Base station

Abstract

Provided is a base station capable of reducing the amount of data, or the like, transmitted to a server. The base station (1) is part of a wireless communication network. The base station (1) comprises: a data reception unit (11) that receives object detection data indicating an object in the vicinity of a vehicle, the object detection data being acquired at multiple positions that differ from one another by an external radar mounted on the vehicle; and a synthetic aperture processing unit (12) that generates map data by performing synthetic aperture processing on the multiple pieces of object detection data.

Description

Base station

[0009]

[0001] The present invention relates to a base station.

[0002] As a conventional method for acquiring 3D map data, the mainstream is to use a special optical camera or a vehicle or person equipped with a sensor to make a circuit.

[0003] Patent Document 1 discloses a high-precision map generation method and the like for improving the positioning accuracy of a high-precision map in a special environment. The method includes steps of acquiring target polarization information collected by a radar sensor of a measuring device, determining a radar feature layer based on the target polarization information and the positioning information of the measuring device, and generating a high-precision map based on the radar feature layer.

[0004] In the high-precision map generation method according to Patent Document 1 and the like, the measuring device is mounted on a vehicle, for example. The measuring device transmits radar feature information and the location information of the measuring device to a map server on the cloud. The map server on the cloud determines the correspondence between the radar feature information and the location information of the measuring device and constructs a high-precision map.

[0005] Japanese Patent Application Laid-Open No. 2023-523818

[0006] However, in reality, it is difficult to always keep a vehicle or the like equipped with special equipment such as an optical camera or a sensor in constant circulation. Therefore, the frequency of updating 3D map data is limited, and it is difficult to reflect changes in terrain due to new buildings or natural disasters at any time.

[0007] It is also possible to generate 3D map data using an in-vehicle radar mounted on a general vehicle. However, in that case, it is necessary to perform synthetic aperture processing on a large amount of data acquired by the radar.

[0008] For example, in the high-precision map generation method disclosed in Patent Document 1 and the like, there is a problem that the data volume of the information transmitted to the map server and the computing resources required for constructing a high-precision map based on the information become extremely large.

[0009] One aspect of the present invention provides the technology necessary to realize a mechanism for updating 3D map data at a high frequency.

[0010] To solve the above problems, a base station according to one aspect of the present invention is a base station constituting a wireless communication network, comprising: a data receiving unit that receives from an external vehicle object detection data indicating objects around the vehicle, acquired by a radar mounted on the vehicle at each of a plurality of different locations while the vehicle is in motion, and location data indicating each of the plurality of locations; and a synthetic aperture processing unit that generates map data by performing synthetic aperture processing on the plurality of object detection data using the location data.

[0011] Each aspect of the present invention may be implemented by a computer, in which case a control program for a base station that implements the base station by operating the computer as each part (software element) of the base station, and a computer-readable recording medium on which the program is recorded, also fall within the scope of the present invention.

[0012] According to one aspect of the present invention, it is possible to provide the technology necessary to realize a mechanism for updating 3D map data at a high frequency.

[0013] This figure illustrates an example of the configuration of a wireless communication network according to an embodiment of the present invention. This block diagram shows an example of the configuration of the main parts of a base station according to an embodiment of the present invention. This figure shows an example of map data generation by a base station according to an embodiment of the present invention.

[0014] Figure 1 is a diagram illustrating an example configuration of a wireless communication network 100 according to an embodiment of the present invention. As shown in Figure 1, the wireless communication network 100 has a configuration that includes a plurality of base stations 1 and servers 3 that are communicatively connected to each of the plurality of base stations 1. In Figure 1, the wireless communication network 100 includes three base stations 1 and one server 3. However, the number of base stations 1 and servers 3 included in the wireless communication network 100 is not particularly limited.

[0015] The wireless communication network 100 is intended to be applied to a 5G network, but is not limited thereto. For example, the wireless communication network 100 may be applied to future networks following a 5G network, to a 4G network, or to legacy networks prior to a 4G network.

[0016] The communication between server 3 and base station 1 is not particularly limited, but a virtualized virtual network using NFV (Network Function Virtualization) may be used, or a physical core network may be used. Alternatively, data may be processed locally using edge computing.

[0017] Base station 1 constitutes the wireless communication network 100. Base station 1 communicates with terminals located within the cell 110, which is the wireless communication area. An example of a terminal is a communication electronic device mounted on a vehicle 2, which will be described later. Other examples of terminals include smartphones, tablet devices, smartwatches, or mobile phones that can be carried by the user. The specific configuration of base station 1 will be described later.

