WO2022195751A1 - アプリケーションサーバ、基地局、ダイナミックマップ配信システム、制御回路、記憶媒体、および情報配信方法 - Google Patents
アプリケーションサーバ、基地局、ダイナミックマップ配信システム、制御回路、記憶媒体、および情報配信方法 Download PDFInfo
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- WO2022195751A1 WO2022195751A1 PCT/JP2021/010758 JP2021010758W WO2022195751A1 WO 2022195751 A1 WO2022195751 A1 WO 2022195751A1 JP 2021010758 W JP2021010758 W JP 2021010758W WO 2022195751 A1 WO2022195751 A1 WO 2022195751A1
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- dynamic map
- base station
- map information
- mobile
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- 238000000034 method Methods 0.000 title claims description 31
- 238000004891 communication Methods 0.000 claims description 82
- 238000010586 diagram Methods 0.000 description 17
- 238000010295 mobile communication Methods 0.000 description 13
- 230000006870 function Effects 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 6
- 239000000470 constituent Substances 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007850 degeneration Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/0005—Control or signalling for completing the hand-off
- H04W36/0011—Control or signalling for completing the hand-off for data sessions of end-to-end connection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/02—Buffering or recovering information during reselection ; Modification of the traffic flow during hand-off
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
Definitions
- the present disclosure relates to application servers, base stations, dynamic map distribution systems, control circuits, storage media, and information distribution methods that distribute dynamic maps.
- the data distribution system distributes a dynamic map as a V2X application to vehicles that achieve automated driving (autonomous driving level 2) under specific conditions, enabling fully automated driving (automatic driving level 4) under specific conditions. ) is available.
- a dynamic map is a digital map in which dynamic information such as movement of people and quasi-static information such as construction information are overlaid on static information such as a three-dimensional map including lanes and structures.
- the level of automated driving can be raised by distributing a dynamic map to the vehicle, which is important for determining driving policy.
- the bottleneck in maintaining Level 4 autonomous driving performance is the communication quality between the vehicle to which the dynamic map is distributed and the network, or the communication between the vehicle to which the dynamic map is distributed and the roadside unit. in quality. Therefore, in 5G (5th Generation, 5th generation mobile communication system), the standard stipulates that redundant sessions are always formed to avoid situations where communication quality deteriorates.
- the standard also considers situations in which a redundant session cannot be set up due to the influence of the communication environment, the number of vehicles accommodated, etc. Degradation operation is to be implemented. If the dynamic map distribution to the vehicle continues when the base station is switched by handover in the environment of communication interruption or degraded operation, the distribution information will be missing, which will have a significant impact on the performance of autonomous driving. give.
- the vehicle communication device calculates the handover timing for switching base stations based on the level of the signal received from the base station. Then, the control device of the vehicle lowers the service level of the driving support control based on the handover timing.
- the present disclosure has been made in view of the above, and aims to obtain an application server that can switch base stations by handover without lowering the level of automatic operation even under degraded operation.
- the present disclosure provides a first movement that receives dynamic map information, which is dynamic map information used when fully automated driving is performed under specific conditions.
- an application server for distributing dynamic map information to a mobile entity, wherein a first mobile entity is capable of transmitting dynamic map information within a second region from a first base station capable of transmitting dynamic map information within a first region;
- a second base station capable of transmitting information, if the first mobile is in degenerate operation in which communication with both the first base station and the second base station is not possible, Dynamic map information is distributed to the first mobile object via a first base station and a communication device capable of receiving dynamic map information from the first base station.
- the application server according to the present disclosure has the effect of being able to switch base stations by handover without lowering the level of automated driving even under degraded operation.
- FIG. 1 is a diagram showing the configuration of a dynamic map distribution system according to a first embodiment
- FIG. FIG. 2 is a sequence diagram showing a dynamic map information distribution processing procedure by the dynamic map distribution system according to the first embodiment
- FIG. 11 is a sequence diagram showing a dynamic map information distribution processing procedure by the dynamic map distribution system according to the third embodiment
- FIG. 11 is a sequence diagram showing a dynamic map information distribution processing procedure by the dynamic map distribution system according to the fourth embodiment
- FIG. 10 is a diagram showing the configuration of a dynamic map distribution system according to a fifth embodiment
- FIG. 11 is a sequence diagram showing a dynamic map information distribution processing procedure by the dynamic map distribution system according to the fifth embodiment
- FIG. 4 is a diagram showing a configuration example of a processing circuit provided in the application server according to the first to fifth embodiments when the processing circuit is realized by a processor and a memory;
- FIG. 4 is a diagram showing an example of a processing circuit in the case where the processing circuit included in the application server according to the first to fifth embodiments is configured with dedicated hardware;
- FIG. 1 is a diagram showing the configuration of a dynamic map distribution system according to a first embodiment.
