R １２ Fluctuation intensity D in the direction of movement (to the right in the drawing) →１１ can be calculated as 0 + |-5| = 5. On the other hand, in the opposite direction, that is, in the region R １２ From region R １１ Electric fluctuation intensity D in the direction of movement (left direction of the drawing) ←１２is calculated as 0 because there is no decrease in the amount of power. Then, the fluctuation intensity calculation unit 14 generates a fluctuation intensity map in which the calculated fluctuation intensity is associated with each region of the spatial map. At this time, the fluctuation intensity calculation unit 14 generates a fluctuation intensity map for each movement direction (for example, for each of the four directions of up, down, left, and right in the spatial map). For example, the fluctuation intensity map D shown at the top of FIG. ← is a fluctuation intensity map corresponding to the left direction, and is the fluctuation intensity map D shown at the bottom of FIG. → is the fluctuation intensity map corresponding to the right direction.

[0029] Here, an example of the fluctuation intensity map generated by the fluctuation intensity calculation unit 14 will be described with reference to Figs. 8 and 9. The upper diagram of Fig. 8 shows a fluctuation intensity map D when the movement direction is rightward. → This fluctuation intensity map D → As shown in the figure, for each region R, the fluctuation intensity between the region R adjacent to the right is calculated. For example, for region R １１ For the region R １２ The amount of power reduction to (X １２ -X １１ ) is the fluctuation intensity D →１１ In the spatial map, the rightmost region R １Ｍ etc., there is no further area to the right, so the fluctuation intensity is NA. Here, NA means that the fluctuation intensity cannot be calculated. Then, the fluctuation intensity calculation unit 14 calculates the fluctuation intensity map D ← , the fluctuation intensity map D of the upward movement direction shown in the upper diagram of FIG. ↑ , the fluctuation intensity map D with the downward movement direction shown in the lower diagram of FIG. ↓ , respectively.

[0030] The output unit 15 (display unit) outputs the value of the fluctuation intensity D of each region R of the spatial map calculated as described above to the display device 19 for display. At this time, the output unit 15 may output the fluctuation intensity D to correspond to each region R on the spatial map for each movement direction, as shown in FIGS. 8 and 9 described above. At this time, multiple regions R located nearby may be aggregated, and the fluctuation intensity D of these regions R may also be aggregated and output. For example, the average value, mode, sum, etc. of the fluctuation intensity D corresponding to each of the multiple regions R may be calculated and aggregated, and output as the fluctuation intensity D of the aggregated region R. For example, the region D to be aggregated may be set according to the movement distance of the moving body V in one control operation, and as an example, two adjacent regions may be aggregated.

[0031] The output unit 15 may also output a display of the fluctuation intensity D between regions in the movement direction along a preset movement path of the moving object V. For example, as shown by the arrow in FIG. 10 , the movement path of the moving object V on the spatial map first moves to the right and then moves to the region R １１ , R １２ , ..., R １Ｍ , and then downward to the region R １Ｍ , R ２Ｍ , ..., R ＮＭ , then only the fluctuation intensity in each direction of each region R (D →１１ , D →１２ , D →．． , D ↓１Ｍ , D ↓２Ｍ , D ↓．． , NA) may be displayed. In this case, as shown in FIG. 10 , the fluctuation intensity may be displayed and output in correspondence with the position of region R on the spatial map, or the fluctuation intensity may be output as a vector display for each movement direction.

[0032] 11 , the output unit 15 may aggregate a plurality of regions R on the spatial map along the movement path of the moving object V, aggregate the fluctuation intensities D of these regions R, and output the aggregated average value, mode, sum, etc. as the fluctuation intensity D of the region R. In the example of Fig. 11 , 66 regions, each representing the distance traveled by the moving object V in the measurement cycle in each direction of movement, are aggregated, and the sum of the fluctuation intensities D of these regions is calculated and displayed.

[0033] [Operation] Next, the operation of the above-described communication quality calculation device 10 will be described mainly with reference to the flowchart of FIG.

