WO2018036609A1 - Régulation de trafic d'un dispositif de commande de véhicule - Google Patents

Régulation de trafic d'un dispositif de commande de véhicule Download PDF

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Publication number
WO2018036609A1
WO2018036609A1 PCT/EP2016/069828 EP2016069828W WO2018036609A1 WO 2018036609 A1 WO2018036609 A1 WO 2018036609A1 EP 2016069828 W EP2016069828 W EP 2016069828W WO 2018036609 A1 WO2018036609 A1 WO 2018036609A1
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WO
WIPO (PCT)
Prior art keywords
control device
vehicle control
network node
trajectory
signalling
Prior art date
Application number
PCT/EP2016/069828
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English (en)
Inventor
Keven WANG
Athanasios KARAPANTELAKIS
Maxim TESLENKO
Vlasios Tsiatsis
Original Assignee
Telefonaktiebolaget Lm Ericsson (Publ)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Telefonaktiebolaget Lm Ericsson (Publ) filed Critical Telefonaktiebolaget Lm Ericsson (Publ)
Priority to PCT/EP2016/069828 priority Critical patent/WO2018036609A1/fr
Publication of WO2018036609A1 publication Critical patent/WO2018036609A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0052—Navigation or guidance aids for a single aircraft for cruising
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0056—Navigation or guidance aids for a single aircraft in an emergency situation, e.g. hijacking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0082—Surveillance aids for monitoring traffic from a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0091—Surveillance aids for monitoring atmospheric conditions

Definitions

  • Embodiments presented herein relate to a method, a network node, a computer program, and a computer program product for traffic control of a vehicle control device. Embodiments presented herein further relate to a method, a vehicle control device, a computer program, and a computer program product for traffic control of the vehicle control device.
  • Unmanned or autonomous vehicles such as unmanned aerial vehicles (UAV for short and commonly known as drones), autonomous ground vehicles (also referred to as autonomous cars, driverless cars, self-driving cars, and robotic cars) are becoming increasingly popular.
  • Unmanned or autonomous vehicles may operate with various degrees of autonomy; either under remote control by a human operator, or fully or intermittently autonomously, by onboard computers.
  • Scheduling and coordination of movement of such vehicles across large geographical distances and/or regions could be a complex challenge purely due to the number of vehicles, but also due to the limited operation range caused by limited resources for propulsion (such as limited battery life if the vehicle is battery operated, or limited amounts of fuel if the vehicle is gas or petrol operated).
  • One option for scheduling and coordinating movement could be for the vehicles to perform scheduling and coordination of movement between themselves in order to allow the vehicles to move along their respective travel route, thereby reducing the risk of collisions.
  • each vehicle could communicate with nearby vehicles to negotiate travel routes, speed of travel, priorities, etc.
  • this option may come with some negative effects as it requires excessive use of computational resources on the vehicles themselves, which in turn increases battery drain rate.
  • Another option for scheduling and coordinating movement could be to provide centralized control, similar to today's aircraft air control system. Scheduling and coordination of movement could then be regarded as being examples of traffic control. A centralized system could thus control each vehicle from its source to its destination, hence performing traffic control of each vehicle.
  • this option also comes with some limitations. Firstly, it could be time-consuming for the centralized system to find optimal scheduling and coordination if there are comparatively many vehicles in its area. Secondly, it requires an infrastructure to be set up in order to provide means for communicating between the centralized system and all vehicles in the range of the centralized system.
  • An object of embodiments herein is to provide efficient traffic control of vehicles, such as unmanned or autonomous vehicles, that alleviates the issues noted for the above disclosed options for and thus enable improved
  • a method for traffic control of a vehicle control device The method is performed by a network node.
  • the method comprises transmitting trajectory control signalling to the vehicle control device.
  • the trajectory control signalling is transmitted in a downlink air interface control plane message.
  • the method comprises receiving trajectory status signalling from the vehicle control device.
  • the trajectory status signalling is received in an uplink air interface control plane message.
  • a network node for traffic control of a vehicle control device The network node comprises processing circuitry.
  • the processing circuitry is configured to cause the network node to transmit trajectory control signalling to the vehicle control device.
  • the trajectory control signalling is transmitted in a downlink air interface control plane message.
  • the processing circuitry is configured to cause the network node to receive trajectory status signalling from the vehicle control device.
  • the trajectory status signalling is received in an uplink air interface control plane message.
  • a network node for traffic control of a vehicle control device comprises processing circuitry and a computer program product.
  • the computer program product stores instructions that, when executed by the processing circuitry, causes the network node to perform operations, or steps.
  • the operations, or steps, cause the network node to transmit trajectory control signalling to the vehicle control device.
  • the trajectory control signalling is transmitted in a downlink air interface control plane message.
  • the operations, or steps, cause the network node to receive trajectory status signalling from the vehicle control device.
  • the trajectory status signalling is received in an uplink air interface control plane message.
  • a network node for traffic control of a vehicle control device comprises processing circuitry and a computer program product.
  • the computer program product stores instructions that, when executed by the processing circuitry, causes the network node to perform operations, or steps.
  • the operations, or steps, cause the network node to transmit trajectory control signalling to the vehicle control device.
  • the trajectory control signalling is transmitted in a downlink air interface control plane message.
  • the operations, or steps,
  • the network node comprises a transmit module configured to transmit trajectory control signalling to the vehicle control device.
  • the trajectory control signalling is transmitted in a downlink air interface control plane message.
  • the network node comprises a receive module configured to receive trajectory status signalling from the vehicle control device.
  • the trajectory status signalling is received in an uplink air interface control plane message.
  • a fifth aspect there is presented a computer program for traffic control of a vehicle control device, the computer program comprising computer program code which, when run on processing circuitry of a network node, causes the network node to perform a method according to the first aspect.