- the dynamic map distribution system 1 includes an application server 10, base stations 20a and 20b, and mobile units 30x and 30y.
- An example of the mobile bodies 30x and 30y is a communication terminal mounted on a vehicle or the like, that is, a mobile communication device.
- the application server 10 is a server that stores application data including dynamic map information, which is dynamic map information.
- the dynamic map information is information provided to the moving bodies 30x and 30y.
- the application server 10 distributes the dynamic map information to the mobile object 30x via the base station 20a or the base station 20b.
- Dynamic map information includes static information that is 3D map information such as road surface position, lane position, and building position.
- the dynamic map information also includes semi-static information such as traffic control schedules, road construction schedules, and weather information.
- the dynamic map information also includes semi-dynamic information such as accident information, traffic jam information, and traffic control information.
- the dynamic map information includes dynamic information such as movement of people.
- the application server 10 stores dynamic map information in which these static information, semi-static information, semi-dynamic information, and dynamic information are combined.
- the application server 10 distributes the dynamic map information to the mobile units 30x and 30y at the timing when the mobile units 30x and 30y update the dynamic map information.
- the arrangement form of the application server 10 in the dynamic map distribution system 1 is arbitrary.
- the application server 10 may be placed ahead of a communication core network, or may be placed directly under the base stations 20a and 20b.
- the application servers 10 may be installed at different locations according to the update frequency of distribution data such as dynamic map information.
- the base stations 20a and 20b are communication base stations that distribute distribution data such as dynamic map information to users designated by the application server 10 (mobile units 30x and 30y in the first embodiment).
- the base station 20a can transmit dynamic map information to the moving objects 30x and 30y within the first area.
- the base station 20b is capable of transmitting dynamic map information to mobile units 30x and 30y within the second area.
- the base station 20a is the first base station and the base station 20b is the second base station.
- the first area and the second area partially overlap, and handover can be executed in the overlapping area.
- Only one of the base stations 20a and 20b can connect to the mobile object 30x at a specific timing and provide the service of distributing distribution data such as dynamic map information.
- both base stations 20a and 20b are not simultaneously connected to the mobile unit 30x.
- communication with the mobile unit 30x is interrupted momentarily when the mobile unit 30x performs handover during degenerate operation.
- only one of the base stations 20a and 20b can connect to the mobile unit 30y at a specific timing and provide the service of distributing distribution data such as dynamic map information.
- both base stations 20a and 20b are not simultaneously connected to the mobile unit 30y.
- communication with the mobile unit 30y is interrupted momentarily when the mobile unit 30y undergoes handover during degenerate operation.
- the mobile unit 30x has a mobile communication unit 300x capable of communicating with the base stations 20a and 20b.
- the moving body 30x includes a sidelink communication unit 301x capable of executing sidelink communication with a surrounding moving body (here, the moving body 30y) or a roadside machine (not shown).
- a case will be described in which the sidelink communication unit 301x of the moving body 30x executes communication processing with the moving body 30y.
- the mobile communication unit 300x acquires dynamic map information from the application server 10 via either of the base stations 20a and 20b.
- FIG. 1 shows a situation in which the mobile communication unit 300x is connected to the base station 20a and is about to hand over to the base station 20b.
- the mobile communication unit 300x of the mobile unit 30x cannot be connected to multiple base stations at the same time during degenerate operation.
- the degeneracy operation here is an operation in which the moving object 30x continues operation processing while limiting the processing speed, limiting some functions, and the like.
- the mobile communication unit 300x has a moment when it is not connected to either of the base stations 20a and 20b when performing handover during degenerate operation.
- the sidelink communication unit 301y which will be described later, transmits dynamic map information to the mobile unit 30x.
- the sidelink communication unit 301x acquires the dynamic map information via the mobile object 30y, and the mobile object 30x executes automatic driving level 4.
