Base station device, terminal device, and method

Abstract

This terminal device (10) comprises a control unit (110) and a communication unit (120). The control unit (110) is configured to generate path information, which is used by a base station device (20) and related to the path of the terminal device, and to generate error information about the path information. The communication unit (120) transmits the error information to the base station device (20).

Description

Base station device, terminal device, and method CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on and claims the benefit of priority from Japanese Application No. 2022-177218, filed on November 4, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to a base station device, a terminal device, and a method.

[0003] In recent years, technological developments related to unmanned aerial vehicles (UAVs) have progressed. UAV operation is automatically controlled through wireless communication with air traffic control systems and the like. Wireless communication between UAVs and air traffic control systems utilizes mobile communications via base station devices, and it is expected that mobile communications specifications will be increasingly studied in the future. This also applies to vehicles such as autonomous cars and autonomous ships, as well as UAVs.

[0004] Non-Patent Document 1 describes specifications for transmitting and receiving information between a terminal device mounted in a UAV and a base station device in 4G E-UTRA (Fourth Generation Evolved Universal Terrestrial Radio Access), a wireless specification defined by the Third Generation Partnership Project (3GPP (registered trademark)).

[0005] The 4G E-UTRA specification stipulates that a terminal device mounted on a UAV transmits route information to a base station device. Transmitting route information to a base station device is expected to be useful for, for example, handover and beam direction control.

[0006] The route information includes a list of waypoints that represent specific points on the route and an expected arrival time at each waypoint. The waypoint list includes the position coordinates of one or more waypoints on the planned flight path. By transmitting the route information to the base station device, for example, at regular intervals while the UAV is moving, the base station device can grasp the movement of the terminal device following the movement of the UAV.

[0007] 3GPP TS 36.331 V17.1.0 (2022-06)

[0008] Due to factors such as weather, the surrounding environment, and / or the performance of the UAV itself, the actual arrival time of the UAV at a waypoint may differ from the predicted arrival time. This is expressed as a temporal error between the predicted arrival time and the actual arrival time at the waypoint. The UAV may also move a certain distance away from the planned flight path. This is expressed as a spatial error between the planned flight path and the actual flight path. In other words, the route information reported by the terminal device to the base station device includes a temporal error and a spatial error regarding the UAV's travel path.

[0009] In view of the fact that transmitting route information to a base station device is useful for handover control, etc., it is desirable that the error in the route information is small, that is, that the accuracy of the route information is high. As a result of detailed studies by the inventors, it has been found that the current 3GPP specifications do not have any provisions regarding the degree of error that the route information has, the degree of error in the route information that is acceptable, the degree of accuracy of the route information that is required, etc.

[0010] The present disclosure provides a technique for exchanging error information about route information between a terminal device and a base station device.

[0011] In a first aspect of the present disclosure, a terminal device in the present disclosure includes a control unit configured to generate route information regarding a route of the terminal device to be used by a base station device and to generate error information regarding the route information, and a communication unit configured to transmit the error information to the base station device.

[0012] In addition, in a second aspect of the present disclosure, a base station device in the present disclosure includes a communication unit configured to receive error information about route information, where the route information is information about a route of a terminal device, and a control unit configured to use the error information.

[0013] According to the above configuration, the base station device can grasp the degree of error contained in the route information received from the terminal device.

[0014] The above and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings. In the drawings, FIG. 1 is a diagram illustrating a communication system S. FIG. 2 is a diagram illustrating a U-plane protocol stack. FIG. 3 is a diagram illustrating a C-plane protocol stack. FIG. 4 is a block diagram illustrating a schematic hardware configuration of a terminal device 10. FIG. 5 is a block diagram illustrating a schematic functional configuration of the terminal device 10. FIG. 6 is a block diagram illustrating a schematic hardware configuration of a base station device 20. FIG. 7 is a block diagram illustrating a schematic functional configuration of the base station device 20. FIG. 8 is a diagram illustrating a process for transmitting route information. FIG. 9 is a diagram illustrating a process for transmitting route information and error information according to the first embodiment. FIG. 10 is a diagram illustrating an example of generating and transmitting route information and error information according to the first embodiment. FIG. 11 is a diagram illustrating another example of generating and transmitting route information and error information according to the first embodiment. FIG. 12 is a diagram illustrating yet another example of generating and transmitting route information and error information according to the first embodiment. FIG. 13 is a diagram illustrating a process for transmitting reference information and transmitting route information and error information according to the second embodiment.

[0015] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and drawings, elements that can be similarly described will be designated by the same reference numerals, and redundant description may be omitted.

[0016] The embodiments described below are merely examples of configurations that can realize the present disclosure. Each of the following embodiments can be modified or changed as appropriate depending on the configuration of the device to which the present disclosure is applied and various conditions. Not all of the combinations of elements included in each of the following embodiments are necessarily essential for realizing the present disclosure, and some of the elements can be omitted as appropriate. Therefore, the scope of the present disclosure is not limited to the configurations described in each of the following embodiments. As long as there are no mutual contradictions, configurations that combine multiple configurations described in the following embodiments can also be adopted.

[0017] In this embodiment, an example will be described in which a terminal device is mounted within a UAV, and the terminal device and a base station device exchange error information and / or accuracy information regarding information regarding the movement path of the terminal device according to the movement of the UAV. The terminal device and the base station device are collectively referred to as communication devices. Note that this embodiment may be applied not only to UAVs, but also to any vehicle, including manned and unmanned vehicles, autonomous vehicles / semi-autonomous vehicles, ships, autonomous ships / semi-autonomous ships, etc. In other words, this embodiment can be applied to any vehicle including the above vehicles.

[0018] 1. Common Embodiment 1.1. Communication System As shown in Fig. 1, a communication system S of the embodiment includes one or more terminal apparatuses (Terminal Apparatus) 10, one or more base station apparatuses (Base Station Apparatus) 20, and a core network 30. The communication system S is configured in accordance with predetermined technical specifications (Technical Specifications, TS). For example, the communication system S may comply with technical specifications (e.g., 5G, 5G Advanced, 6G, etc.) defined by 3GPP.

[0019] In the communication system S, a user plane where user data is transmitted and received and a control plane where control data is transmitted and received are configured separately. That is, the communication system S supports C / U separation. The user plane is abbreviated as U-plane, and the control plane is abbreviated as C-plane.

[0020] The terminal device 10 is a device that performs wireless communication with the base station device 20, for example, a communication device, and may be, for example, user equipment (UE) that operates in accordance with the 3GPP 5G New Radio (NR) specification. The terminal device 10 may also be a device that complies with other older or newer 3GPP specifications.

[0021] The terminal device 10 may be, for example, a communication module mounted on a UAV, and may be a device adapted to one or more of enhanced Mobile Broadband (eMBB), Ultra-Reliable and Low Latency Communications (URLLC), and massive Machine Type Communications (mMTC).

[0022] The base station device 20 wirelessly communicates with the terminal device 10 in the U-plane and C-plane. In other words, the base station device 20 terminates the U-plane protocol and the C-plane protocol for the terminal device 10.

[0023] The base station device 20 communicates with the core network 30 in the U-plane and the C-plane. More specifically, the core network 30 includes multiple logical nodes including an Access and Mobility Management Function (AMF) and a User Plane Function (UPF). The base station device 20 connects to the AMF in the C-plane and connects to the UPF in the U-plane.

[0024] The base station device 20 may be, for example, a gNB that provides the terminal device 10 with a U-plane and a C-plane conforming to the 3GPP 5G NR specification and connects to the 3GPP 5GC (5G Core Network). The base station device 20 may also be an eNB that connects to the 3GPP EPC (Evolved Packet Core). Furthermore, the base station device 20 may be a device conforming to other older or newer 3GPP specifications.

[0025] The base station device 20 may be configured by a plurality of unit devices. For example, the base station device 20 may be configured by a central unit (CU), a distributed unit (DU), and a radio unit (RU).

[0026] A radio access network (RAN) is formed by interconnecting multiple base station devices 20. The radio access network formed by the base station devices 20 that are gNBs may be referred to as an NG-RAN. The base station devices 20 that are gNBs may be referred to as NG-RAN nodes.

[0027] The plurality of base station devices 20 are connected to each other via a predetermined interface (for example, an Xn interface). More specifically, for example, the plurality of base station devices 20 are connected to each other via an Xn-U interface in the U-plane and via an Xn-C interface in the C-plane. Note that the plurality of base station devices 20 may also be connected to each other via other interfaces with different functions or names.

[0028] Each base station device 20 is connected to the core network 30 via a predetermined interface (for example, an NG interface). More specifically, for example, each base station device 20 is connected to the UPF of the core network 30 via an NG-U interface in the U-plane, and is connected to the AMF of the core network 30 via an NG-C interface in the C-plane. Note that each base station device 20 may be connected to the core network 30 via another interface with a different function or name.

[0029] The radio protocol architecture between the terminal device 10 and the base station device 20 will be described with reference to Fig. 2. The radio protocol architecture between the terminal device 10 and the base station device 20 and between the terminal device 10 and the core network 30 will be described with reference to Fig. 3.

[0030] 2, the U-plane protocol stack includes, from the bottom up, a physical (PHY) layer, a media access control (MAC) layer, a radio link control (RLC) layer, a packet data convergence protocol (PDCP) layer, and a service data adaptation protocol (SDAP) layer. Each of the above layers is terminated at the base station device 20 on the network side.