  • a method for traffic control of a vehicle control device The method is performed by the vehicle control device.
  • the method comprises receiving trajectory control signalling from a network node.
  • the trajectory control signalling is received in a downlink air interface control plane message.
  • the method comprises transmitting trajectory status signalling to the network node.
  • the trajectory status signalling is transmitted in an uplink air interface control plane message.
  • a vehicle control device for traffic control of the vehicle control device The vehicle control device comprises processing circuitry.
  • the processing circuitry is configured to cause the vehicle control device to receive trajectory control signalling from a network node.
  • the trajectory control signalling is received in a downlink air interface control plane message.
  • the processing circuitry is configured to cause the vehicle control device to transmit trajectory status signalling to the network node.
  • the trajectory status signalling is transmitted in an uplink air interface control plane message.
  • a vehicle control device for traffic control of the vehicle control device.
  • the vehicle control device comprises processing circuitry and a computer program product.
  • the computer program product stores instructions that, when executed by the processing circuitry, causes the vehicle control device to perform operations, or steps.
  • the operations, or steps, cause the vehicle control device to receive trajectory control signalling from a network node.
  • the trajectory control signalling is received in a downlink air interface control plane message.
  • the operations, or steps, cause the vehicle control device to transmit trajectory status signalling to the network node.
  • the trajectory status signalling is transmitted in an uplink air interface control plane message.
  • a ninth aspect there is presented a vehicle control device for traffic control of the vehicle control device.
  • the vehicle control device comprises a receive module configured to receive trajectory control signalling from a network node.
  • the trajectory control signalling is received in a downlink air interface control plane message.
  • the vehicle control device comprises a transmit module configured to transmit trajectory status signalling to the network node.
  • the trajectory status signalling is transmitted in an uplink air interface control plane message.
  • a computer program for traffic control of a vehicle control device comprising computer program code which, when run on processing circuitry of a vehicle control device, causes the vehicle control device to perform a method according to the sixth aspect.
  • a computer program product comprising a computer program according to at least one of the fifth aspect and the tenth aspect and a computer readable storage medium on which the computer program is stored.
  • the computer readable storage medium could be a non-transitory computer readable storage medium.
  • these methods, these network nodes, these vehicle control devices, and these computer programs provide efficient traffic control of the vehicle control device.
  • this allows for efficient traffic control, such as efficient scheduling and coordination of movement, of vehicles in which such a vehicle control device is provided, or its functionality implemented.
  • these network nodes, these vehicle control devices, and these computer programs remove the need to set up a separate infrastructure since the operations, or steps, performed by the network node could be implemented and integrated in existing network nodes for telecommunications.
  • the functionality of the herein proposed network nodes could be deployed by simply upgrading existing network nodes with the herein disclosed mechanisms for traffic control of a vehicle control device.
  • each network node is enabled to follow vehicles within the operating range of the network node, it is possible for the network node to perform actions based on information received from the vehicle control device.
  • the network node could perform prioritization between several vehicle control devices based on status information of each vehicle control device, for example based on battery status or estimated time of arrival.
  • each vehicle can save battery resources for communications as well as computations.
  • each vehicle can fully utilize its battery for propulsion purposes.
  • any feature of the first, second, third, fourth, fifth, sixth seventh, eight, ninth, tenth and eleventh aspects may be applied to any other aspect, wherever appropriate.
  • any advantage of the first aspect may equally apply to the second, third, fourth, fifth, sixth, seventh, eight, ninth, tenth, and/or eleventh aspect, respectively, and vice versa.
  • Fig. l is a schematic diagram illustrating a communications system according to embodiments.
  • Figs. 2, 3, 4, and 5 are flowcharts of methods according to embodiments;
  • Fig. 6 is a signalling diagram according to embodiments;
  • Fig. 7 is a schematic diagram showing functional units of a network node according to an embodiment
  • Fig. 8 is a schematic diagram showing functional modules of a network node according to an embodiment
  • Fig. 9 is a schematic diagram showing functional units of a vehicle control device according to an embodiment
  • Fig. 10 is a schematic diagram showing functional modules of a vehicle control device according to an embodiment.
  • Fig. 11 shows one example of a computer program product comprising computer readable means according to an embodiment.
  • Embodiments disclosed herein consider a distributed system for scheduling and coordination of unmanned or autonomous vehicles.
  • the distributed system comprises multiple management points, defined by network nodes, where each management point is responsible for coordinating traffic of vehicles within its serving region.
  • a vehicle transiting from a serving region served by a first network node to a serving region served by a second network node means that traffic control of this vehicle will be handed over from the first network node to the second network node as soon as the vehicle arrives at the border between these serving regions.
  • the management points, as well as the network nodes can be physically part of, co-located with, or hosted by, radio access network nodes, and delegation of traffic control can be performed during handover from one radio access network node to another radio access network node.
  • Vehicle propulsion charging or refueling points can also be physically part of, co-located with, or hosted by, the radio access network nodes, or they can be located elsewhere in the serving regions. Knowing the travel route of every vehicle to which the network node provides traffic control, the network nodes could use techniques such as beamforming to increase network quality.
  • Fig. 1 is a schematic diagram illustrating a communications system 100 where embodiments presented herein can be applied.
  • the communications system 100 comprises network nodes 200a, 200b, 200c.
  • Each network node 200a, 200b, 200c provides network access as well as traffic control of served devices 300 in a respective serving region, or cell 110a, 110b, 110c.
  • each network node 200a, 200b, 200c is a cellular network node and are thus part of a cellular communications network.