- the mobile unit 30x acquires dynamic map information from the application server 10 via the mobile unit 30y during handover.
- Dynamic map information may be acquired from the application server 10 .
- the mobile object 30x may acquire dynamic map information from the application server 10 via a roadside device having the same functions as the mobile object 30y.
- the moving body 30y has the same functions as the moving body 30x.
- the mobile unit 30y has a mobile communication unit 300y capable of communicating with the base stations 20a and 20b.
- the moving body 30y includes a sidelink communication unit 301y capable of performing sidelink communication with a surrounding moving body (here, the moving body 30x) or a roadside machine (not shown).
- a case will be described in which the sidelink communication unit 301y of the moving body 30y executes communication processing with the moving body 30x.
- the mobile communication unit 300y acquires the dynamic map information from the application server 10 via one of the base stations 20a and 20b.
- FIG. 1 shows a situation in which the mobile communication unit 300y is connected to the base station 20a and can receive dynamic map information from the application server 10.
- the mobile communication unit 300y of the mobile object 30y cannot be connected to multiple base stations at the same time during degenerate operation. Therefore, there is a moment when the mobile communication unit 300y is not connected to any of the base stations 20a and 20b when performing handover during degenerate operation.
- the sidelink communication unit 301x transmits dynamic map information to the mobile unit 30y.
- the side link communication unit 301y acquires the dynamic map information via the moving body 30x, and the moving body 30y executes automatic driving level 4.
- the mobile 30x is the first mobile, and the mobile 30y is the communication device.
- the communication device is a second mobile or roadside unit. In the first embodiment, it is assumed that the mobile unit 30y does not disconnect from the base station 20a until the mobile unit 30x completes handover.
- FIG. 2 is a sequence diagram of a dynamic map information delivery processing procedure performed by the dynamic map delivery system according to the first embodiment.
- FIG. 2 shows an operation flow of data transmission/reception processing executed between the application server 10, the base stations 20a and 20b, and the mobile units 30x and 30y.
- the moving object 30x moves from an area in which communication with the base station 20a is possible to an area in which communication is possible with the base station 20b.
- FIG. 2 there are places where the moving body 30x is illustrated as “30x” and the moving body 30y is illustrated as "30y".
- ⁇ destination: 30x> indicates that the destination is the mobile unit 30x
- ⁇ destination: 30y> indicates that the destination is the mobile unit 30y
- ⁇ change destination: 30 y> indicates a case where the change destination of the destination is the mobile unit 30y.
- the application server 10 transmits to the base station 20a the dynamic map information with the mobile unit 30x as the destination (S10).
- the base station 20a receives the dynamic map information and transmits it to the moving object 30x (S20).
- the moving object 30x receives the dynamic map information and uses the dynamic map information to perform fully automated driving (automatic driving level 4) of the vehicle under specific conditions.
- the mobile unit 30x may move from an area where communication with the base station 20a is possible to an area where communication with the base station 20b is possible.
- the base station 20a notifies the mobile unit 30x to hand over to the base station 20b before communication with the mobile unit 30x becomes impossible.
- the base station 20a can confirm that the mobile unit 30x is in degraded operation, it also notifies the mobile unit 30x of the handover timing. In this way, the base station 20a notifies the mobile unit 30x of the handover destination and handover timing when the mobile unit 30x is in degraded operation (S30).
- the base station 20a may determine whether the mobile unit 30x is in degraded operation based on whether or not the mobile unit 30x satisfies the conditions for degraded operation, or whether the mobile unit 30x is in degraded operation. You may inquire whether or not
- the base station 20a sets the timing at which the lack of dynamic map information by the moving object 30x is limited to information with a high update frequency as the handover timing.
- Information with a high update frequency is information that is updated in a period shorter than the specific period.
- An example of frequently updated information is dynamic information included in dynamic map information.
- the application server 10 continues to transmit the dynamic map information with the destination as the mobile object 30x to the base station 20a until the change of the destination of the dynamic map information is received from the base station 20a (S40). Thereby, the base station 20a receives the dynamic map information and transmits it to the moving object 30x (S50).
- the base station 20a After notifying the mobile object 30x of the handover destination and the handover timing, the base station 20a selects the mobile object 30y around the mobile object 30x, and establishes a sidelink connection between the mobile object 30x and the mobile object 30y. Ask the mobile 30x.