[0031] As shown in Fig. 3 , the C-plane protocol stack includes, from the bottom up, a physical (PHY) layer, a media access control (MAC) layer, a radio link control (RLC) layer, a packet data convergence protocol (PDCP) layer, a radio resource control (RRC) layer, and a non-access stratum (NAS). The above-mentioned layers other than the non-access stratum are terminated at the base station device 20 on the network side. The non-access stratum is terminated at the AMF of the core network 30 on the network side.

[0032] 4, the terminal device 10 has, as hardware elements, a processor 101, a memory 102, an input / output interface 103, a wireless interface 104, and an antenna 105. The above elements provided in the terminal device 10 are connected to each other by an internal bus. Note that the terminal device 10 may have hardware elements other than the elements shown in FIG. 4.

[0033] The processor 101 is a computing element that realizes various functions of the terminal device 10. The processor 101 may be a system-on-a-chip (SoC) that includes elements such as a central processing unit (CPU), a graphics processing unit (GPU), and a memory controller.

[0034] The memory 102 is composed of at least one storage medium such as a RAM (Random Access Memory) or an eMMC (embedded Multi Media Card). The memory 102 is an element that temporarily or permanently stores programs and data used to execute various processes in the terminal device 10. The programs include one or more instructions for operating the terminal device 10. The processor 101 implements the functions of the terminal device 10 by expanding and executing the programs stored in the memory 102 in the memory 102 and / or a system memory (not shown).

[0035] The input / output interface 103 is an interface that receives operations on the terminal device 10 and supplies them to the processor 101, and also presents various information to the user, and is, for example, a touch panel.

[0036] The wireless interface 104 is a circuit that performs various signal processing to realize wireless communication, and includes a baseband processor and an RF circuit. The wireless interface 104 transmits and receives wireless signals to and from the base station device 20 via an antenna 105.

[0037] The terminal device 10 may also include a sensor for detecting the altitude, speed, etc. of the terminal device 10 as the UAV moves, or may be connected to such a sensor. The sensor may include, for example, a barometric pressure sensor and an acceleration sensor. Furthermore, the terminal device 10 may include a receiving device for receiving a Global Navigation Satellite System (GNSS) signal for detecting the position, speed, altitude, etc. of the terminal device 10, and for receiving planned route information from an air traffic control system. The planned route information includes the route, points, and geographical information of a certain range along which the terminal device 10 is planned to move / pass.

[0038] 5, the terminal device 10 has, as functional blocks, a control unit 110 and a communication unit 120. The communication unit 120 has a transmission unit 121 and a reception unit 122.

[0039] The control unit 110 includes a processor 101 and a memory 102. In other words, the control unit 110 is realized by the processor 101 and the memory 102. The control unit 110 executes various control processes in the terminal device 10. For example, the control unit 110 controls wireless communication with the base station device 20 via the communication unit 120.

[0040] The communication unit 120 includes the wireless interface 104 and the antenna 105. In other words, the communication unit 120 is realized by the wireless interface 104 and the antenna 105. The communication unit 120 wirelessly communicates with the base station device 20 by transmitting and receiving wireless signals to and from the base station device 20.

[0041] The control unit 110 operates to execute various processes of the terminal device 10 of this embodiment.

[0042] 6, the base station device 20 has, as hardware elements, a processor 201, a memory 202, a network interface 203, a wireless interface 204, and an antenna 205. The above elements provided in the base station device 20 are connected to each other by an internal bus. Note that the base station device 20 may have hardware elements other than the elements shown in FIG. 6.

[0043] The processor 201 is a computing element that realizes various functions of the base station device 20. The processor 201 may be a CPU, and may further include other processors such as a GPU.

[0044] The memory 202 is configured by at least one storage medium such as a read-only memory (ROM), a RAM, a hard disk drive (HDD), or a solid state drive (SSD). The memory 202 is an element that temporarily or permanently stores programs and data used to execute various processes in the base station device 20. The programs include one or more instructions for operating the base station device 20. The processor 201 implements the functions of the base station device 20 by expanding and executing the programs stored in the memory 202 in the memory 202 and / or a system memory (not shown).

[0045] The network interface 203 is an interface used to transmit and receive signals to and from other base station devices 20 and the core network 30 .

[0046] The wireless interface 204 is a circuit that performs various signal processing to realize wireless communication, and includes a baseband processor and an RF circuit. The wireless interface 204 transmits and receives wireless signals to and from the base station device 20 via the antenna 205.

[0047] 7, the base station device 20 has, as functional blocks, a control unit 210, a communication unit 220, and a network communication unit 230. The communication unit 220 has a transmission unit 221 and a reception unit 222.

[0048] The control unit 210 includes a processor 201 and a memory 202. In other words, the control unit 210 is realized by the processor 201 and the memory 202. The control unit 210 executes various control processes in the base station device 20. For example, the control unit 210 controls wireless communication with the terminal device 10 via the communication unit 220. Furthermore, for example, the control unit 210 controls communication with other nodes (e.g., other base station devices 20, nodes of the core network 30) via the network communication unit 230.

[0049] The communication unit 220 includes the wireless interface 204 and the antenna 205. In other words, the communication unit 220 is realized by the wireless interface 204 and the antenna 205. The communication unit 220 wirelessly communicates with the terminal device 10 by transmitting and receiving wireless signals to and from the terminal device 10.

[0050] The network communication unit 230 includes the network interface 203. In other words, the network communication unit 230 is realized by the network interface 203. The network interface 203 transmits and receives signals to and from the network (and thus to the other nodes described above).

[0051] The control unit 210 operates to execute various processes in the base station device 20 of this embodiment.

[0052] 1.2 Channels and Control Data The terminal device 10 and the base station device 20 transmit and receive user data and control data to and from each other. The transmission and reception of control data in the downlink and uplink will be exemplified below.

[0053] The terminal device 10 and the base station device 20 transmit and receive user data and control data using a plurality of hierarchical channels. Physical channels are channels used for physical communication between the terminal device 10 and the base station device 20. Examples of physical channels include a Physical Downlink Control Channel (PDCCH), a Physical Broadcast Channel (PBCH), and a Physical Uplink Control Channel (PUCCH).

[0054] A transport channel is a channel located above a physical channel and is mapped to a physical channel in the PHY layer. Multiple transport channels may be mapped to one physical channel. Examples of transport channels include a Downlink Shared Channel (DL-SCH) and an Uplink Shared Channel (UL-SCH). For example, data in the downlink may also be referred to as DL-SCH data. Also, for example, data in the uplink may also be referred to as UL-SCH data. Here, DL-SCH data includes user data in the downlink. Also, UL-SCH data includes user data in the uplink.

[0055] A logical channel is a channel located above a transport channel and is mapped to the transport channel in the MAC layer. Multiple logical channels may be mapped to one transport channel, and one logical channel may be mapped to multiple transport channels. Logical channels are classified according to the characteristics of the information they transmit. Examples of logical channels include a Broadcast Control Channel (BCCH), a Common Control Channel (CCCH), and a Dedicated Control Channel (DCCH).

[0056] The base station device 20 transmits control data in the RRC layer to the terminal device 10 using a signaling radio bearer (SRB) established between the terminal device 10 and the base station device 20 in the RRC layer. Hereinafter, messages exchanged between the base station device 20 and the terminal device 10 in the RRC layer may be referred to as RRC messages. There are multiple types of SRBs (e.g., SRB0, SRB1, SRB2, SRB3, SRB4). The SRBs are used to transmit and receive RRC messages as well as NAS messages containing control data in the NAS layer. The CCCH or DCCH is used to transmit RRC messages from the base station device 20 to the terminal device 10. The CCCH and DCCH are each mapped to the PDSCH via the DL-SCH. The RRC message corresponds to Layer 3 signaling.

[0057] An RRC reconfiguration message will be described as an example of a downlink RRC message. The RRC reconfiguration message is an RRC message transmitted from the base station device 20 to the terminal device 10 using SRB1 or SRB3. The DCCH is used to transmit the RRC reconfiguration message. The RRC reconfiguration message is used to reconfigure or modify the connection between the base station device 20 and the terminal device 10.

[0058] The terminal device 10 transmits an RRC message to the base station device 20 using the above-mentioned SRB. The CCCH or DCCH is used to transmit the RRC message from the terminal device 10 to the base station device 20. The CCCH and DCCH are each mapped to the PUSCH via the UL-SCH. The RRC message corresponds to Layer 3 signaling.

[0059] As an example of a downlink RRC message, a user equipment information request (UEInformationRequest) message will be described. The user equipment information request message is an RRC message transmitted from the base station device 20 to the terminal device 10 using SRB1. The DCCH is used to transmit the user equipment information request message. The user equipment information request message is used by the base station device 20 to extract information from the terminal device 10.

[0060] As an example of an uplink RRC message, a user equipment information response (UEInformationResponse) message will be described. The user equipment information response message is an RRC message transmitted from the terminal device 10 to the base station device 20 using SRB1 or SRB2. The DCCH is used to transmit the user equipment information response message. The user equipment information response message is used to transfer information related to the terminal device 10 to the base station device 20.

[0061] 1.3. Transmission of Path Information In this embodiment, the terminal device 10 transmits path information to the base station device 20. The path information includes information related to the movement path of the terminal device 10, such as the position coordinates of waypoints that the terminal device 10 has passed through or is expected to pass through as the vehicle, including a UAV, moves, and the time at which the terminal device 10 has arrived at a waypoint or the time at which it is expected to arrive. The path information may also include position information of the terminal device 10, such as the altitude and / or position at which the terminal device 10 is located as the vehicle moves. The path information is generated by the terminal device 10 based on planned path information and position information, etc., acquired from a GPS, an air traffic control system, and / or a sensor, etc.