[0018] Vehicle 2 is a vehicle located outside of base station 1. Vehicle 2 travels in the vicinity of base station 1. Vehicle 2 is a vehicle equipped with a terminal capable of communicating with base station 1. In the following description, it is assumed that vehicle 2 itself functions as a terminal. In this specification, vehicle 2 is not necessarily a specific single vehicle, but may be any vehicle equipped with radar 21 and GPS (Global Positioning System) 22, which will be described later. For simplicity, in Figure 1, only some of the multiple vehicles 2 are labeled with reference numerals.

[0019] Server 3 is a server capable of controlling each of the multiple base stations 1, and includes a controller (not shown) for such control. Such a controller may be configured as a RIC (RAN Intelligent Controller). A RIC is a controller that manages and controls nodes such as RU (Radio Unit), DU (Distributed Unit), and CU (Central Unit) that constitute a 5G RAN.

[0020] The controller consists of, for example, one or more processors. The processors are not particularly limited, but can be implemented as, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an MPU (Micro Processor Unit), or an FPGA (Field-Programmable Gate Array).

[0021] Server 3 may also include a communication unit, memory, and storage unit (all not shown). The communication unit is configured as a communication interface for communicating with base station 1. The memory is a computer-readable recording medium and consists of at least one of the following: RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), or EEPROM® (Electrically Erasable Programmable ROM). Such memory may also be called a register, cache, or main memory. The storage unit is a computer-readable recording medium and consists of the following: HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage unit may also be a portable recording medium such as a flexible disk, optical disk, compact disk, or Blu-ray® disk. The storage unit may also be called an auxiliary storage device. The storage unit stores information read by the controller, information written to it, and information referenced by the controller.

[0022] Figure 2 is a block diagram showing an example of the configuration of the main components of base station 1. As shown in Figure 2, base station 1 comprises a controller 10 and a storage unit 15. Base station 1 also further comprises an antenna, a communication unit, and memory. The antenna transmits radio waves to the outside. The communication unit is configured as a communication interface for communicating with server 3. The memory is a recording medium similar to the memory in server 3.

[0023] Figure 2 also shows vehicle 2. Vehicle 2 is equipped with a radar 21 and a GPS 22. The radar 21 acquires object detection data indicating objects around vehicle 2. The radar 21 is a radar that is installed in many common vehicles in recent years and is used for object detection (acquisition of information such as the distance, direction, and speed of objects) for purposes such as autonomous driving or collision avoidance. The GPS 22 acquires the position data of vehicle 2 from GPS satellites. Vehicle 2 is also equipped with an antenna (not shown) for transmitting object detection data and position data to base station 1.

[0024] At base station 1, controller 10 performs processing to generate map data. As shown in Figure 2, controller 10 includes a data receiving unit 11, a synthetic aperture processing unit 12, and a data transmission unit 13.

[0025] The data receiving unit 11 receives object detection data acquired by the radar 21 at each of several different locations while the vehicle 2 is in motion, as well as location data indicating each of the multiple locations, from the vehicle 2.

[0026] The synthetic aperture processing unit 12 generates map data by performing synthetic aperture processing on multiple object detection data received by the data receiving unit 11. By combining object detection data for multiple locations using synthetic aperture processing, the synthetic aperture processing unit 12 can form a virtual radar with a larger aperture than the radar 21, thereby generating high-resolution object detection data. Furthermore, by coloring the object detection data to correspond to the reflectance intensity for each object location, the synthetic aperture processing unit 12 can generate map data that resembles image data captured using an optical camera.

[0027] As described above, base station 1 communicates with terminals located inside cell 110. Therefore, in the wireless communication network 100, the map data generated by the synthetic aperture processing unit 12 of each base station 1 is map data of the terrain within cell 110 corresponding to each base station 1.

[0028] The data transmission unit 13 transmits the map data generated by the synthetic aperture processing unit 12 to the server 3. The server 3 integrates the map data received from each of the multiple base stations 1 to generate map data for the entire area that can be communicated via the wireless communication network 100. The map data generated by the server 3 becomes available for use by terminals that communicate within the wireless communication network 100.

[0029] According to the base station 1, the base station 1 uses its own computing resources, such as a GPU, to generate map data within the cell 110, and the data transmission unit 13 transmits this map data from the base station 1 to the server 3. Therefore, compared to a case where object detection data and location data are transmitted to the server 3 and the server 3 generates the map data, computing resources can be distributed. In other words, the processing load on the server 3 can be reduced. As a result, the entire wireless communication network 100 can handle processes such as updating 3D map data at a high frequency using object detection data and location data received from general vehicles 2. Therefore, it is possible to provide the technology necessary to realize a mechanism for updating 3D map data at a high frequency. Such technology is useful, for example, in autonomous driving based on map data, and in simulations based on map data regarding radio wave propagation when a new base station 1 is installed.