  • the network nodes 200a, 200b, 200c could thus operate according to any telecommunications standard enabling handover from one region 110a, 110b, 110c to another region 110a, 110b, 110c. Examples of such
  • telecommunications standards include, but are not limited to, those standardized by the 3rd Generation Partnership Project (3GPP) such as Long Term Evolution (LTE), the Global System for Mobile communication (GSM), Wideband Code Division Multiple Access (WCDMA), CDMA-2000, Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX), or any evolvement thereof.
  • 3GPP 3rd Generation Partnership Project
  • LTE Long Term Evolution
  • GSM Global System for Mobile communication
  • WCDMA Wideband Code Division Multiple Access
  • CDMA-2000 Code Division Multiple Access-2000
  • UMTS Universal Mobile Telecommunications System
  • WiMAX Worldwide Interoperability for Microwave Access
  • Each network node 200a, 200b, 200c could thus be a radio access network node, radio base station, base transceiver station, node B, evolved node B, access point, or access node.
  • Each network node 200a, 200b, 200c could be configured to communicate with at least one other network node 200a, 200b, 200c (as indicated by interfaces 130a, 130b, 130c), for example over the LTE X2 interface.
  • each network node 200a, 200b, 200c is assumed to be operatively connected to a core network (not shown) which in turn is operatively connected to a service network (not shown) such as the Internet through a core network gateway (not shown).
  • the device 300 is assumed to be a vehicle control device 300.
  • the vehicle control device 300 may be part of, co-located with, hosted by, or integrated with, a portable wireless device, mobile station, mobile phone, handset, wireless local loop phone, user equipment (UE),
  • UE user equipment
  • vehicle control device 300 may be part of, co- located with, hosted by, or integrated with an unmanned or autonomous vehicle. In the illustrative example of Fig. 1 the vehicle control device 300 is assumed to be moving along a travel route 140 defined by waypoints 150a, 150b, 150c, i50d, i50e, lsof.
  • the communications system 100 is implementable using existing cellular infrastructure (updated with the functionality as defined by the herein disclosed embodiments) and protocols. Additionally, the communications system 100 is cost-effective (from a resource utilization and data traffic perspective) as traffic control of the vehicle control device 300 can be limited spatio-temporally, i.e. depending on the presence of vehicle control devices 300 at a specific location at a given time.
  • network node 200a, 200b, 200c and the vehicle control device 300 will be disclosed below.
  • the embodiments disclosed herein particularly relate to mechanisms for traffic control of the vehicle control device 300.
  • a network node 200a a method performed by the network node 200a, a computer program product comprising code, for example in the form of a computer program, that when run on processing circuitry of the network node 200a, causes the network node 200a to perform the method.
  • a vehicle control device 300 a method performed by the vehicle control device 300, and a computer program product comprising code, for example in the form of a computer program, that when run on processing circuitry of the vehicle control device 300, causes the vehicle control device 300 to perform the method.
  • FIGS. 2 and 3 are flow charts illustrating embodiments of methods for traffic control of a vehicle control device 300 as performed by the network node 200a.
  • Figs. 4 and 5 are flow charts illustrating embodiments of methods for traffic control of a vehicle control device 300 as performed by the vehicle control device 300.
  • the methods are advantageously provided as computer programs 1120a, 1120b.
  • Fig. 2 illustrating a method for traffic control of a vehicle control device 300 as performed by the network node 200a according to an embodiment.
  • the network node 200a performs traffic control of the vehicle control device 300 by transmitting trajectory control signalling to the vehicle control device 300. Hence the network node 200a is configured to perform step S106:
  • the network node 200a transmits trajectory control signalling to the vehicle control device 300. Examples of trajectory control signalling will be provided below.
  • the trajectory control signalling is transmitted in a downlink air interface control plane message. Examples of downlink air interface control plane messages will be provided below.
  • the vehicle control device 300 responds to the trajectory control signalling by transmitting trajectory status signalling. It is assumed that this trajectory status signalling is received by the network node 200a. Hence the network node 200a is configured to perform step S108:
  • the network node 200a receives trajectory status signalling from the vehicle control device 300. Examples of trajectory status signalling will be provided below. The trajectory status signalling is received in an uplink air interface control plane message. Examples of uplink air interface control plane messages will be provided below.
  • Fig. 3 illustrating methods for traffic control of the vehicle control device 300 as performed by the network node 200a according to further embodiments. It is assumed that steps S106, S108 are performed as described above with reference to Fig. 2 and a thus repeated description thereof is therefore omitted. There may be different ways for the network node 200a to be aware that the vehicle control device 300 is located within the operating range of the network node 200a. According to some aspects the vehicle control device 300 is discovered by network node 200a via broadcast or multicast of a discovery message. Hence, according to an embodiment the network node 200a is configured to perform step S102:
  • the network node 200a transmits a discovery message.
  • the network node 200a is configured to perform step S104:
  • the network node 200a receives a response to the discovery message from the vehicle control device 300.
  • the trajectory control signalling is then in step S106 transmitted in response to the network node 200a having received the response to the discovery message from the vehicle control device 300 in step S104.
  • the network node 200a is made aware that the vehicle control device 300 is about to enter the operating range of the network node 200a by receiving trajectory status signalling information of the vehicle control device 300 from at least one other network node 200b, 200c, see step S118 below.
  • the network node 200a is made aware that the vehicle control device 300 is about to enter the operating range of the network node 200a by having the vehicle control device 300 handed over from another network node 200b, 200c, see step S128 below.
  • the network node 200a could receive further signalling from the vehicle control device 300.
  • the network node 200a receives destination information from the vehicle control device 300, therefrom determines a travel route, and then provides the travel route to the vehicle control device 300.
  • the network node 200a is configured to perform steps Siioa, S112, S114:
  • the network node 200a receives destination information of the vehicle control device 300 from the vehicle control device 300 in a further uplink air interface control plane message.
  • S112 The network node 200a determines travel route information with respect to the destination information.