[0062] It is expected that the transmission of route information from the terminal device 10 to the base station device 20 will be useful for, for example, handover and control of beam directivity. The 4G E-UTRA specifications stipulate that the terminal device 10 transmits position coordinates of waypoints to the base station device 20 as flight path information.

[0063] A process in which the terminal device 10 transmits route information to the base station device 20 will be described with reference to Fig. 8. The message described in Fig. 8 is transmitted by an RRC message. The RRC message is exchanged between the terminal device 10 and the base station device 20 in the RRC layer shown in Fig. 3, that is, in the C-plane.

[0064] First, the control unit 110 in the terminal device 10 generates path information availability (PathInfoAvailable) information, and the transmission unit 121 of the communication unit 120 transmits the path information availability information to the base station device 20 (step S801). The path information availability information is an information element indicating that the terminal device 10 has available path information, such as that the terminal device 10 has reached a predetermined waypoint. The path information availability information is generated in response to determining, for example, based on information received from a GPS, that the terminal device 10 has reached / is scheduled to reach a predetermined waypoint at a specific time. The path information availability information includes flight path information availability (flightPathInfoAvailable) information specified for the path information of the terminal device 10 following the movement of the UAV.

[0065] The route information availability information may be transmitted when an RRC connection is established between the terminal device 10 and the base station device 20. When the RRC connection is established, in response to a request message from the base station device 20, the transmission unit 121 transmits an RRC connection setup complete (RRCConnectionSetupComplete) message to the base station device 20. The route information availability information may be included in the RRC connection setup complete message or another RRC message defined in a standard such as 5G.

[0066] Furthermore, the route information availability information may be transmitted when the RRC connection is re-established between the terminal device 10 and the base station device 20. When the RRC connection is re-established, in response to a request message from the base station device 20, the transmission unit 121 transmits an RRC connection re-establishment complete message to the base station device 20. The route information availability information may be included in the RRC connection re-establishment complete message or another RRC message defined in a standard such as 5G.

[0067] Furthermore, the route information availability information may be transmitted when the RRC connection is resumed between the terminal device 10 and the base station device 20. When the RRC connection is resumed, in response to a request message from the base station device 20, the transmission unit 121 transmits an RRC connection resume complete (RRCConnectionResumeComplete) message to the base station device 20. The route information availability information may be included in the RRC connection resume complete message or another RRC message defined in a standard such as 5G.

[0068] Furthermore, the route information availability information may be transmitted when the RRC connection is reconfigured between the terminal device 10 and the base station device 20. When the RRC connection is reconfigured, in response to a request message from the base station device 20, the transmission unit 121 transmits an RRC connection reconfiguration complete (RRCConnectionReconfigurationComplete) message to the base station device 20. The route information availability information may be included in the RRC connection reconfiguration complete message or another RRC message defined in a standard such as 5G.

[0069] Furthermore, the route information availability information may be transmitted when the terminal device 10 notifies the base station device 20 of its internal state. When the terminal device 10 notifies the base station device 20 of its internal state, the transmitting unit 121 transmits a UE assistance information (UEAssistanceInformation) message to the base station device 20 in response to an RRC reconfiguration message from the base station device 20. The route information availability information may be included in the UE assistance information message or another RRC message defined in a standard such as 5G.

[0070] When the receiving unit 222 of the communication unit 220 in the base station device 20 receives the route information availability information, the control unit 210 generates route information request (PathInfoReq) information. Then, the transmitting unit 221 transmits the route information request information to the terminal device 10 (step S802). The route information request information is an information element for requesting route information. The route information request information includes flight path information request (flightPathInfoReq) information that specifies route information for the terminal device 10 according to the movement of the UAV.

[0071] The route information request information may be transmitted when the base station device 20 requests the terminal device 10 to report information. When the base station device 20 requests the terminal device 10 to report information, the transmission unit 221 transmits a UE information request (UEInformationRequest) message to the terminal device 10. The route information request information may be included in the UE information request message or another RRC message defined in a standard such as 5G.

[0072] When the receiving unit 122 of the communication unit 120 in the terminal device 10 receives the path information request information, the control unit 110 generates path information report (PathInfoReport) information. Then, the transmitting unit 121 transmits the path information report information to the base station device 20 (step S803). The path information report information is an information element for reporting the path information of the terminal device 10, and includes path information of the UAV. The path information may include the actual arrival time when the terminal device 10 arrived at the waypoint / the predicted arrival time when the terminal device 10 is expected to arrive, position information of the waypoint, position information of the terminal device 10, information about the planned flight path, etc.

[0073] The route information report information is generated, for example, based on information received from a GPS, by determining the position information of the waypoint at which the terminal device 10 has arrived or is expected to arrive and the time at which the terminal device 10 has arrived or is expected to arrive. The route information report information includes flight path information report (flightPathInfoReport) information that is defined regarding the route information of the terminal device 10 according to the movement of the UAV.

[0074] The route information report information may be transmitted when the terminal device 10 reports information to the base station device 20. When the terminal device 10 reports information to the base station device 20, the transmitting unit 121 transmits a UE information response (UEInformationResponse) message to the terminal device 10 in response to a UE information request message from the base station device 20. The route information report information may be included in the UE information response message or another RRC message defined in a standard such as 5G. In this embodiment, a message may be referred to as information and / or an information element.

[0075] In the process shown in Fig. 8, the route information report information is transmitted in response to the terminal device 10 transmitting route information availability information or in response to the base station device 20 transmitting route information request information, but is not limited to such an example. The route information report information may be actively transmitted from the terminal device 10 without the terminal device 10 transmitting route information availability information. Also, the route information report information may be actively transmitted from the terminal device 10 without the base station device 20 transmitting route information request information.

[0076] The route information report information may be transmitted periodically, for example. Alternatively, the route information report information may be transmitted in response to a change in the route information, such as when the terminal device 10 passes a predetermined waypoint or changes its travel route. In this case, the control unit 110 in the terminal device 10 periodically acquires information from a GPS, for example, and detects whether or not there has been a change in the route information, such as when the terminal device 10 passes a specific waypoint.

[0077] 2. First Embodiment Next, a first embodiment will be described. In the first embodiment, the terminal device 10 transmits error information and / or accuracy information along with route information to the base station device 20. Due to factors such as weather, the surrounding environment, and / or the performance of the UAV itself, the terminal device 10 may arrive at a waypoint late or early. This is expressed as an error in the time it takes for the terminal device 10 to reach a specific point such as a waypoint, i.e., a time error.

[0078] In addition, the UAV may move a certain distance away from the planned flight path, which is expressed as an error in the position of the terminal device 10 moving along the planned flight path, i.e., a spatial error.

[0079] As described above, the route information reported by the terminal device 10 to the base station device 20 includes a temporal error and / or a spatial error regarding the UAV's travel route. The temporal error and the spatial error are collectively referred to as an error.

[0080] The terminal device 10 can calculate the temporal error of the route information by, for example, receiving the predicted arrival time at the waypoint from an air traffic control system at regular intervals and comparing it with the actual arrival time at the waypoint. Similarly, the terminal device 10 can calculate the spatial error of the route information by, for example, receiving its own position information from a GPS at regular intervals and comparing it with the planned route.

[0081] As described above, the terminal device 10 transmits route information including the predicted arrival time of the terminal device 10 to the waypoint to the base station device 20. However, the base station device 20 cannot determine from the predicted arrival time how late or early the terminal device 10 is expected to have arrived at the waypoint or how early it will arrive.

[0082] The route information may also include location information of the terminal device 10, and by notifying the location information of the terminal device 10, the base station device 20 can grasp the actual location of the terminal device 10. However, the base station device 20 cannot grasp from the location information how far the terminal device 10 has moved from the planned route.

[0083] For example, if the terminal device 10 arrives at the waypoint earlier than the expected arrival time and the base station device 20 is unable to recognize this, the base station device 20 may miss the fact that the terminal device 10 has passed through the waypoint. Also, if the terminal device 10 arrives at the waypoint later than the expected arrival time and the base station device 20 is unable to recognize this, the base station device 20 may wait longer than necessary for the terminal device 10 to arrive at the waypoint, which may result in unnecessary consumption of radio resources and power.

[0084] In this embodiment, the terminal device 10 transmits information about the error in the travel route described above together with the route information to the base station device 20. Hereinafter, the information about the error in the travel route will be referred to as error information, deviation information, mismatch information, or difference information. Hereinafter, the terms "error," "deviation," "mismatch," and "difference" will be used interchangeably.

[0085] The error information includes a temporal error and / or a spatial error. The temporal error includes an error related to the time it takes for the terminal device 10 to reach a specific point. The temporal error may be estimated by the terminal device 10 using a predefined numerical value, calculation method, etc., and in this case, the temporal error has a level of temporal error estimated by the terminal device 10. By notifying the temporal error, the base station device 20 can determine how late or early the terminal device 10 has arrived / is expected to arrive at the waypoint.

[0086] The spatial error includes an error related to the position of the terminal device 10 moving along the planned route. The spatial error may be estimated by the terminal device 10 using predefined numerical values ​​and calculation methods, etc. In this case, the positional error has a temporal error at the level estimated by the terminal device 10. By notifying the spatial error, the base station device 20 can grasp how far the terminal device 10 is moving from the planned route.