[0034] The communication quality calculation device 10 acquires information necessary for calculating communication quality. For example, the communication quality calculation device 10 acquires the movement route and movement speed of the mobile object V from the mobile object control device 20 (step S1). The communication quality calculation device 10 also acquires the measurement period of communication quality and the frame length as wireless communication setting values ​​from the wireless communication device B (step S2). Furthermore, the communication quality calculation device 10 acquires map information that represents the entire space in which the mobile object V is set to move, and information for calculating the power spectrum when receiving radio waves emitted from the wireless communication device B within that space.

[0035] Next, the communication quality calculation device 10 calculates a spatial resolution that defines the size of each region when space is decomposed into multiple regions using the information acquired as described above (step S3). For example, the communication quality calculation device 10 calculates the spatial resolution based on the moving speed of the mobile body V and the measurement period of communication quality by the wireless communication device B so that the slower the moving speed of the mobile body V, the smaller each region R becomes. Then, based on the calculated spatial resolution, the communication quality calculation device 10 generates a space map M1 in which space is divided into multiple regions R as shown in Fig. 4 (step S4).

[0036] Next, the communication quality calculation device 10 generates a power spectrum representing the power of each frequency of the received radio waves in each region R in the spatial map (step S5). The power spectrum can be represented, for example, as shown in FIG. 3 , on a graph with frequency on the horizontal axis and power on the vertical axis. The communication quality calculation device 10 calculates the power spectrum in each region through simulation, using, for example, a formula for calculating the power spectrum prepared in advance and information such as the position and structure of each region in space. Then, as shown in FIG. 5 , the communication quality calculation device 10 calculates a fluctuation intensity D, which is the degree of fluctuation in communication quality between regions according to changes in the power spectrum between regions, based on the power spectrum calculated for each region in the spatial map (step S6). At this time, the communication quality calculation device 10 distinguishes between the moving directions between the regions, examines the change in the spectrum between the regions for each moving direction, and calculates the fluctuation intensity D of the communication quality between the regions. In particular, the communication quality calculation device 10 calculates the value of the fluctuation intensity D to be larger as the amount of received power decreases in the moving direction between the regions. In this way, the communication quality calculation device 10 generates a fluctuation intensity map in which the fluctuation intensity D of each region R is set for each movement direction, as shown in FIGS.

[0037] Next, the communication quality calculation device 10 calculates the fluctuation intensity D between regions in the movement direction along the movement path of the moving object V (step S7). For example, the communication quality calculation device 10 may simply extract the fluctuation intensity D of each region in the movement direction on the movement path, as shown in FIG. 10, or may aggregate the fluctuation intensity D of multiple regions in the movement direction, as shown in FIG. 11. The communication quality calculation device 10 then outputs the fluctuation intensity D on the movement path to be displayed on the display device 19 (step S8). At this time, the communication quality calculation device 10 may display the fluctuation intensity D together with each region R of the spatial map, as shown in FIGS. 10 and 11, or may display only a list of the values ​​of fluctuation intensity D along the path. Note that the communication quality calculation device 10 may simply output a fluctuation intensity map for each movement direction in the entire space, as shown in FIGS. 8 and 9, without taking the movement path of the moving object V into consideration.

[0038] As described above, according to this embodiment, it is possible to accurately predict the communication quality in the area where the moving body V may move during the communication quality measurement period, and by referring to this communication quality, it is possible to appropriately control the moving body V. Furthermore, by calculating the degree of fluctuation in communication quality for each movement direction between areas, it is possible to accurately predict the communication quality taking into account the movement direction of the moving body V, and it is possible to improve the stability of control of the moving body V.

[0039] <Embodiment 2> Next, a second embodiment of the present disclosure will be described with reference to Fig. 13 and Fig. 14. Fig. 13 and Fig. 14 are block diagrams showing the configuration of a communication quality calculation device in embodiment 2. Note that this embodiment shows an outline of the configuration of the communication quality calculation device described in the above-mentioned embodiment.