  • the network node 200a transmits the travel route information to the vehicle control device 300 in a further downlink air interface control plane message.
  • step S112 could be performed with respect to the destination coordinates and/or any
  • the destination coordinates need not to define the only factor when the network node 200a is planning the travel route, but it can also take other network nodes 200b, 200c into account. Further, the travel route
  • step S112 could only involve the travel route within the coverage region of network node 200a and not the complete travel route of the vehicle control device 300 from its source coordinates to its destination coordinates.
  • the further uplink air interface control plane message received in step Siioa could further comprise device status information of the vehicle control device 300.
  • the travel route information as determined in step S112 then depends on the device status information.
  • the device status information could comprise information as provided in the trajectory status signalling.
  • the device status information could be battery status, estimated time of arrival, priority, etc.
  • the travel route information as determined in step S112 could depend on environment status information. Examples of environment status information include, but are not limited to, weather, traffic (air and/or ground traffic) in cell, etc.
  • the network node 200a is configured to perform steps Snob:
  • the network node 200a obtains environment status information.
  • the travel route information (as determined in step S112) then depends on the environment status information.
  • the trajectory status signalling indicates that the vehicle control device 300 has a power level below a threshold value.
  • the travel route information can then be transmitted to the vehicle control device 300 in response thereto.
  • the further downlink air interface control plane message transmitted in step S114 could then indicate to the vehicle control device 300 to switch off its sensors for detecting other vehicle control devices.
  • the vehicle control device 300 may not be able to detect other vehicle control devices within it vicinity.
  • potential collisions could be avoided by letting the network node 200a take over responsibility for navigating the vehicle control device 300. This could enable the vehicle control device 300 to save power resources whilst still being able to navigate safely and avoid collisions.
  • the network node 200a shares information about the vehicle control device 300 to other network node 200b, 200c.
  • the network node 200a is configured to perform steps S116:
  • the network node 200a transmits information received in the trajectory status signalling from the vehicle control device 300 to at least one other network node 200b, 200c.
  • information include, but are not limited to, source coordinates, destination coordinates, current speed of travel, current height (for example, if the vehicle control device 300 is part of, co-located with, hosted by, or provided in a UAV), travel route, etc.
  • Such information may also be received by the network node 200a from at least one other network node 200b, 200c.
  • the network node 200a is configured to perform step Si 18:
  • the network nodes 200a, 200b, 200c could share the information over the LTE X2 interface. Sharing information as in steps S116, S118 could allow for collective scheduling and coordination of movement of all vehicle control devices 300 served by all the network nodes 200a, 200b, 200c.
  • the network node 200a only provides traffic control to the vehicle control devices 300 located within its operating range. Traffic control of vehicle control devices 300 leaving the operating range of the network node 200a could therefore be handed over to another network node 200b, 200c.
  • the network node 200a is configured to perform step S120:
  • the network node 200a obtains an indication that the vehicle control device 300 is to leave a region in which the network node 200a provides traffic control of the vehicle control device 300.
  • the network node 200a could then coordinate with other network node 200b, 200c responsible for providing traffic control in neighbouring regions regarding handover of the vehicle control device 300.
  • the network node 200a is configured to perform step S122:
  • the network node 200a exchanges, with at least one other network node 200b, 200c, capacity status information for handling traffic control of the vehicle control device 300.
  • capacity status information include, but are not limited to, capacity for providing traffic control of the vehicle control device 300, number of vehicle control devices for which traffic control currently is being provided by each individual network node 200a, 200b, 200c, etc.
  • the network node 200a then makes a handover decision.
  • the network node 200a is configured to perform step S124:
  • the network node 200a determines, based on the capacity status information, whether to hand over the vehicle control device 300 or not. Hence, in step S124 the network node 200a could determine, based on the capacity status information, either to hand over the vehicle control device 300 or to not hand over the vehicle control device 300.
  • handover of traffic control of the vehicle control device 300 is available to another network node 200b, 200c. That is, the network node 200a in step S124 determines to hand over the vehicle control device
  • the network node 200a is configured to perform steps S126, S128:
  • the network node 200a transmits, in a further downlink air interface control plane message to the vehicle control device 300, a notification that the vehicle control device 300 is to be handed over to another network node 200b, 200c for traffic control of the vehicle control device 300.
  • S128 The network node 200a hands over traffic control of the vehicle control device 300 to this another network node 200b, 200c.
  • traffic control of the vehicle control device 300 could be handed over to the network node 200a from another network node 200b, 200c.
  • Handover of traffic control of the vehicle control device 300 could coincide with handover of network access of the vehicle control device 300 from one radio access network node to another radio access network node and hence be synchronized with such a network access handover.
  • handover of traffic control of the vehicle control device 300 is not available to another network node 200b, 200c. That is, the network node 200a in step S124 determines to not hand over the vehicle control device 300.
  • the network node 200a is configured to perform step S130:
  • the network node 200a transmits, in a further downlink air interface control plane message to the vehicle control device 300, a notification that the vehicle control device 300 is not to leave the region in which the network node 200a provides traffic control of the vehicle control device 300.
  • the vehicle control device 300 could by the network node 200a thus be instructed to move inside the region in which the network node 200a provides traffic control of the vehicle control device 300, or to stop moving inside the region. That is, if the vehicle control device 300 is part of, co-located with, hosted by, or provided in, a UAV, the UAV could be instructed to land.
  • Fig. 4 illustrating a method for traffic control of a vehicle control device 300 as performed by the vehicle control device 300 according to an embodiment.