[0087] Instead of the error information described above, accuracy information or precision information may be transmitted along with the route information. Hereinafter, "accuracy" and "precision" are used interchangeably. Accuracy information includes temporal accuracy and / or spatial accuracy. Temporal accuracy includes accuracy regarding the time at which the terminal device 10 reaches a specific point. The temporal accuracy may be estimated by the terminal device 10 using predefined values ​​and calculation methods, etc. In this case, the temporal error has a level of temporal accuracy estimated by the terminal device 10. By notifying the temporal accuracy, the base station device 20 can also determine how late or early the terminal device 10 has arrived at / is expected to arrive at the waypoint.

[0088] The spatial accuracy also includes accuracy regarding the position of the terminal device 10 moving along the planned route. The spatial accuracy may be estimated by the terminal device 10 using predefined numerical values, calculation methods, etc., and in this case, the spatial error has the level of spatial accuracy estimated by the terminal device 10. By notifying the spatial accuracy, the base station device 20 can also grasp how far the terminal device 10 is moving from the planned route.

[0089] With reference to Fig. 9, a process in which the terminal device 10 transmits error information together with route information to the base station device 20 will be described. The route information and error information are transmitted by an RRC message. The route information is transmitted according to the method described in Fig. 8. Note that the route information and error information may be exchanged not only by an RRC message but also by a message of another layer. For example, the route information may be exchanged via a MAC Control Element (MAC CE).

[0090] First, the control unit 110 in the terminal device 10 generates route information availability information, and the transmission unit 121 of the communication unit 120 transmits the route information availability information to the base station device 20 (step S901). The process of generating and transmitting the route information availability information is the same as the process described in Fig. 8, so a detailed description will be omitted.

[0091] When the receiving unit 222 of the communication unit 220 in the base station device 20 receives the route information availability information, the control unit 210 generates route information request information. Then, the transmitting unit 221 transmits the route information request information to the terminal device 10 (step S902). The process of generating and transmitting the route information request information is the same as the process described in Fig. 8, so a detailed description will be omitted.

[0092] When the receiving unit 122 of the communication unit 120 in the terminal device 10 receives the route information request information, the control unit 110 generates route information report information. Then, the transmitting unit 121 transmits the route information report information to the base station device 20 (step S903). The route information report information includes route information and error information.

[0093] As described above, the route information includes the predicted arrival time / actual arrival time at the waypoint of the terminal device 10. The predicted arrival time and actual arrival time at the waypoint are calculated by the terminal device 10 or the air traffic control system by the terminal device 10 and the air traffic control system exchanging information such as planned route information and position information. The route information may also include position information such as the altitude and / or position at which the terminal device 10 is located.

[0094] The error information includes a temporal error related to the time when the terminal device 10 will reach a specific point and a spatial error related to the position where the terminal device 10 moves along the planned route. The temporal error includes, for example, the time difference between the predicted arrival time t1 of the terminal device 10 at a specific waypoint at time T1 and the predicted arrival time t2 of the terminal device 10 at that waypoint at time T2, which is later than T1. This is because the predicted arrival time at a waypoint may fluctuate over time due to factors such as weather.

[0095] The time error also includes, for example, the time difference between the predicted arrival time t1 of the terminal device 10 at a particular waypoint at time T1 and the actual arrival time t2 of the terminal device 10 at that waypoint at time T2, because, for example, the waypoint may be reached earlier or later than expected due to factors such as weather.

[0096] Furthermore, the time error includes a fixed value derived from previously calculated time errors or derived by other methods. For example, the fixed value may be the average value of previously calculated time errors for each terminal device 10, or may be values ​​such as +5 seconds and -5 seconds. +5 seconds means that the waypoint will be reached 5 seconds late, and -5 seconds means that the waypoint will be reached 5 seconds early. The fixed value may also be derived taking into account factors that affect the movement of the terminal device 10, such as the performance of the terminal device 10 and weather.

[0097] Furthermore, the spatial error includes the distance between the actual location of the terminal device 10 and the planned route or a certain range of the planned route, because, for example, a factor such as strong wind may cause the terminal device 10 to move beyond a certain range from the planned route.

[0098] Furthermore, the spatial error may include a fixed value derived from previously calculated spatial errors or derived by other methods. For example, the fixed value may be an average value of previously calculated spatial errors for each terminal device 10, or a value such as 10 meters. 10 meters means moving 10 meters away from the planned route or a certain range of the planned route. The fixed value may also be derived taking into account factors that affect the movement of the terminal device 10, such as the performance of the terminal device 10 and weather.

[0099] The temporal error included in the error information may be a numerical value representing the temporal error described above, such as a numerical value expressed in units of hours, minutes, seconds, milliseconds, etc. Alternatively, the temporal error included in the error information may be an index value indicating a numerical value or a numerical range representing the temporal error. Table 1 shows an example of a mapping table between predefined temporal error ranges and corresponding index values. In this case, the base station device 20 stores a mapping table such as that shown in Table 1 and obtains the corresponding temporal error or temporal error range based on the index value.

[0100] Furthermore, the temporal error included in the error information may be a value representing an error class or error rank defined for each numerical range representing the temporal error. Hereinafter, "class" and "rank" are used interchangeably. The error class may include, for example, three classes: low, middle, and high. Alternatively, the temporal error included in the error information may be an index value indicating the error class. Table 2 shows an example of a mapping table between predefined temporal error ranges, corresponding error classes, and corresponding index values. In this case, the base station device 20 stores a mapping table such as that shown in Table 2 and obtains the corresponding error class based on the index value.

[0101] Furthermore, the time error included in the error information may be a value indicating whether the time error exceeds a predefined reference value, allowable error, threshold, or limit. Hereinafter, the terms "reference value," "allowable error," "threshold," and "limit" are used interchangeably. The reference value may be, for example, 5 seconds, where 5 seconds means that the time error is within 5 seconds. For example, the time error may include values ​​of 0 (within the reference value) and 1 (not within the reference value). The reference value may be a value defined for the entire system, or may be a value defined for each base station device 20, each cell, or each cell group. When the reference value is a value defined for each base station device 20, each cell, or each cell group, the reference value is notified from the base station device 20, for example, by route information request information.

[0102] The spatial error included in the error information may be a numerical value representing the spatial error, such as a numerical value expressed in units of kilometers or meters. Alternatively, the spatial error included in the error information may be an index value indicating a numerical value or a numerical range representing the spatial error. Table 3 shows an example of a mapping table between predefined spatial error ranges and corresponding index values. In this case, the base station device 20 stores a mapping table such as that shown in Table 3 and obtains the corresponding spatial error or spatial error range based on the index value.

[0103] Furthermore, the spatial error included in the error information may be a value representing an error class defined for each numerical range representing the spatial error. The error classes may include, for example, three classes: low, middle, and high. Alternatively, the spatial error included in the error information may be an index value indicating the error class. Table 4 shows an example of a mapping table between predefined spatial error ranges, corresponding error classes, and corresponding index values. In this case, the base station device 20 stores a mapping table such as that shown in Table 4 and obtains the corresponding error class based on the index value.

[0104] Furthermore, the spatial error included in the error information may be a value indicating whether the spatial error exceeds a predefined reference value. The reference value may be, for example, 10 meters, where 10 meters means that the spatial error is within 10 meters. For example, the spatial error may include values ​​of 0 (within the reference value) and 1 (not within the reference value). The reference value may be defined and notified in the same way as the reference value for the temporal error described above.

[0105] By transmitting the error information to the base station device 20 together with the route information, the base station device 20 can determine how late or early the terminal device 10 is expected to arrive at the waypoint. For example, the base station device 20 may determine whether the time error exceeds a predefined reference value, and if the time error exceeds the predefined reference value, determine that the time error exceeds the allowable error. The same applies to the spatial error. The reference value may be a value defined for the entire system, or may be a value defined for each base station device 20, each cell, or each cell group.

[0106] In response to determining that the time error exceeds a predefined reference value, for example, that the terminal device 10 is expected to arrive at the waypoint later than the reference value, the base station device 20 may, for example, request the terminal device 10 to retransmit the route information. This request is executed, for example, by the base station device 20 transmitting route information request information to the terminal device 10. Instead of requesting to retransmit the route information, the base station device 20 may request the terminal device 10 to change the route information.

[0107] The base station device 20 may also start measurements on the terminal device 10 in response to determining that the time error exceeds a predefined reference value, for example, that the terminal device 10 has exceeded the reference value and arrived at the waypoint early.

[0108] Furthermore, the terminal device 10 may, for example, change the route information in response to determining that the time error exceeds a predefined reference value, for example, that the terminal device 10 is expected to arrive at the waypoint later than the reference value. When the route information is changed, the terminal device 10 may transmit an indication indicating that the route information has been changed to the base station device 20 as route information.

[0109] Instead of or in addition to the error information described above, accuracy information may be transmitted. The accuracy information includes temporal accuracy regarding the time when the terminal device 10 will arrive at a specific point and spatial accuracy regarding the position where the terminal device 10 moves along the planned route. The temporal accuracy includes, for example, the time difference between the expected arrival time t1 of the terminal device 10 at a specific waypoint at time T1 and the expected arrival time t2 of the terminal device 10 at that waypoint at time T2, which is later than T1.

[0110] Temporal accuracy also includes, for example, the time difference between the expected arrival time t1 of the terminal device 10 at a particular waypoint at time T1 and the actual arrival time t2 of the terminal device 10 at that waypoint at time T2.