[0040] First, the hardware configuration of the communication quality calculation device 100 in this embodiment will be described with reference to Fig. 13. The communication quality calculation device 100 is configured as a general information processing device, and is equipped with the following hardware configuration, as an example: - CPU (Central Processing Unit) 101 (arithmetic device) - ROM (Read Only Memory) 102 (storage device) - RAM (Random Access Memory) 103 (storage device) - Programs 104 loaded into RAM 103 - Storage device 105 storing programs 104 - Drive device 106 for reading and writing from / to a storage medium 110 external to the information processing device - Communication interface 107 for connecting to a communication network 111 external to the information processing device - Input / output interface 108 for inputting and outputting data - Bus 109 for connecting each component

[0041] The communication quality calculation device 100 can be equipped with an acquisition unit 121, a spectrum calculation unit 122, and a fluctuation calculation unit 123 shown in Fig. 9 by having the CPU 101 acquire and execute the program group 104. The program group 104 is stored in advance in the storage device 105 or the ROM 102, for example, and is loaded into the RAM 103 and executed by the CPU 101 as needed. The program group 104 may be supplied to the CPU 101 via the communication network 111, or may be stored in advance in the storage medium 110, and the drive device 106 may read out the program and supply it to the CPU 101. However, the acquisition unit 121, the spectrum calculation unit 122, and the fluctuation calculation unit 123 described above may be constructed using dedicated electronic circuits for realizing such means.

[0042] 13 shows an example of the hardware configuration of the information processing device that is the communication quality calculation device 100, and the hardware configuration of the information processing device is not limited to the above-described case. For example, the information processing device may be configured with a part of the above-described configuration, such as not including the drive device 106. Furthermore, instead of the above-described CPU, the information processing device may use a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an MPU (Micro Processing Unit), an FPU (Floating point number Processing Unit), a PPU (Physics Processing Unit), a TPU (Tensor Processing Unit), a quantum processor, a microcontroller, or a combination thereof.

[0043] The acquisition unit 121 acquires a spatial map in which a target space in which a moving object is likely to move is divided into a plurality of regions with sizes corresponding to the moving speed of the moving object. The spatial map is formed by dividing the space in which the moving object may move into a plurality of regions with a spatial resolution corresponding to the moving speed.

[0044] The spectrum calculation unit 122 generates a spectrum representing the power of each frequency of the received radio waves in each region of the spatial map based on preset information. The spectrum is generated by simulation, for example, in accordance with the characteristics of the received radio waves and the characteristics of each region of the space.

[0045] The fluctuation calculation unit 123 calculates the degree of fluctuation in communication quality between regions based on the change in spectrum between regions in the spatial map. For example, the fluctuation calculation unit 123 calculates the degree of deterioration in communication quality in the direction of movement between regions.

[0046] With the above-described configuration, the present disclosure can accurately predict communication quality in each area in a spatial map through which a mobile object may move during a communication quality measurement period, for example, a deterioration in communication quality due to fading, etc. This allows appropriate control of the mobile object by taking into account the communication quality in the direction of movement of the mobile object.

[0047] The above-described program can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be supplied to a computer by various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable media can be supplied to a computer via wired communication paths such as electric wires and optical fibers, or via wireless communication paths.

[0048] Although the present disclosure has been described above with reference to the above-described embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that are understandable to those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, at least one or more of the functions of the acquisition unit 121, the spectrum calculation unit 122, and the fluctuation calculation unit 123 described above may be executed by an information processing device installed and connected anywhere on a network, that is, may be executed by so-called cloud computing.