  • the network node 200a in a step S106 transmits trajectory control signalling to the vehicle control device 300. It is assumed that this trajectory control signalling is received by the vehicle control device 300. Hence the vehicle control device 300 is configured to perform step S206:
  • the vehicle control device 300 receives trajectory control signalling from the network node 200a. Examples of trajectory control signalling will be provided below. The trajectory control signalling is received in a downlink air interface control plane message. Examples of downlink air interface control plane messages will be provided below. l8
  • the vehicle control device 300 responds to the trajectory control signalling by transmitting trajectory status signalling. Hence the vehicle control device 300 is configured to perform step S208:
  • the vehicle control device 300 transmits trajectory status signalling to the network node 200a. Examples of trajectory status signalling will be provided below.
  • the trajectory status signalling is transmitted in an uplink air interface control plane message. Examples of uplink air interface control plane messages will be provided below.
  • Fig. 5 illustrating methods for traffic control of the vehicle control device 300 as performed by the vehicle control device 300 according to further embodiments. It is assumed that steps S206, S208 are performed as described above with reference to Fig. 4 and a thus repeated description thereof is therefore omitted.
  • the network node 200a transmits a discovery message, as in step S102. It is in this embodiment assumed that the vehicle control device receives this discovery message.
  • the vehicle control device 300 is configured to perform step S202:
  • the vehicle control device 300 receives the discovery message from the network node 200a.
  • the vehicle control device 300 responds to this discovery message.
  • the vehicle control device 300 is configured to perform step S204: S204: The vehicle control device 300 transmits a response to the discovery message.
  • the trajectory control signalling is then received in step S206 in response to the vehicle control device 300 having transmitted the response to the discovery message in step S204.
  • the vehicle control device 300 provides destination information to the network node 200a and in response receives a travel route from the network node 200a.
  • the vehicle control device 300 is configured to perform step S210: S210: The vehicle control device 300 transmits destination information of the vehicle control device 300 to the network node 200a in a further uplink air interface control plane message.
  • step S212 This destination information is by the network node 200a received in step S110 and a response is transmitted in step S114.
  • the vehicle control device 300 is configured to perform step S212:
  • the vehicle control device 300 receives travel route information with respect to the destination information from the network node 200a in a further downlink air interface control plane message. As disclosed above, in some aspects the vehicle control device 300 is handed over to another network node 200b, 200c. Hence, according to an
  • vehicle control device 300 is configured to perform step S214:
  • the vehicle control device 300 receives, in a further downlink air interface control plane message, a notification from the network node 200a that the vehicle control device 300 is to be handed over to another network node 200b, 200c for traffic control of the vehicle control device 300.
  • a notification from the network node 200a that the vehicle control device 300 is to be handed over to another network node 200b, 200c for traffic control of the vehicle control device 300 Embodiment for traffic control of the vehicle control device 300 applicable for both the network node 200a, 200b, 200c and the vehicle control device 300 will now be disclosed.
  • trajectory control signalling There may be different examples of trajectory control signalling as
  • trajectory control signalling include, but are not limited to, traffic control, navigation data, feedback query, feedback reporting frequency, status report query, status report reporting frequency, battery status query, travel route information, height instructions, distance
  • trajectory status signalling As transmitted by the vehicle control device 300 and received by the network node 200a.
  • Examples of trajectory status signalling include, but are not limited to, traffic control response, navigation data response, feedback in response to a feedback query, status report, battery status, travel route information response, height information, distance information, current travel direction, inclination information, flight path information.
  • the downlink air interface control plane messages and uplink air interface control plane messages could be air interface control plane messages of a cellular communications network.
  • the downlink air interface control plane message and the uplink air interface control plane message could be a radio resource control (RRC) message, a radio link control (RLC) message, or a medium access control (MAC) message.
  • RRC radio resource control
  • RLC radio link control
  • MAC medium access control
  • the downlink air interface control plane message and/or the uplink air interface control plane message could be communicated using a RRC layer protocol, a RLC layer protocol, or a MAC layer protocol.
  • At least one of the downlink air interface control plane message and the uplink air interface control plane message is a RRC connection reconfiguration message.
  • the RRC protocol allows use of RRC measurement reports for collecting measurements of the signal strength of the vehicle control device 300 from the network nodes 200a, 200b, 200c (from both the serving network node 200a and the neighbor network nodes 200b, 200c) in order for the serving network node 200a to make a handover decision.
  • the network node 200a transmits a RRC connection reconfiguration message to the vehicle control device 300 to inform in which condition the measurement report should be sent and what type of measurements should be included in this report.
  • Table 1 lists possible events that can trigger the vehicle control device 300 to send a measurement report to the network node 200a.
  • RAT is short for radio access technology.
  • PCell primary cell
  • Signal strength of serving network node becomes worse than first threshold and signal strength of neighbor
  • Table 1 Events triggering measurement report from vehicle control device 300.
  • Table 1 could comprise further events.
  • one event for illustrative purposes denoted “Event Ci" could be defined by "battery below threshold”. Transmission of such an event could cause the network node 200a, 200b, 200c to instruct the vehicle control device 300 to transmit trajectory status signalling messages less often to the network node 200a, 200b, 200c.
  • one event could be defined by priority change of the vehicle control device 300 (for example due to its mission such as an emergency medical delivery).
  • the network node 200a, 200b, 200c could re-plan the trajectories of all its served vehicle control devices 300 and perform coordination with neighboring network nodes 200a, 200b, 200c for vehicle control device 300 served by the neighboring network nodes 200a, 200b, 200c in order to optimize the travel time of prioritized vehicle control device 300.
  • the uplink air interface control plane message is embedded in a measurement report.
  • Table 2 provides some examples of information of the uplink air interface control plane message that could be embedded in the measurement report.
  • next destination The next destination and/or next waypoint of the vehicle control device
  • Table 2 Parameters embedded in measurement report.