[0111] Furthermore, the temporal accuracy includes a fixed value derived from previously calculated temporal accuracy or derived by other methods. For example, the fixed value may be an average value of previously calculated temporal accuracy for each terminal device 10, or may be values ​​such as +5 seconds and -5 seconds. +5 seconds means that the waypoint will be reached within 5 seconds late, and -5 seconds means that the waypoint will be reached within 5 seconds early. The fixed value may also be derived taking into account factors that affect the movement of the terminal device 10, such as the performance of the terminal device 10 and weather.

[0112] Furthermore, the spatial accuracy includes the distance between the actual location of the terminal device 10 and the planned route or a certain range of the planned route.

[0113] Furthermore, the spatial accuracy may include a fixed value derived from previously calculated spatial accuracy or derived by other methods. For example, the fixed value may be an average value of previously calculated spatial accuracy for each terminal device 10, or a value such as 10 meters. 10 meters means that the distance traveled away from the planned route or a certain range of the planned route is within 10 meters. The fixed value may also be derived taking into account factors that affect the movement of the terminal device 10, such as the performance of the terminal device 10 and weather.

[0114] The temporal accuracy included in the accuracy information may be a numerical value representing the temporal accuracy described above, such as a numerical value expressed in units of hours, minutes, seconds, milliseconds, etc. Alternatively, the temporal accuracy included in the accuracy information may be an index value indicating a numerical value or a numerical range representing the temporal accuracy. Table 5 shows an example of a mapping table between predefined temporal accuracy ranges and corresponding index values. In this case, the base station device 20 stores a mapping table such as that shown in Table 5 and obtains the corresponding temporal accuracy or temporal accuracy range based on the index value.

[0115] Furthermore, the temporal accuracy included in the accuracy information may be a value representing an accuracy class defined for each numerical range representing the temporal accuracy. The accuracy classes may include, for example, three classes: high, middle, and low. Alternatively, the temporal accuracy included in the accuracy information may be an index value indicating the accuracy class. Table 6 shows an example of a mapping table between predefined temporal accuracy ranges, corresponding accuracy classes, and corresponding index values. In this case, the base station device 20 stores a mapping table such as that shown in Table 6 and obtains the corresponding accuracy class based on the index value.

[0116] Furthermore, the temporal accuracy included in the accuracy information may be a value indicating whether the temporal accuracy is within a predefined reference value. The reference value may be, for example, a value such as 5 seconds, where 5 seconds means that the temporal accuracy is within 5 seconds. For example, the temporal accuracy may include values ​​of 0 (within the reference value) and 1 (not within the reference value). The reference value may be a value defined for the entire system, or may be a value defined for each base station device 20, each cell, or each cell group. When the reference value is a value defined for each base station device 20, each cell, or each cell group, the reference value is notified from the base station device 20, for example, by route information request information.

[0117] The spatial accuracy included in the accuracy information may be a numerical value representing the spatial accuracy described above, such as a numerical value expressed in units such as kilometers or meters. Alternatively, the spatial accuracy included in the accuracy information may be an index value indicating a numerical value or a numerical range representing the spatial accuracy. Table 7 shows an example of a mapping table between predefined spatial accuracy ranges and corresponding index values. In this case, the base station device 20 stores a mapping table such as that shown in Table 7 and obtains the corresponding spatial accuracy or spatial accuracy range based on the index value.

[0118] Furthermore, the spatial accuracy included in the accuracy information may be a value representing an accuracy class defined for each numerical range representing spatial accuracy. The accuracy classes may include, for example, three classes: high, middle, and low. Alternatively, the spatial accuracy may be an index value indicating the accuracy class. Table 8 shows an example of a mapping table between predefined spatial accuracy ranges, corresponding accuracy classes, and corresponding index values. In this case, the base station device 20 stores a mapping table such as that shown in Table 8 and obtains the corresponding accuracy class based on the index value.

[0119] Furthermore, the spatial accuracy included in the accuracy information may be a value indicating whether the spatial accuracy is within a predefined reference value. The reference value may be, for example, 10 meters, where 10 meters means that the spatial accuracy is within 10 meters. For example, the spatial accuracy may include values ​​of 0 (within the reference value) and 1 (not within the reference value). The reference value may be defined and notified in the same way as the reference value for temporal accuracy described above.

[0120] By transmitting accuracy information to the base station device 20 together with the route information, the base station device 20 can also determine how late or early the terminal device 10 is expected to arrive at the waypoint. In other words, the accuracy information can also function similarly to the error information. The examples described below regarding the error information also apply to the accuracy information.

[0121] Although the error information and / or accuracy information are included in the route information report information and transmitted together with the route information, the error information and / or accuracy information do not necessarily need to be transmitted simultaneously. For example, the error information and / or accuracy information may be transmitted at a different timing from the route information. In this case, for example, the error information and / or accuracy information may be included in the UE information report message.

[0122] 2-1. Overall Application of Error Information This section describes an example in which error information is applied to the entire route information. In this example, the error information is generated by the terminal device 10 calculating a temporal error and / or a spatial error. As mentioned above, route information report information may be transmitted periodically or in response to a change in the route information. In either case, the terminal device 10 generates error information for each of a plurality of waypoints.

[0123] In this chapter, the error information is generated by calculating the predicted arrival time at the waypoint, but is not limited to such an example. For example, the error information may also be generated by calculating the predicted arrival time / actual arrival time at the waypoint, or by calculating the average value of previously calculated time errors.

[0124] This section describes an example in which the terminal device 10 generates and transmits error information that applies to the entire route. The error information is included in the route information report information together with the route information. The process of generating and transmitting the route information report information is similar to the process described in FIG. 9, so a detailed description will be omitted.

[0125] An example in which the terminal device 10 generates and transmits error information that is applied to the entire route will be described with reference to Fig. 10. In the example shown in Fig. 10, the terminal device 10 moves toward waypoint A, and then, after passing waypoint A, moves toward waypoint B. First, the terminal device 10 calculates an expected arrival time t1 to waypoint A at time T1, and transmits route information including the expected arrival time t1 to the base station device 20.

[0126] Next, at time T2, which is later than T1, the terminal device 10 calculates an expected arrival time t2 at waypoint A, and calculates a time error a between this and the expected arrival time t1. Then, the terminal device 10 transmits route information including the expected arrival time t2 and error information including the time error a to the base station device 20. As described above, the time error a may be a numerical value representing the time error between the expected arrival time t1 and the expected arrival time t2, or an index value indicating an error class, etc.

[0127] Thereafter, the terminal device 10 passes waypoint A and moves toward waypoint B. Next, at time T3, which is later than T2, the terminal device 10 calculates an expected arrival time t3 at waypoint B, and transmits route information including the expected arrival time t3 to the base station device 20.

[0128] Next, at time T4, which is later than T3, the terminal device 10 calculates an expected arrival time t4 at waypoint B, and calculates a time error b between this and the expected arrival time t3. The terminal device 10 then transmits route information including the expected arrival time t3 and error information to the base station device 20. At this time, the terminal device 10 compares the time error b with the time error a, and if the time difference between the time error b and the time error a is within a predefined threshold range, that is, within a certain range, the error information may include the time error a. On the other hand, if the time difference between the time error b and the time error a exceeds the predefined threshold range, the error information may include the time error b.

[0129] In the example described in this chapter, if the time error a calculated at a predetermined timing, such as when the error information is first transmitted in the example shown in Figure 10, does not fluctuate within the threshold range, the time error a is applied to the entire route. Also, the time error b may not be calculated, and the time error a calculated at time T2 may be included in the error information transmitted thereafter.

[0130] In addition, instead of calculating the time error for the waypoint, the time error for the final destination to be reached by the terminal device 10 may be calculated periodically or in response to a change in the route information. With reference to Fig. 11, an example will be described in which the terminal device 10 generates and transmits error information for the final destination C.

[0131] First, at time T1, the terminal device 10 calculates an estimated arrival time t1 to the final destination C, and transmits route information including the estimated arrival time t1 to the base station device 20. The estimated arrival time t1 is calculated periodically while the terminal device 10 is moving, based on information such as the position coordinates of the final destination C transmitted from an air traffic control system, for example.

[0132] Next, at time T2 after T1, the terminal device 10 calculates an estimated arrival time t2 at the final destination C, and calculates a time error a between the estimated arrival time t2 and the estimated arrival time t1. Then, the terminal device 10 transmits route information including the estimated arrival time t1 and error information including the time error a to the base station device 20. As described above, the time error a may be a numerical value representing the time error between the estimated arrival time t1 and the estimated arrival time t2, or an index value indicating an error class, etc.

[0133] Next, at a time T3 that is later than T2, the terminal device 10 calculates an expected arrival time t3 at the final destination C, and transmits route information including the expected arrival time t3 to the base station device 20.

[0134] Next, at time T4, which is later than T3, the terminal device 10 calculates an estimated arrival time t4 at the final destination C, and calculates a time error b between the estimated arrival time t4 and the estimated arrival time t3. Then, the terminal device 10 transmits route information including the estimated arrival time t3 and error information to the base station device 20. At this time, the terminal device 10 compares the time error b with the time error a, and if the time difference between the time error b and the time error a is within a predefined threshold range, the error information may include the time error a. On the other hand, if the time difference between the time error b and the time error a exceeds the predefined threshold range, the error information may include the time error b.

[0135] Even when calculating the time error for the final destination, if the time error a calculated at a predetermined timing, such as when error information is first transmitted in the example shown in Figure 11, does not fluctuate within the threshold range, the time error a is applied to the entire route. Also, the time error b may not be calculated, and the time error a calculated at time T2 may be included in the error information transmitted thereafter.