[0049] <Supplementary Notes> Some or all of the above embodiments can also be described as the following supplementary notes. Below, an outline of the configurations of the communication quality calculation method, communication quality calculation device, and program of the present invention will be described. However, the present invention is not limited to the following configurations. (Supplementary Note 1) A communication quality calculation method comprising: acquiring a spatial map in which a target space in which a mobile object is likely to move is divided into a plurality of regions with sizes corresponding to the moving speed of the mobile object; generating a spectrum representing the power of each frequency of received radio waves in each of the regions in the spatial map based on preset information; and calculating a degree of fluctuation in communication quality between the regions based on changes in the spectrum between the regions in the spatial map. (Supplementary Note 2) The communication quality calculation method according to Supplementary Note 1, wherein for each direction of movement between the regions, a degree of fluctuation in communication quality is calculated based on changes in the spectrum in the movement direction. (Supplementary Note 3) The communication quality calculation method according to Supplementary Note 2, wherein a degree of fluctuation in communication quality in a movement direction between the regions is calculated based on changes in the power amount of the received radio waves represented by the spectrum in the movement direction between the regions. (Supplementary Note 4) The communication quality calculation method according to Supplementary Note 3, wherein when the amount of power decreases in a direction of movement between the regions, calculation is performed so that the degree of fluctuation in communication quality in the direction of movement becomes larger. (Supplementary Note 5) The communication quality calculation method according to Supplementary Note 1, wherein the spatial map is obtained by dividing the target space into a plurality of regions and generating the spatial map with a resolution that defines the size of the region based on the movement speed. (Supplementary Note 6) The communication quality calculation method according to Supplementary Note 5, wherein the spatial map is obtained by dividing the target space into a plurality of regions and generating the spatial map with a resolution that defines the size of the region based on a measurement period of communication quality in the target space and the movement speed. (Supplementary Note 7) The communication quality calculation method according to Supplementary Note 1, wherein the degree of fluctuation in communication quality between the regions is displayed on a display device together with the spatial map, corresponding to the position of the region on the spatial map.(Supplementary Note 8) The communication quality calculation method according to Supplementary Note 2, wherein a degree of variation in communication quality in a movement direction between the regions corresponding to a predetermined movement direction of the mobile object is displayed on a display device together with the spatial map. (Supplementary Note 9) A communication quality calculation method comprising: calculating a degree of variation in communication quality between the regions based on a change between the regions in a spectrum representing the power of each frequency of received radio waves in each of the regions in a spatial map, the spatial map having a target space in which the mobile object will move divided into a plurality of regions with a size corresponding to the movement speed of the mobile object; and displaying the degree of variation on a display device. (Supplementary Note 10) A communication quality calculation device comprising: an acquisition unit that acquires a spatial map the target space in which the mobile object will move, the spatial map having a plurality of regions with a size corresponding to the movement speed of the mobile object; a spectrum calculation unit that generates, based on predetermined information, a spectrum representing the power of each frequency of received radio waves in each of the regions in the spatial map; and a variation calculation unit that calculates a degree of variation in communication quality between the regions based on the change in the spectrum between the regions in the spatial map. (Supplementary Note 11) The communication quality calculation device according to Supplementary Note 10, wherein the fluctuation calculation unit calculates a degree of fluctuation in communication quality for each direction of movement between the regions based on a change in the spectrum in the direction of movement. (Supplementary Note 12) The communication quality calculation device according to Supplementary Note 11, wherein the fluctuation calculation unit calculates a degree of fluctuation in communication quality in the direction of movement between the regions based on a change in the amount of power of the received radio waves represented by the spectrum in the direction of movement between the regions. (Supplementary Note 13) The communication quality calculation device according to Supplementary Note 12, wherein the fluctuation calculation unit calculates an increase in the degree of fluctuation in communication quality in the direction of movement when the amount of power decreases in the direction of movement between the regions. (Supplementary Note 14) The communication quality calculation device according to Supplementary Note 10, wherein the acquisition unit acquires the spatial map by dividing the target space into a plurality of regions at a resolution that defines the size of the region based on the movement speed and generating the spatial map.(Supplementary Note 15) The communication quality calculation device according to Supplementary Note 14, wherein the acquisition unit acquires the spatial map by generating the spatial map by dividing the target space into a plurality of regions with a resolution that defines the size of the region based on a measurement period of communication quality in the target space and the moving speed. (Supplementary Note 16) The communication quality calculation device according to Supplementary Note 10, comprising a display unit that displays, together with the spatial map, a degree of variation in communication quality between the regions in correspondence with the position of the region on the spatial map. (Supplementary Note 17) The communication quality calculation device according to Supplementary Note 11, comprising a display unit that displays, together with the spatial map, a degree of variation in communication quality in a movement direction between the regions that corresponds to a predetermined movement direction of the moving body. (Supplementary Note 18) A communication quality calculation device comprising: a calculation unit that calculates a degree of fluctuation in communication quality between areas in a spatial map, the target space in which a mobile object will move being divided into a plurality of areas with a size corresponding to the moving speed of the mobile object, based on a change between the areas in a spectrum that represents the power of each frequency of received radio waves in each of the areas in the spatial map; and a display unit that displays the degree of fluctuation. (Supplementary Note 19) A computer-readable storage medium that stores a program for causing a computer to execute processes of: acquiring a spatial map, the target space in which a mobile object will move being divided into a plurality of areas with a size corresponding to the moving speed of the mobile object, generating a spectrum that represents the power of each frequency of received radio waves in each of the areas in the spatial map based on preset information, and calculating a degree of fluctuation in communication quality between the areas based on the change in the spectrum between the areas in the spatial map.