- the communication device selected by the base station 20a is a device (here, the mobile device 30y) capable of sidelink connection with the mobile device 30x.
- the sidelink connection is a sidelink connection for direct communication between vehicles, that is, between the moving bodies 30x and 30y.
- the moving body 30x After receiving the request, the moving body 30x requests the moving body 30y to establish a sidelink connection with the moving body 30y. As a result, the mobile unit 30y accepts the sidelink connection, and the mobile units 30x and 30y become ready for communication through the sidelink connection.
- the base station 20a may request the mobile 30y to establish a sidelink connection with the mobiles 30x and 30y.
- the mobile unit 30y requests the mobile unit 30x to establish a sidelink connection with the mobile unit 30x. Then, the mobile unit 30x accepts the sidelink connection, and the mobile units 30x and 30y become ready for communication through the sidelink connection.
- the base station 20a transmits a request to change the destination to the application server 10 (S60). Specifically, the base station 20a requests the application server 10 to specify the destination of the dynamic map information to be distributed to the mobile unit 30x to the mobile unit 30y and to distribute the dynamic map information to the mobile unit 30x. This request specifies that the timing of designating the destination as the mobile unit 30y is the timing of the handover of the mobile unit 30x from the base station 20a to the base station 20b. That is, the base station 20a transmits to the application server 10 a request to change the destination to the mobile unit 30y at the handover timing of the mobile unit 30x. Also, the base station 20a transmits the handover timing of the mobile unit 30x to the application server 10. FIG.
- the application server 10 sends the dynamic map information for the mobile unit 30x to the base station 20a with the destination as the mobile unit 30y.
- the base station 20a transmits the dynamic information of the dynamic map information for the mobile object 30x to the mobile object 30y (S80).
- the base station 20a adds flag information indicating relaying to a packet of dynamic map information (dynamic information in the first embodiment) and transmits the packet to the moving object 30y.
- the mobile unit 30y utilizes the communication established by the sidelink connection to relay the dynamic information of the dynamic map information for the mobile unit 30x received from the base station 20a to the mobile unit 30x (S90). In this case, the mobile unit 30y determines whether flag information indicating relaying is added to the dynamic information packet. If the flag information is added, the mobile 30y relays the dynamic information to the sidelink-connected mobile 30x.
- the mobile unit 30y relays the dynamic map information for the mobile unit 30x received from the base station 20a to the mobile unit 30x when the mobile unit 30x is handed over from the base station 20a to the base station 20b. do.
- the destination change is not limited to the case where the base station 20a requests the application server 10 to change the destination and the application server 10 changes the destination of the dynamic information.
- the base station 20a that receives the dynamic information addressed to the mobile unit 30x from the application server 10 may change the destination to the mobile unit 30y.
- the mobile 30x dissolves the communication session between the mobiles 30x and 30y. Thereafter, the application server 10 transmits the dynamic map information for the mobile 30x to the base station 20b (S100), and the base station 20b transmits the dynamic map information to the mobile 30x (S110). The mobile unit 30x then receives the dynamic map information from the base station 20b.
- the moving object 30y relays to the moving object 30x the dynamic map information that could have been missing in the moving object 30x. can be obtained without As a result, the dynamic map distribution system 1 can execute automatic driving level 4.
- another device instead of the moving object 30y may relay the dynamic map information and send it to the moving object 30x.
- the device that relays the dynamic map information to the mobile 30x is a roadside unit, the roadside units around the point where the mobile 30x is handed over relay the dynamic map information to the mobile 30x.
- Embodiment 1 when the mobile unit 30x performs handover, the mobile unit 30y relays the dynamic map information for the mobile unit 30x received from the base station 20a to the mobile unit 30x. .
- the dynamic map distribution system 1 can switch to the base station 20b by handover without lowering the level of automatic operation even when the moving object 30x is under degenerate operation. Therefore, the dynamic map distribution system 1 can execute automatic driving level 4 even at handover timing during degenerate operation.
- Embodiment 2 Next, Embodiment 2 will be described.
- the mobile unit 30x determines the handover timing and notifies it to the base station 20a, and the base station 20a transmits the missing dynamic map information at the handover timing to the mobile unit 30y.
- the dynamic map distribution system 1 of the second embodiment has the same configuration as the dynamic map distribution system 1 of the first embodiment.