[0136] In this section, an example has been described in which a time error calculated at a predetermined timing is applied to the entire route thereafter. This example may also be applied to a spatial error in the same way.

[0137] 2-2. Application of Error Information to Each Waypoint This section describes an example in which error information is applied to each waypoint. In this example, the error information is generated by the terminal device 10 calculating a temporal error and / or a spatial error together with the route information. As mentioned above, route information report information may be transmitted periodically or in response to a change in the route information. In either case, the terminal device 10 generates error information for each of a plurality of waypoints.

[0138] In this chapter, the error information is generated by calculating the predicted arrival time at the waypoint, but is not limited to such an example. For example, the error information may also be generated by calculating the predicted arrival time / actual arrival time at the waypoint, or by calculating the average value of previously calculated time errors.

[0139] This section describes an example in which the terminal device 10 generates and transmits error information applied to each waypoint. The error information is included in the route information report information together with the route information. The process of generating and transmitting the route information report information is similar to the process described in FIG. 9, so a detailed description will be omitted.

[0140] An example in which the terminal device 10 generates and transmits error information applied to each waypoint will be described with reference to Fig. 12. In the example shown in Fig. 12, the terminal device 10 moves toward waypoint A, and then, after passing waypoint A, moves toward waypoint B. First, the terminal device 10 calculates an expected arrival time t1 to waypoint A at time T1, and transmits route information including the expected arrival time t1 to the base station device 20.

[0141] Next, at time T2, which is later than T1, the terminal device 10 calculates an expected arrival time t2 at waypoint A, and calculates a time error a between this and the expected arrival time t1. Then, the terminal device 10 transmits route information including the expected arrival time t2 and error information including the time error a to the base station device 20. As described above, the time error a may be a numerical value representing the time error between the expected arrival time t1 and the expected arrival time t2, or an index value indicating an error class, etc.

[0142] Thereafter, the terminal device 10 passes waypoint A and moves toward waypoint B. Next, at time T3, which is later than T2, the terminal device 10 calculates an expected arrival time t3 at waypoint B, and transmits route information including the expected arrival time t3 to the base station device 20.

[0143] Next, at time T4, which is later than T3, the terminal device 10 calculates the predicted arrival time t4 at waypoint B, and calculates the time error b between this and the predicted arrival time t3. The terminal device 10 then transmits to the base station device 20 route information including the predicted arrival time t3 and error information including the time error b.

[0144] In the example described in this section, the temporal error for a waypoint is calculated for each waypoint and each time error information is transmitted, but this example may be applied to the spatial error as well.

[0145] 2-3. Notification of Error Information as Capability Information This section describes an example of transmitting error information as capability information of the terminal device 10. For example, if the previously calculated temporal error for each terminal device 10 is within a certain range, a fixed value derived from the previously calculated temporal error may be defined as the temporal error for each terminal device 10.

[0146] The fixed value may be an average value of the time error previously calculated for each terminal device 10, or may be a value such as +5 seconds or -5 seconds. +5 seconds means that the waypoint will be reached 5 seconds late, and -5 seconds means that the waypoint will be reached 5 seconds early. The fixed value may also be derived taking into consideration factors that affect the movement of the terminal device 10, such as the performance of the terminal device 10 and the weather. As described above, the time error may be a numerical value representing the time error, an index value indicating the error class, or the like.

[0147] The terminal device 10 may transmit, together with the route information, error information including a time error set for each terminal device 10. The error information may be included in the route information report information as capability information.

[0148] Furthermore, the error information may be transmitted when the terminal device 10 notifies the base station device 20 of its own capabilities. When the terminal device 10 notifies the base station device 20 of its own capabilities, the terminal device 10 transmits a UE capability information (UECapabilityInformation) message to the base station device 20. The error information may be included as capability information in the UE capability information message or another RRC message defined in standards such as 5G. For example, the other RRC messages may include the above-mentioned RRC connection setup complete message, RRC connection re-establishment complete message, RRC connection resumption complete message, RRC connection reconfiguration complete message, etc.

[0149] In the example described in this chapter, a time error is defined for each terminal device 10, and error information including the time error is transmitted as capability information. This example may also be applied to a spatial error in the same way.

[0150] The processing according to the first embodiment has been described above. According to this embodiment, it is possible to notify the base station device 20 of how late or early the terminal device 10 has arrived at / is expected to arrive at a specific point, and how far the terminal device 10 has moved from the specific position.

[0151] 3. Second Embodiment Next, a second embodiment will be described. In the second embodiment, the base station device 20 transmits, to the terminal device 10, reference information for determining the error level and / or accuracy level, degree, or magnitude of the route information. Hereinafter, the terms "level," "degree," and "magnitude" are used interchangeably. The reference information for the error may include, for example, a required temporal error and / or a required spatial error that the base station device 20 requests of the terminal device 10. The required temporal error and the required spatial error are collectively referred to as the required error. The required temporal error is used interchangeably with the allowed temporal error, and the required spatial error is used interchangeably with the allowed spatial error, and are collectively referred to as the allowed temporal error, the allowed spatial error, and the allowable error.

[0152] The required temporal error included in the reference information may be a numerical value or a numerical range expressed in units such as hours, minutes, seconds, and milliseconds. Alternatively, the required temporal error included in the reference information may be an index value indicating a numerical value or a numerical range representing the required temporal error. Table 9 shows an example of a mapping table between predefined required temporal error ranges and corresponding index values. In this case, the terminal device 10 stores a mapping table such as that shown in Table 9 and obtains the required temporal error range based on the index value.

[0153] Furthermore, the required temporal error included in the reference information may be a value representing an error class defined for each numerical range representing the required temporal error. The error class may include, for example, three classes: low, middle, and high. Alternatively, the required temporal error included in the reference information may be an index value indicating the error class. Table 10 shows an example of a mapping table between predefined required temporal errors, corresponding error classes, and corresponding index values. In this case, the terminal device 10 stores a mapping table such as that shown in Table 10 and obtains the corresponding error class based on the index value.

[0154] The format of the required temporal error value described above also applies to the required spatial error. The reference information may be defined for the entire system, or may be defined for each base station device 20, each cell, or each cell group.

[0155] The above-mentioned reference information may be reference information for determining an accuracy level for the route information. The reference information for accuracy may include, for example, a required temporal accuracy and / or a required spatial accuracy that the base station device 20 requests of the terminal device 10. The required temporal accuracy and / or the required spatial accuracy are collectively referred to as a required accuracy.

[0156] The required temporal accuracy included in the reference information may be a numerical value or a numerical range expressed in units such as hours, minutes, seconds, and milliseconds. Alternatively, the required temporal accuracy included in the reference information may be an index value indicating a numerical value or a numerical range representing the required temporal accuracy. Table 11 shows an example of a mapping table between predefined required temporal accuracy ranges and corresponding index values. In this case, the terminal device 10 stores a mapping table such as that shown in Table 11 and obtains the required temporal accuracy range based on the index value.

[0157] Furthermore, the required temporal accuracy included in the reference information may be a value representing an accuracy class defined for each numerical range representing the required temporal accuracy. The accuracy classes may include, for example, three classes: high, middle, and low. Alternatively, the required temporal accuracy included in the reference information may be an index value indicating the accuracy class. Table 12 shows an example of a mapping table between predefined required temporal accuracy ranges, corresponding accuracy classes, and corresponding index values. In this case, the terminal device 10 stores a mapping table such as that shown in Table 12 and obtains the corresponding accuracy class based on the index value.

[0158] The format of the required temporal accuracy value described above also applies to the required spatial accuracy. The reference information may be a value defined for the entire system, or may be a value defined for each base station device 20, each cell, or each cell group.

[0159] Next, with reference to Fig. 13, a process in which the base station device 20 transmits reference information to the terminal device 10 will be described. In response to receiving the reference information, the terminal device 10 transmits corresponding error information together with route information to the base station device 20. The reference information, route information, and error information are transmitted by an RRC message. The route information and error information are transmitted according to the methods described in Figs. 8 and 9. Note that the reference information, route information, and error information may be exchanged not only by an RRC message but also by messages of other layers. For example, route information may be exchanged via a MAC Control Element (MAC CE).

[0160] First, the control unit 110 in the terminal device 10 generates route information availability information, and the transmission unit 121 of the communication unit 120 transmits the route information availability information to the base station device 20 (step S1301). The process of generating and transmitting the route information availability information is the same as the process described in Fig. 8, so a detailed description will be omitted.

[0161] When the receiving unit 222 of the communication unit 220 in the base station device 20 receives the route information availability information, the control unit 210 generates route information request information. Then, the transmitting unit 221 transmits the route information request information to the terminal device 10 (step S1302). The route information request information includes reference information for determining an error level and / or an accuracy level for the route information to be transmitted in step S1302.

[0162] The reference information may be transmitted when the base station device 20 requests the terminal device 10 to report information. When the base station device 20 requests the terminal device 10 to report information, the transmitter 221 transmits a UE information request message to the terminal device 10. The reference information may be included in the UE information request message or another RRC message defined in a standard such as 5G.

[0163] Furthermore, the reference information may be transmitted when an RRC connection is established between the terminal device 10 and the base station device 20. When the RRC connection is established, the transmission unit 221 transmits an RRC connection setup (RRCConnectionSetup) message to the base station device 20. The reference information may be included in the RRC connection setup message or another RRC message defined in a standard such as 5G.