[0030] Furthermore, the amount of object detection data and location data used to generate map data is enormous compared to the amount of map data generated. According to base station 1, by transmitting map data instead of object detection data and location data from base station 1 to server 3, the amount of data transmitted to server 3 can be reduced.

[0031] The memory unit 15 is a storage device that stores information necessary for control by the controller 10. Any known storage device can be used as the memory unit 15 without any particular restrictions. Examples of information stored in the memory unit 15 include object detection data and position data received by the data receiving unit 11, as well as the synthetic aperture processing program. The base station 1 does not necessarily need to have a memory unit 15, and may be connected to an external storage device that stores information necessary for control by the controller 10 in a communicative manner.

[0032] Figure 3 shows an example of map data generation by base station 1. In Figure 3, the area where radar 21 acquires object detection data is defined as the detection area 41. As vehicle 2 moves, radar 21 moves, and so does the detection area 41. In Figure 3, the vehicle 2 and radar 21 at past locations that are not the most recent, as well as the detection area 41 corresponding to the position of radar 21, are shown in gray.

[0033] As shown in Figure 3, while the vehicle 2 is in motion, the radar 21 acquires object detection data from a detection area 41 corresponding to each of several different locations. The radar 21 emits, for example, an FMCW (Frequency Modulated Continuous Wave) or a pulsed wave, and acquires information on the amplitude and phase of the reflected wave as object detection data for the detection area 41. The GPS 22 also acquires the position data of the vehicle 2 at the time the object detection data was acquired.

[0034] Vehicle 2 transmits object detection data and location data to base station 1. At base station 1, data receiving unit 11 receives object detection data and location data transmitted from vehicle 2. Synthetic aperture processing unit 12 performs synthetic aperture processing on the object detection data received by data receiving unit 11 using the location data to generate map data 42.

[0035] The data receiving unit 11 may receive object detection data and corresponding position data each time the radar 21 acquires object detection data. In other words, the vehicle 2 may transmit object detection data and position data to the base station 1 each time the radar 21 acquires object detection data. This distributes the processing time in the synthetic aperture processing unit 12 and reduces the load compared to, for example, when the data receiving unit 11 receives multiple object detection data and multiple position data at once.

[0036] Vehicle 2 may also transmit object detection data and location data to base station 1 together when it reaches a specific point. An example of a specific point is a location where vehicle 2 stops temporarily to wait at a traffic light.

[0037] Furthermore, in the example shown in Figure 3, the data receiving unit 11 received object detection data and location data from a single vehicle. However, the data receiving unit 11 may also receive object detection data and location data from multiple vehicles 2. In that case, the amount of object detection data and location data increases compared to the case where object detection data and location data are received from a single vehicle 2, making it possible to generate high-precision map data over a wide area.

[0038] [Example of implementation by software] The functions of base station 1 (hereinafter referred to as "device") can be implemented by a program that causes a computer to function as the device, and by a program that causes a computer to function as each control block of the device (especially each part included in controller 10).

[0039] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., memory) as hardware for executing the program. By executing the program using this control device and storage device, the functions described in each of the embodiments are realized.

[0040] The above program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the above device. In the latter case, the program may be supplied to the above device via any wired or wireless transmission medium.

[0041] Furthermore, some or all of the functions of each of the above control blocks can also be realized by logic circuits. For example, an integrated circuit in which logic circuits functioning as each of the above control blocks are formed is also included in the scope of the present invention. In addition, it is also possible to realize the functions of each of the above control blocks by, for example, a quantum computer.

[0042] Furthermore, each process described in the above embodiments may be performed by AI (Artificial Intelligence). In this case, the AI ​​may operate on the control device described above, or it may operate on another device (for example, an edge computer or a cloud server).

[0043] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. Furthermore, new technical features can be formed by combining the technical means disclosed in each embodiment.

[0044] 1 Base station 11 Data receiving unit 12 Synthetic aperture processing unit 2 Vehicle 21 Radar 100 Wireless communication network

Claims

A base station that constitutes a wireless communication network, A data receiving unit that receives object detection data indicating objects around the vehicle, and position data indicating each of the multiple locations, acquired by the radar mounted on the vehicle at each of several different locations while the vehicle is in motion, from an external vehicle. A base station comprising: a synthetic aperture processing unit that generates map data by performing synthetic aperture processing on the plurality of object detection data using the aforementioned position data. 　 The base station according to claim 1, wherein the data receiving unit receives the object detection data and corresponding position data each time the radar acquires the object detection data. 　 The base station according to claim 1 or 2, wherein the data receiving unit receives object detection data and location data from a plurality of vehicles.

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