- the information relayed by the moving object 30y is only dynamic information, and is limited to the minimum amount of data.
- the mobile unit 30x autonomously determines the handover timing and notifies the determined handover timing to the base station 20a.
- the base station 20a causes the mobile 30y to relay dynamic map information missing at the handover timing determined by the mobile 30x, and transmits the dynamic map information to the mobile 30x.
- the mobile unit 30x determines the handover timing.
- the dynamic map distribution system 1 determines the handover timing at the moving body 30x, and even if the moving body 30x is under degenerate operation as in the first embodiment, the automatic driving level is not lowered. A switch to base station 20b can be performed. Therefore, the dynamic map distribution system 1 can execute automatic driving level 4 even at handover timing during degenerate operation, as in the first embodiment.
- Embodiment 3 Next, Embodiment 3 will be described with reference to FIGS. 3 and 4.
- FIG. 1 and 2 the mobile body 30x, which is different from the mobile body 30x, relays dynamic information to the mobile body 30x, thereby maintaining the automated driving level 4 of the mobile body 30x.
- the base station 20a interpolates the dynamic information by predicting the dynamic information, and distributes the predicted dynamic information to the moving object 30x in advance.
- FIG. 3 is a diagram showing the configuration of the dynamic map distribution system according to the third embodiment. Among the constituent elements shown in FIG. 3, those constituent elements that achieve the same functions as those of the dynamic map distribution system 1 of the first embodiment shown in FIG.
- the dynamic map distribution system 2 includes an application server 10, base stations 20a and 20b, and a mobile object 30x.
- Embodiment 3 a case will be described in which the mobile unit 30x is handed over from the base station 20a to the base station 20b during degeneration operation. During the degenerate operation, the mobile unit 30x cannot connect to a plurality of base stations at the same time, and there is a moment when the mobile unit 30x is not connected to any of the base stations 20a and 20b.
- the base stations 20a and 20b of Embodiment 3 are provided with data servers 200a and 200b, respectively.
- the data server 200a is a server that stores the dynamic map information distributed from the application server 10 to the moving body 30x.
- the data server 200b is a server that stores the dynamic map information distributed from the application server 10 to the moving body 30x.
- FIG. 4 is a sequence diagram of a dynamic map information delivery processing procedure performed by the dynamic map delivery system according to the third embodiment. It should be noted that descriptions of the same processes as those described in the first and second embodiments will be omitted.
- FIG. 4 shows the operation flow of data transmission/reception processing executed between the application server 10, the base stations 20a and 20b, and the mobile object 30x.
- the moving object 30x moves from an area in which communication with the base station 20a is possible to an area in which communication is possible with the base station 20b.
- the moving body 30x is indicated as "30x" in some places.
- ⁇ 20a ⁇ 20b> indicates that the distribution route is changed from the base station 20a to the base station 20b.
- the processes of S210 and S220 shown in FIG. 4 are the same processes as S10 and S20 described in FIG. That is, the application server 10 transmits to the base station 20a the dynamic map information whose destination is the mobile unit 30x (S210). The base station 20a receives the dynamic map information and transmits it to the moving object 30x (S220). As a result, the moving object 30x receives the dynamic map information and uses the dynamic map information to perform fully automated driving (automatic driving level 4) of the vehicle under specific conditions.
- the mobile unit 30x may move from an area where communication with the base station 20a is possible to an area where communication with the base station 20b is possible.
- the base station 20a notifies the mobile unit 30x of the handover destination and the handover instruction, which is an instruction to perform the handover, before communication with the mobile unit 30x cannot be executed (S230).
- the base station 20a notifies the mobile unit 30x of the handover destination and the handover instruction when the timing for handover of the mobile unit 30x to the base station 20b comes.
- the base station 20a confirms the dynamic map information accumulated in the data server 200a if it can confirm that the mobile unit 30x will be in degraded operation.
- the base station 20a extracts the dynamic map information transmitted to the moving object 30x from the dynamic map information accumulated in the data server 200a, and extracts future dynamic map information for the time required for handover from the extracted dynamic map information. Predict. That is, the base station 20a predicts the dynamic map information during the period when the mobile 30x performs handover.
- the future dynamic map information predicted by the base station 20a is predictive dynamic information, which is predicted dynamic information.