[0164] Furthermore, the reference information may be transmitted when the RRC connection is re-established between the terminal device 10 and the base station device 20. When the RRC connection is re-established, the transmission unit 221 transmits an RRC connection re-establishment message to the base station device 20. The reference information may be included in the RRC connection re-establishment message or another RRC message defined in a standard such as 5G.

[0165] Furthermore, the reference information may be transmitted when the RRC connection is resumed between the terminal device 10 and the base station device 20. When the RRC connection is resumed, the transmission unit 221 transmits an RRC connection resume (RRCConnectionResume) message to the base station device 20. The reference information may be included in the RRC connection resume message or another RRC message defined in a standard such as 5G.

[0166] Furthermore, the reference information may be transmitted when the RRC connection is reconfigured between the terminal device 10 and the base station device 20. When the RRC connection is reconfigured, the transmission unit 221 transmits an RRC connection reconfiguration message to the base station device 20. The reference information may be included in the RRC connection reconfiguration message or another RRC message defined in a standard such as 5G.

[0167] When the receiving unit 122 of the communication unit 120 in the terminal device 10 receives route information request information including reference information, the control unit 110 generates route information report information. Then, the transmitting unit 121 transmits the route information report information to the base station device 20 (step S1303). The route information report information includes route information. Furthermore, if the route information request information includes reference information for determining an error level for the route information, the information report message includes error information. Furthermore, if the route information request information includes reference information for determining an accuracy level for the route information, the route information report information includes accuracy information.

[0168] For example, if the reference information includes a numerical value or a numerical range of the required temporal error, the error information may include a value indicating whether the temporal error calculated by the terminal device 10 exceeds the numerical value or numerical range of the required temporal error. For example, the error information may include values ​​of 0 (exceeds the required temporal error) and 1 (does not exceed the required temporal error). Furthermore, if the reference information includes a value indicating an error class, the error information may include a value indicating which error class the temporal error calculated by the terminal device 10 belongs to. For example, the error information may include values ​​of 1 (in the low class), 2 (in the middle class), and 3 (in the high class).

[0169] Similarly, for example, if the criteria information includes a numerical value or a numerical range of required temporal accuracy, the accuracy information may include a value indicating whether the temporal accuracy calculated by the terminal device 10 is within the numerical value or numerical range of the required temporal accuracy. For example, the accuracy information may include values ​​of 0 (within the required temporal accuracy) and 1 (not within the required temporal accuracy). Furthermore, for example, if the criteria information includes a value indicating an accuracy class, the accuracy information may include a value indicating which accuracy class the temporal accuracy calculated by the terminal device 10 is in. For example, the accuracy information may include values ​​of 1 (in the high class), 2 (in the middle class), and 3 (in the low class).

[0170] By transmitting the reference information from the base station device 20 to the terminal device 10, for example, the terminal device 10 can determine whether or not the error in the route information to be transmitted is within the error range required by the base station device 20. Similarly, the terminal device 10 can determine whether or not the accuracy of the route information to be transmitted is within the accuracy range required by the base station device 20.

[0171] In this embodiment, the base station device 20 transmits reference information to the terminal device 10, but the present invention is not limited to such an example. For example, the required temporal error and / or the required spatial error may be defined for the entire system. That is, reference information for determining the error level of the route information may be defined for the entire system. In this case, the terminal device 10 generates error information based on the defined reference information without receiving the reference information from the base station device 20.

[0172] The above also applies to accuracy information. That is, reference information for determining the accuracy level of route information throughout the system may be defined. In this case, the terminal device 10 transmits accuracy information corresponding to the defined reference information without receiving the reference information from the base station device 20.

[0173] The processing according to the second embodiment has been described above. According to this embodiment, the terminal device 10 can determine how late or early the terminal device 10 has arrived at / is expected to arrive at a particular point, and how far the terminal device 10 has moved from the particular position.

[0174] 4. Modifications Although the present disclosure has been described based on the above embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also encompasses various modifications and modifications within the equivalent range. Other combinations including one or more elements included in the above embodiment are also within the scope and spirit of the present disclosure.

[0175] For example, when a handover procedure from a source base station apparatus to a target base station apparatus is executed following movement of the terminal apparatus 10, when the terminal apparatus 10 transmits route information and error information to the base station apparatus 20, the route information and error information may also be transmitted to the target base station apparatus. In this case, in the handover procedure, the source base station apparatus receives the route information and error information from the terminal apparatus 10, and the source base station apparatus transfers the route information and error information to the target base station apparatus. Communication between the source base station apparatus and the target base station apparatus is executed via the Xn-C interface.

[0176] Furthermore, when the handover procedure is executed, the route information and accuracy information may also be transmitted to the target base station device when the terminal device 10 transmits the route information and accuracy information to the base station device 20. In this case, in the handover procedure, the source base station device receives the route information and accuracy information from the terminal device 10, and the source base station device transfers the route information and accuracy information to the target base station device.

[0177] In the above-described handover procedure, in response to receiving a handover request message from the source base station, the terminal device 10 generates a handover request acknowledgement message and transmits it to the source base station. The route information and error information may be included in the handover request acknowledgement message.

[0178] The words, phrases, and other expressions used in the above embodiments are merely examples and may be replaced with substantially identical or similar expressions. In particular, since the technology according to the above embodiments relates to technical specifications, the expressions in the above embodiments may be replaced with substantially identical or similar expressions in technical specifications (e.g., technical specifications cited in this specification).

[0179] The information transmitted and received in the above embodiment may be contained in the same or a different message or element already described in the technical specifications, or may be contained in a newly defined message or element. The information transmitted and received in the above embodiment may be transmitted and received using a different layer and / or a different channel than those in the above embodiment.

[0180] The means and / or functions provided by the devices described in the above embodiments can be provided by software recorded in a tangible memory device and a computer that executes the software, software alone, hardware alone, or a combination thereof. For example, if any of the above devices is provided by an electronic circuit that is hardware, it can be provided by a digital circuit including a large number of logic circuits, or an analog circuit.

[0181] The device described in the above embodiment executes a program stored in a non-transitory tangible storage medium, and the execution of the program executes a method corresponding to the program.

[0182] 5. Supplementary Notes Some or all of the above embodiments and modified examples may also be described as, but are not limited to, the following supplementary notes. Below, a relationship is expressed in which a supplementary note that is subordinate to multiple supplementary notes is subordinate to another supplementary note that is subordinate to multiple supplementary notes. All of the following subordinate relationships of supplementary notes are included in the above embodiments.

[0183] (Supplementary Note 1) A terminal device (10) including: a control unit (110) configured to generate route information regarding a route of the terminal device used by a base station device (20) and generate error information regarding the route information; and a communication unit (120) configured to transmit the error information to the base station device.

[0184] (Supplementary Note 2) The terminal device according to Supplementary Note 1, wherein the error information includes a time error.

[0185] (Supplementary Note 3) The terminal device according to Supplementary Note 2, wherein the time error includes an error related to the time it takes for the terminal device to reach a specific point.

[0186] (Supplementary Note 4) The terminal device according to any one of Supplementary Notes 1 to 3, wherein the error information includes a spatial error.

[0187] (Supplementary Note 5) The terminal device according to Supplementary Note 4, wherein the spatial error includes an error related to a position where the terminal device moves along a planned route.

[0188] (Supplementary Note 6) The terminal device according to any one of Supplementary Notes 1 to 5, wherein the communication unit is further configured to receive, from the base station device, reference information for determining an error level for the route information.

[0189] (Supplementary Note 7) The terminal device according to Supplementary Note 6, wherein the control unit is further configured to generate the error information based on the reference information.

[0190] (Supplementary Note 8) The terminal device according to any one of Supplementary Notes 1 to 5, wherein the control unit is further configured to generate the error information based on predefined reference information for determining an error level for the route information.

[0191] (Supplementary Note 9) The terminal device according to any one of Supplementary Notes 1 to 8, wherein the control unit is further configured to generate the error information for an entire route traveled by the terminal device.

[0192] (Supplementary Note 10) The terminal device according to any one of Supplementary Notes 1 to 8, wherein the control unit is further configured to generate the error information for each point through which the terminal device passes.

[0193] (Supplementary Note 11) The terminal device according to any one of Supplementary Notes 1 to 10, wherein the communication unit is further configured to transmit the error information as capability information of the terminal device.

[0194] (Supplementary Note 12) A terminal device (10) including: a control unit (110) configured to generate route information regarding a route of the terminal device used by a base station device (20) and generate accuracy information for the route information; and a communication unit (120) configured to transmit the accuracy information to the base station device.

[0195] (Supplementary Note 13) The terminal device according to Supplementary Note 12, wherein the accuracy information includes temporal accuracy.

[0196] (Supplementary Note 14) The terminal device according to Supplementary Note 13, wherein the temporal accuracy includes an accuracy regarding a time at which the terminal device reaches a specific point.

[0197] (Supplementary Note 15) The terminal device according to any one of Supplementary Notes 12 to 14, wherein the accuracy information includes spatial accuracy.

[0198] (Supplementary Note 16) The terminal device according to Supplementary Note 15, wherein the spatial accuracy includes accuracy regarding a position where the terminal device moves along a planned route.

[0199] (Supplementary Note 17) The terminal device according to any one of Supplementary Notes 12 to 16, wherein the communication unit is further configured to receive, from the base station device, reference information for determining an accuracy level of the route information.

[0200] (Supplementary Note 18) The terminal device according to Supplementary Note 17, wherein the control unit is further configured to generate the accuracy information based on the reference information.