  • the battery status could by the network node 200a be used to determine a travel route for the vehicle control device 300, especially prioritization-based travel route determination (thus also considering the current priority level of the vehicle control device 300) based on the battery level of vehicle control devices 300 such that conflicting (crossing) travel routes with another vehicle control device 300 are avoided.
  • the battery status could by the network node 200a further be used to determine whether the vehicle control device 300 is to switch off sensors for detecting other vehicle control devices 300.
  • the next destination and/or next waypoint of the vehicle control device can be useful by the network node 200a not only to make sure that the vehicle control device 300 will finally arrive at its destination, but also to potential distribute vehicle control devices 300 to different served regions 110a, 110b, 110c to avoid traffic jams in certain busy served regions 110a, 110b, 110c.
  • the Estimated Time of Arrival of the vehicle control device at its destination could by the network node 200a be used to perform prioritization-based travel route determination of the vehicle control device 300 when travel routes of multiple vehicle control devices 300 are considered such that conflicting (crossing) travel routes are avoided.
  • the current direction of travel of the vehicle control device could, for example, be given in terms of compass orientation such as west, east, south, north, southwest, southeast, northwest, northeast, etc.
  • Network node 200a discovers the vehicle control device 300 over interface 120.
  • S302 The vehicle control device 300 submits destination information to the network node 200a over interface 120. It is for illustrative purposes assumed that the destination is defined by waypoint 15 of.
  • Network node 200a determines a travel route 140 either to waypoint i5of or to another waypoint, such as waypoint 150b based on the destination information and provides travel route information to the vehicle control device 300. In the current example, and for illustrative purposes, it is assumed that travel route information instructs the vehicle control device 300 to travel to waypoint 150a and then onwards to waypoint 150b.
  • Network node 200b instructs the vehicle control device 300 to travel to waypoint 150c and then onwards to waypoint lsod.
  • network node 200b Upon reaching waypoint lsod, network node 200b hands over traffic control of the vehicle control device 300 to network node 200c.
  • the vehicle control device 300 could submit destination information to network node 200c.
  • the destination information is received from network node 200b over interface 130b or from network node 200a over interface 130c.
  • Network node 200c instructs the vehicle control device 300 to travel to waypoint lsof so as to reach its destination.
  • At least one of the waypoints lsoa-isof could be co-located with a power charging point and hence the vehicle control device 300 could be configured to charge its power upon reaching such a waypoint.
  • One particular embodiment for traffic control of the vehicle control device 300 relating to handover of the vehicle control device 300 from network node 200a to network node 200b as performed by network nodes 200a, 200b and the vehicle control device 300 based on at least some of the above disclosed embodiments will now be disclosed in detail with reference to the signalling diagram of Fig. 6.
  • Vehicle control device (VCD in Fig. 6) 300 travels from a region in which traffic control is provided by network node 200a (NN-i in Fig. 6) to a region in which traffic control is provided by network node 200b (NN-2 in Fig. 6).
  • Network node 200a informs network node 200b that the vehicle control device 300 is entering the region in which traffic control is provided by network node 200b and that traffic control of the vehicle control device 300 is about to be handed over to network node 200b.
  • Network node 200a could further transmit information about the vehicle control device 300, such as source and destination coordinates, current speed of travel, current height (for example, if the vehicle control device 300 is part of, co-located with, hosted by, or provided in a UAV), and travel route, etc.
  • network node 200b After receiving the information from network node 200a, network node 200b starts to update travel routes for vehicle control devices in its region and thus determines a travel route for each vehicle control device in its region. Alternative, network node 200b determines only a travel route for the new vehicle control device 300 entering its region such that the vehicle control device 300 does not collide with other vehicle control devices in the region.
  • Network node 200b transmits trajectory control signalling at least to the vehicle control device 300 and, if needed, to other vehicle control devices in its region whose travel routes are updated.
  • Vehicle control device 300 receives the trajectory control signalling and executes the instructions in the trajectory control signalling. Such execution may involve the vehicle control device 300 to transmit trajectory status signalling to network node 200b. Such execution may involve the vehicle control device 300 to travel according to travel route information comprised in the trajectory control signalling.
  • Fig. 7 schematically illustrates, in terms of a number of functional units, the components of a network node 200a, 200b, 200c according to an
  • Processing circuitry 210 is provided using any combination of one or more of a suitable central processing unit (CPU), multiprocessor, microcontroller, digital signal processor (DSP), etc., capable of executing software instructions stored in a computer program product 1110a (as in Fig. 11), e.g. in the form of a storage medium 230.
  • the processing circuitry 210 may further be provided as at least one application specific integrated circuit (ASIC), or field programmable gate array (FPGA).
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • the processing circuitry 210 is configured to cause the network node 200a, 200b, 200c to perform a set of operations, or steps, S102-S130, as disclosed above.
  • the storage medium 230 may store the set of operations
  • the processing circuitry 210 may be configured to retrieve the set of operations from the storage medium 230 to cause the network node 200a, 200b, 200c to perform the set of operations.
  • the set of operations may be provided as a set of executable instructions.
  • the processing circuitry 210 is thereby arranged to execute methods as herein disclosed.
  • the storage medium 230 may also comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory.
  • the network node 200a, 200b, 200c may further comprise a
  • communications interface 220 at least for communications with the vehicle control device 300 and at least one further network node 200a, 200b, 200c.
  • the communications interface 220 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of antennas for wireless communications and/or ports for wireline communications.
  • the processing circuitry 210 controls the general operation of the network node 200a, 200b, 200c e.g. by sending data and control signals to the communications interface 220 and the storage medium 230, by receiving data and reports from the communications interface 220, and by retrieving data and instructions from the storage medium 230.
  • Other components, as well as the related functionality, of the network node 200a, 200b, 200c are omitted in order not to obscure the concepts presented herein.
  • Fig. 8 schematically illustrates, in terms of a number of functional modules, the components of a network node 200a, 200b, 200c according to an embodiment.