[0050] REFERENCE SIGNS LIST 10 Communication quality calculation device 11 Acquisition unit 12 Spatial resolution calculation unit 13 Spectrum calculation unit 14 Fluctuation intensity calculation unit 15 Output unit 16 Acquisition information storage unit 17 Map information storage unit 18 Power information storage unit 19 Display device 20 Mobile object control device B Wireless communication device V Mobile object 100 Communication quality calculation device 101 CPU 102 ROM 103 RAM 104 Program group 105 Storage device 106 Drive device 107 Communication interface 108 Input / output interface 109 Bus 110 Storage medium 111 Communication network 121 Acquisition unit 122 Spectrum calculation unit 123 Fluctuation calculation unit

Claims

1. A space map is obtained in which a target space in which a moving object will move is divided into a plurality of regions having sizes corresponding to the moving speed of the moving object; generating a spectrum representing the power of each frequency of the received radio wave in each of the regions in the spatial map based on preset information; calculating a degree of variation in communication quality between the regions based on a change in the spectrum between the regions in the spatial map; Communication quality calculation method.

2. an acquisition unit that acquires a space map in which a target space in which a moving object will move is divided into a plurality of regions having sizes corresponding to the moving speed of the moving object; a spectrum calculation unit that generates a spectrum representing the power of each frequency of the received radio wave in each of the regions in the spatial map based on preset information; a variation calculation unit that calculates a degree of variation in communication quality between the regions based on a change in the spectrum between the regions in the spatial map; A communication quality calculation device comprising:

3. 3. The communication quality calculation device according to claim 2, the variation calculation unit calculates a degree of variation in communication quality for each direction of movement between the regions based on a change in the spectrum in the direction of movement; Communication quality calculation device.

4. 4. The communication quality calculation device according to claim 3, the fluctuation calculation unit calculates a degree of fluctuation in communication quality in a moving direction between the regions based on a change in the amount of power of the received radio wave represented by the spectrum in the moving direction between the regions. Communication quality calculation device.

5. 5. The communication quality calculation device according to claim 4, the fluctuation calculation unit calculates a degree of fluctuation in communication quality in a moving direction between the areas so that, when the amount of power decreases in the moving direction, the degree of fluctuation in the communication quality in the moving direction increases. Communication quality calculation device.

6. 3. The communication quality calculation device according to claim 2, The acquisition unit acquires the spatial map by dividing the target space into a plurality of the regions at a resolution that defines a size of the region based on the moving speed and generating the spatial map. Communication quality calculation device.

7. 7. A communication quality calculation device according to claim 6, the acquisition unit acquires the spatial map by dividing the target space into a plurality of regions at a resolution that defines a size of the region based on a measurement period of communication quality in the target space and the moving speed, and generating the spatial map; Communication quality calculation device.

8. 3. The communication quality calculation device according to claim 2, a display unit that displays, together with the spatial map, a degree of variation in communication quality between the regions in correspondence with a position of the region on the spatial map; Communication quality calculation device.

9. a calculation unit that calculates a degree of variation in communication quality between the regions based on a change between the regions in a spectrum that represents the power of each frequency of a received radio wave in each of the regions in a spatial map in which a target space in which a mobile object will move is divided into a plurality of regions having a size corresponding to the moving speed of the mobile object; A display unit that displays the degree of fluctuation; A communication quality calculation device comprising:

10. A space map is obtained in which a target space in which a moving object will move is divided into a plurality of regions having sizes corresponding to the moving speed of the moving object; generating a spectrum representing the power of each frequency of the received radio wave in each of the regions in the spatial map based on preset information; calculating a degree of variation in communication quality between the regions based on a change in the spectrum between the regions in the spatial map; A program that causes a computer to execute a process.