[0201] (Supplementary Note 19) The terminal device according to any one of Supplementary Notes 12 to 16, wherein the control unit is further configured to generate the accuracy information based on predefined criteria information for determining an accuracy level for the route information.

[0202] (Supplementary Note 20) The terminal device according to any one of Supplementary Notes 12 to 19, wherein the control unit is further configured to generate the accuracy information for an entire route traveled by the terminal device.

[0203] (Supplementary Note 21) The terminal device according to any one of Supplementary Notes 12 to 20, wherein the control unit is further configured to generate the accuracy information for each point through which the terminal device passes.

[0204] (Supplementary Note 22) The terminal device according to any one of Supplementary Notes 12 to 21, wherein the communication unit is further configured to transmit the accuracy information as capability information of the terminal device.

[0205] (Supplementary Note 23) A base station device (20) comprising: a communication unit (220) configured to receive error information about route information, the route information being information about a route of a terminal device (10); and a control unit (210) configured to use the error information. (Supplementary Note 24) The base station device according to Supplementary Note 23, wherein the control unit is further configured to generate reference information for determining an error level for the route information, and the communication unit is further configured to transmit the reference information to the terminal device.

[0206] (Supplementary Note 25) The base station device according to Supplementary Note 24, wherein the communication unit generates the error information based on the reference information.

[0207] (Supplementary Note 26) The base station device according to Supplementary Note 25, wherein the error information includes a time error.

[0208] (Supplementary Note 27) The base station device according to Supplementary Note 26, wherein the time error includes an error related to the time it takes for the terminal device to reach a specific point.

[0209] (Supplementary Note 28) The base station device according to any one of Supplementary Notes 25 to 27, wherein the error information includes a spatial error.

[0210] (Supplementary Note 29) The base station device according to Supplementary Note 28, wherein the spatial error includes an error related to a position of the terminal device moving along a planned route.

[0211] (Supplementary Note 30) The base station device according to any one of Supplementary Notes 24 to 29, wherein the reference information is defined for each base station device.

[0212] (Supplementary Note 31) The base station device according to any one of Supplementary Notes 24 to 29, wherein the reference information is defined for each cell.

[0213] (Supplementary Note 32) The base station device according to any one of Supplementary Notes 24 to 29, wherein the reference information is defined for each cell group.

[0214] (Supplementary Note 33) A base station device (20) comprising: a communication unit (220) configured to receive accuracy information about route information, the route information being information about a route of a terminal device (10); and a control unit (210) configured to use the accuracy information. (Supplementary Note 34) The base station device according to Supplementary Note 33, wherein the control unit is further configured to generate reference information for determining an accuracy level for the route information, and the communication unit is further configured to transmit the reference information to the terminal device.

[0215] (Supplementary Note 35) The base station device according to Supplementary Note 34, wherein the communication unit receives from the terminal device the accuracy information, and the accuracy information is generated based on the reference information.

[0216] (Supplementary Note 36) The base station device according to Supplementary Note 35, wherein the accuracy information includes temporal accuracy.

[0217] (Supplementary Note 37) The base station device according to Supplementary Note 36, wherein the temporal accuracy includes accuracy regarding the time at which the terminal device arrives at a specific point.

[0218] (Supplementary Note 38) The base station device according to any one of Supplementary Notes 35 to 37, wherein the accuracy information includes spatial accuracy.

[0219] (Supplementary Note 39) The base station device according to Supplementary Note 38, wherein the spatial accuracy includes accuracy regarding a position where the terminal device moves along a planned route.

[0220] (Supplementary Note 40) The base station device according to any one of Supplementary Notes 34 to 39, wherein the reference information is defined for each base station device.

[0221] (Supplementary Note 41) The base station device according to any one of Supplementary Notes 34 to 39, wherein the reference information is defined for each cell.

[0222] (Supplementary Note 42) The base station device according to any one of Supplementary Notes 34 to 39, wherein the reference information is defined for each cell group.

[0223] (Supplementary Note 43) A method executed by a terminal device (10), comprising: generating route information relating to a route of the terminal device to be used by a base station device (20); generating error information for the route information; and transmitting the error information to the base station device.

[0224] (Supplementary Note 44) A method executed by a terminal device (10), comprising: generating route information regarding a route of the terminal device to be used by a base station device (20), generating accuracy information for the route information; and transmitting the accuracy information to the base station device.

[0225] (Supplementary Note 45) A method executed by a base station device (20), comprising: receiving error information about route information, the route information being information about a route of a terminal device (10); and using the error information.

[0226] (Supplementary Note 46) A method executed by a base station device (20), comprising: receiving accuracy information about route information, the route information being information about a route of a terminal device (10); and using the accuracy information.

[0227] (Supplementary Note 47) A program that, when executed, causes a processor (101) in a terminal device (10) to: generate route information regarding a route of the terminal device used by a base station device (20), generate error information about the route information; and transmit the error information to the base station device.

[0228] (Supplementary Note 48) A program that, when executed, causes a processor (101) in a terminal device (10) to: generate route information regarding a route of the terminal device used by a base station device (20), generate accuracy information for the route information; and transmit the accuracy information to the base station device.

[0229] (Supplementary Note 49) A program that, when executed, causes a processor (201) in a base station device (20) to: receive error information about route information, the route information being information about a route of a terminal device (10); and use the error information.

[0230] (Supplementary Note 50) A program that, when executed, causes a processor (201) in a base station device (20) to: receive accuracy information about route information, the route information being information about a route of a terminal device (10); and use the accuracy information.

[0231] (Supplementary Note 51) A computer-readable non-transient tangible recording medium storing a program that, when executed, causes a processor (101) in a terminal device (10) to perform the following: generate route information regarding a route of the terminal device to be used by a base station device (20), generate error information about the route information; and transmit the error information to the base station device.

[0232] (Supplementary Note 52) A computer-readable non-transient tangible recording medium storing a program that, when executed, causes a processor (101) in a terminal device (10) to perform the following: generate route information regarding a route of the terminal device to be used by a base station device (20), generate accuracy information for the route information; and transmit the accuracy information to the base station device.

[0233] (Supplementary Note 53) A computer-readable non-transient tangible recording medium storing a program that, when executed, causes a processor (201) in a base station device (20) to perform the following: receive error information about route information, the route information being information about a route of a terminal device (10); and use the error information.

[0234] (Supplementary Note 54) A computer-readable non-transient tangible recording medium storing a program that, when executed, causes a processor (201) in a base station device (20) to: receive accuracy information about route information, the route information being information about a route of a terminal device (10); and use the accuracy information.

[0235] (Supplementary Note 55) A communication system including a terminal device (10) and a base station device (20), wherein the terminal device is configured to generate route information regarding a route of the terminal device, generate error information regarding the route information, and transmit the error information to the base station device, and the base station device is configured to receive the error information.

[0236] (Supplementary Note 56) A communication system including a terminal device (10) and a base station device (20), wherein the terminal device is configured to generate route information regarding a route of the terminal device, generate accuracy information for the route information, and transmit the accuracy information to the base station device, and the base station device is configured to receive the accuracy information.

Claims

1. A terminal device including a control unit and a communication unit, the control unit and the communication unit being transmitting a first estimated time of arrival of the terminal device to the base station; receiving a radio resource control (RRC) message from the base station, the RRC message including a time threshold; determining whether a time difference between the first expected time of arrival and a second expected time of arrival of the terminal device at the waypoint exceeds the time threshold; sending a route information report to the base station when the time difference exceeds the time threshold, the route information report including the second predicted time of arrival; A terminal device configured to:

2. The control unit and the communication unit When the time difference exceeds the time threshold, updating route information of the terminal device; sending an indication to the base station that the route information has been updated; The terminal device of claim 1 further configured to:

3. A terminal device as described in claim 2, wherein updating the route information includes updating the second predicted arrival time.

4. The control unit and the communication unit receiving an RRC reconfiguration message from the base station; In response to receiving the RRC reconfiguration message, sending route information availability information to the base station; When the route information availability information is transmitted, the route information report is transmitted. The terminal device of claim 1 further configured to:

5. The control unit and the communication unit transmitting first location information to the base station regarding a first location of the waypoint that corresponds to the first expected time of arrival; receiving an RRC message from the base station including a distance threshold; determining whether a distance between the first location and a second location of the waypoint corresponding to the second expected time of arrival exceeds the distance threshold; sending a route information report to the base station, the route information report including second location information relating to the second location when the distance exceeds the distance threshold; The terminal device of claim 1 further configured to:

6. The control unit and the communication unit When the distance exceeds the distance threshold, updating route information of the terminal device; sending an indication to the base station that the route information has been updated; The terminal device according to claim 5.

7. A terminal device as described in claim 6, wherein updating the route information includes updating the waypoint corresponding to the second position.

8. A method performed by a terminal device, comprising: transmitting a first estimated time of arrival of the terminal device to the waypoint to a base station; receiving an RRC message from the base station, the RRC message including a time threshold; determining whether a time difference between the first expected time of arrival and a second expected time of arrival of the terminal device at the waypoint exceeds the time threshold; sending a route information report to the base station when the time difference exceeds the time threshold, the route information report including the second predicted time of arrival; A method comprising:

9. When executed, the processor in the terminal device transmitting a first estimated time of arrival of the terminal device to a base station; receiving an RRC message from the base station, the RRC message including a time threshold; determining whether a time difference between the first expected time of arrival and a second expected time of arrival of the terminal device at the waypoint exceeds the time threshold; sending a route information report to the base station when the time difference exceeds the time threshold, the route information report including the second predicted time of arrival; A program to execute.