  • the network node 200a, 200b, 200c of Fig. 8 may further comprise a number of optional functional modules, such as any of a transmit module 210a configured to perform step S102, a receive module 210b configured to perform step S104, a receive module 2ioe configured to perform step Snoa, an obtain module 2iof configured to perform step Snob, a determine module 2iog configured to perform step S112, a transmit module 2ioh configured to perform step S114, a transmit module 2101 configured to perform step S116, a receive module 2ioj configured to perform step S118, an obtain module 210k configured to perform step S120, an exchange module 210I configured to perform step S122, a determine module 210m configured to perform step S124, a transmit module 210 ⁇ configured to perform step S126, a handover module 2100 configured to perform step S128, and
  • each functional module 2ioa-2iop may be implemented in hardware or in software.
  • one or more or all functional modules 2ioa-2iop may be implemented by the processing circuitry 210, possibly in cooperation with functional units 220 and/or 230.
  • the processing circuitry 210 may thus be arranged to from the storage medium 230 fetch instructions as provided by a functional module 2ioa-2iop and to execute these instructions, thereby performing any steps of the network node 200a, 200b, 200c as disclosed herein.
  • the network node 200a, 200b, 200c may be provided as a standalone device or as a part of at least one further device.
  • the network node 200a, 200b, 200c could be part of, co-located with, hosted by, or provided in, a radio access network node or in a node of the core network.
  • a radio access network node comprising a network node as herein disclosed.
  • functionality of the network node 200a, 200b, 200c may be distributed between at least two devices, or nodes. These at least two nodes, or devices, may either be part of the same network part or may be spread between at least two such network parts.
  • instructions that are required to be performed in real time may be performed in a device, or node, operatively closer to the radio access network node than instructions that are not required to be performed in real time.
  • at least part of the network node 200a, 200b, 200c may reside in the radio access network node.
  • a first portion of the instructions performed by the network node 200a, 200b, 200c may be executed in a first device, and a second portion of the of the instructions performed by the network node 200a, 200b, 200c may be executed in a second device; the herein disclosed embodiments are not limited to any particular number of devices on which the instructions performed by the network node 200a, 200b, 200c may be executed.
  • the methods according to the herein disclosed embodiments are suitable to be performed by a network node 200a, 200b, 200c residing in a cloud computational environment. Therefore, although a single processing circuitry 210 is illustrated in Fig. 7 the processing circuitry 210 may be distributed among a plurality of devices, or nodes. The same applies to the functional modules 2ioa-2iop of Fig. 8 and the computer program 1120a of Fig. 11 (see below).
  • Fig. 9 schematically illustrates, in terms of a number of functional units, the components of a vehicle control device 300 according to an embodiment.
  • Processing circuitry 310 is provided using any combination of one or more of a suitable central processing unit (CPU), multiprocessor, microcontroller, digital signal processor (DSP), etc., capable of executing software instructions stored in a computer program product mob (as in Fig. 11), e.g. in the form of a storage medium 330.
  • the processing circuitry 310 may further be provided as at least one application specific integrated circuit (ASIC), or field
  • the processing circuitry 310 is configured to cause the vehicle control device 300 to perform a set of operations, or steps, S202-S214, as disclosed above.
  • the storage medium 330 may store the set of operations
  • the processing circuitry 310 may be configured to retrieve the set of operations from the storage medium 330 to cause the vehicle control device 300 to perform the set of operations.
  • the set of operations may be provided as a set of executable instructions.
  • the processing circuitry 310 is thereby arranged to execute methods as herein disclosed.
  • the storage medium 330 may also comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory.
  • the vehicle control device 300 may further comprise a communications interface 320 for communications at least with a network node 200a, 200b, 200c.
  • the communications interface 320 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of antennas for wireless communications and/or ports for wireline communications.
  • the processing circuitry 310 controls the general operation of the vehicle control device 300 e.g. by sending data and control signals to the
  • communications interface 320 and the storage medium 330 by receiving data and reports from the communications interface 320, and by retrieving data and instructions from the storage medium 330.
  • Other components, as well as the related functionality, of the vehicle control device 300 are omitted in order not to obscure the concepts presented herein.
  • Fig. 10 schematically illustrates, in terms of a number of functional modules, the components of a vehicle control device 300 according to an embodiment.
  • the vehicle control device 300 of Fig. 10 comprises a number of functional modules; a receive module 310c configured to perform step S206, and a transmit module 3iod configured to perform step S208.
  • the vehicle control device 300 of Fig. 10 may further comprise a number of optional functional modules, such as any of a receive module 310a configured to perform step S202, a transmit module 310b configured to perform step S204, a transmit module 3ioe configured to perform step S210, a receive module 3iof configured to perform step S212, and a receive module 3iog configured to perform step S214.
  • each functional module 3ioa-3iog may be implemented in hardware or in software.
  • one or more or all functional modules 3ioa-3iog may be implemented by the processing circuitry 310, possibly in cooperation with functional units 320 and/or 330.
  • the processing circuitry 310 may thus be arranged to from the storage medium 330 fetch instructions as provided by a functional module 3ioa-3iog and to execute these instructions, thereby performing any steps of the vehicle control device 300 as disclosed herein.
  • the vehicle control device 300 may be provided as a standalone device or as a part of at least one further device.
  • the vehicle control device 300 could be part of, co-located with, hosted by, or provided in, a vehicle navigation system or an autonomous vehicle.
  • a navigation system or an autonomous vehicle comprising a vehicle control device 300 as herein disclosed.
  • the autonomous vehicle is a UAV.
  • the autonomous vehicle is battery operated. If the vehicle navigation system or unmanned vehicle already comprises processing circuitry, this processing circuitry could be shared by the vehicle control device 300 and thus be configured to perform steps or operations of the vehicle control device 300 as herein disclosed.
  • Fig. 11 shows one example of a computer program product 1110a, mob comprising computer readable means 1130.
  • a computer program 1120a can be stored, which computer program 1120a can cause the processing circuitry 210 and thereto operatively coupled entities and devices, such as the communications interface 220 and the storage medium 230, to execute methods according to embodiments described herein.
  • the computer program 1120a and/or computer program product 1110a may thus provide means for performing any steps of the network node 200a, 200b, 200c as herein disclosed.
  • a computer program 1120b can be stored, which computer program 1120b can cause the processing circuitry 310 and thereto operatively coupled entities and devices, such as the communications interface 320 and the storage medium 330, to execute methods according to embodiments described herein.
  • the computer program 1120b and/or computer program product mob may thus provide means for performing any steps of the vehicle control device 300 as herein disclosed.
  • the computer program product 1110a, mob is illustrated as an optical disc, such as a CD (compact disc) or a DVD (digital versatile disc) or a Blu-Ray disc.
  • the computer program product 1110a, mob could also be embodied as a memory, such as a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or an electrically erasable programmable read-only memory (EEPROM) and more particularly as a non-volatile storage medium of a device in an external memory such as a USB (Universal Serial Bus) memory or a Flash memory, such as a compact Flash memory.
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • the computer program 1120a, 1120b is here schematically shown as a track on the depicted optical disk, the computer program 1120a, 1120

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Abstract

L'invention concerne des mécanismes de régulation de trafic d'un dispositif de commande de véhicule. Le procédé est mis en œuvre par un nœud de réseau. Un procédé consiste à transmettre une signalisation de commande de trajectoire au dispositif de commande de véhicule. La signalisation de commande de trajectoire est transmise dans un message de plan de commande d'interface radio de liaison descendante. Le procédé consiste en outre à recevoir, en provenance du dispositif de commande de véhicule, une signalisation d'état de trajectoire. La signalisation d'état de trajectoire est reçue dans un message de plan de commande d'interface radio de liaison montante.
PCT/EP2016/069828 2016-08-22 2016-08-22 Régulation de trafic d'un dispositif de commande de véhicule WO2018036609A1 (fr)

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JP7201707B2 (ja) 2018-05-10 2023-01-10 北京小米移動軟件有限公司 情報を伝送するための方法および装置
CN108702591A (zh) * 2018-05-10 2018-10-23 北京小米移动软件有限公司 信息传输方法及装置
KR20210002725A (ko) * 2018-05-10 2021-01-08 베이징 시아오미 모바일 소프트웨어 컴퍼니 리미티드 정보 전송방법 및 장치
KR102408238B1 (ko) 2018-05-10 2022-06-13 베이징 시아오미 모바일 소프트웨어 컴퍼니 리미티드 정보 전송방법 및 장치
EP3793259A4 (fr) * 2018-05-10 2021-05-26 Beijing Xiaomi Mobile Software Co., Ltd. Procédé et appareil de transmission d'informations
EP3836728A4 (fr) * 2018-08-06 2022-03-30 Beijing Xiaomi Mobile Software Co., Ltd. Procédé et appareil de configuration de trajectoire de vol
US11937325B2 (en) 2018-08-08 2024-03-19 Beijing Xiaomi Mobile Software Co., Ltd. Method and device for transmitting flight information
CN109417802A (zh) * 2018-08-08 2019-03-01 北京小米移动软件有限公司 传输飞行信息的方法及装置
CN109417802B (zh) * 2018-08-08 2023-10-17 北京小米移动软件有限公司 传输飞行信息的方法及装置
EP3835911A4 (fr) * 2018-08-08 2021-10-06 Beijing Xiaomi Mobile Software Co., Ltd. Procédé et dispositif de transmission d'informations de vol
WO2020042120A1 (fr) * 2018-08-30 2020-03-05 北京小米移动软件有限公司 Procédé de fourniture d'itinéraire de vol à un aéronef sans pilote, procédé et dispositif d'acquisition, et système
CN113708825A (zh) * 2018-08-30 2021-11-26 北京小米移动软件有限公司 无人机飞行路径提供方法、获取方法、装置及系统
US20210319704A1 (en) * 2018-08-30 2021-10-14 Beijing Xiaomi Mobile Software Co., Ltd. Method for providing flight route to unmanned aerial vehicle, acquisition method and device, and system
CN109196947B (zh) * 2018-08-30 2021-03-09 北京小米移动软件有限公司 无人机飞行路径提供方法、获取方法、装置及系统
CN113708825B (zh) * 2018-08-30 2023-02-17 北京小米移动软件有限公司 无人机飞行路径提供方法、获取方法、装置及系统
US11916646B2 (en) 2018-08-30 2024-02-27 Beijing Xiaomi Mobile Software Co., Ltd. Method for providing flight path of unmanned aerial vehicle, obtaining method, apparatus, and system
CN109196947A (zh) * 2018-08-30 2019-01-11 北京小米移动软件有限公司 无人机飞行路径提供方法、获取方法、装置及系统
US11984037B2 (en) 2018-08-30 2024-05-14 Beijing Xiaomi Mobile Software Co., Ltd. Method for providing flight route to unmanned aerial vehicle, acquisition method and device, and system
CN109417774B (zh) * 2018-09-27 2022-04-08 北京小米移动软件有限公司 无人机飞行路径提供方法、获取方法、装置及系统
CN109417774A (zh) * 2018-09-27 2019-03-01 北京小米移动软件有限公司 无人机飞行路径提供方法、获取方法、装置及系统
US10536828B1 (en) 2018-10-01 2020-01-14 Ford Global Technologies, Llc Keeping radio resource control activity after SMS wakeup

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