- the time required for handover may be a time directly set in advance or a time estimated by the base station 20a.
- the future dynamic map information predicted by the base station 20a may include semi-dynamic information, semi-static information, static information, and the like.
- the base station 20a may notify the mobile object 30x of the handover destination and the handover timing as the processing of S230.
- the application server 10 transmits to the base station 20a dynamic map information with the destination as the mobile unit 30x (S240). Thereby, the base station 20a receives the dynamic map information.
- the base station 20a adds predictive dynamic information, which is predicted future information, to the received dynamic map information and transmits the result to the moving object 30x (S250). That is, after the base station 20a notifies the mobile unit 30x of the handover, and receives dynamic map information from the application server 10, the base station 20a transmits predictive dynamic information to the mobile unit 30x. In other words, the base station 20a starts transmitting predictive dynamic information to the mobile 30x at the timing of notifying the mobile 30x of handover.
- the application server 10 continues the process of transmitting the dynamic map information with the destination as the mobile unit 30x to the base station 20a (S260).
- the base station 20a receives dynamic map information.
- the base station 20a continues the process of adding the predicted dynamic information, which is predicted future information, to the received dynamic map information and transmitting it to the moving object 30x (S270).
- the application server 10 continues the process of transmitting the dynamic map information with the destination as the mobile unit 30x to the base station 20a until the base station 20a requests to change the wiring route (S280).
- the base station 20a continues the process of adding the predicted dynamic information to the received dynamic map information and transmitting it to the mobile 30x until the timing when the mobile 30x starts handover.
- the base station 20a stops the process of transmitting the dynamic map information with the mobile unit 30x as the destination to the mobile unit 30x.
- the mobile object 30x executes fully automated driving (automatic driving level 4) of the vehicle under specific conditions.
- the base station 20a requests the application server 10 to change the distribution route (S290). That is, the base station 20a requests the application server 10 to change the destination of the dynamic map information for the mobile unit 30x from the base station 20a to the base station 20b.
- the application server 10 changes the destination of the dynamic map information for the mobile unit 30x from the base station 20a to the base station 20b. That is, the application server 10 transmits the dynamic map information whose destination is the mobile unit 30x to the base station 20b (S300).
- the base station 20b receives the dynamic map information and transmits it to the mobile unit 30x (S310).
- the moving object 30x receives the dynamic map information and uses the dynamic map information to perform fully automated driving (automatic driving level 4) of the vehicle under specific conditions.
- the mobile unit 30x starts handover immediately after S250, the processes from S260 to S280 are not executed. Also, handover may be started after the processes of S260 and S270 are performed a plurality of times.
- the second and third embodiments may be combined. That is, in the dynamic map distribution system 2, the mobile unit 30x determines the handover timing and notifies it to the base station 20a. 30y.
- the base station 20a predicts future dynamic information at the time of handover and transmits it to the moving object 30x as predicted dynamic information.
- the dynamic map distribution system 2 can switch to the base station 20b by handover without lowering the level of automatic driving even under degenerate operation. Therefore, the dynamic map distribution system 2 can execute automatic driving level 4 even at handover timing during degenerate operation, as in the first embodiment.
- Embodiment 4 Next, Embodiment 4 will be described with reference to FIG.
- the base station 20a of the fourth embodiment reduces the frequency of transmission of predictive dynamic information to the mobile object 30x compared to the base station 20a of the third embodiment.
- the dynamic map distribution system 2 of Embodiment 4 has the same configuration as the dynamic map distribution system 2 of Embodiment 3.
- FIG. 5 is a sequence diagram showing the dynamic map information distribution processing procedure by the dynamic map distribution system according to the fourth embodiment. It should be noted that descriptions of the same processes as those described in the first to third embodiments will be omitted. As in FIG. 3, FIG. 4 shows an operation flow of data transmission/reception processing executed between the application server 10, the base stations 20a and 20b, and the moving object 30x.
- the base station 20a transmits the predictive dynamic information to the mobile 30x from the timing of notifying the mobile 30x of handover.
- the base station 20a notifies the mobile 30x of the handover timing and transmits the predicted dynamic information to the mobile 30x just before the handover timing.
- S410 to S450 shown in FIG. 5 is the same processing as S10 to S50 described in FIG.
- the base station 20a notifies the mobile unit 30x of the handover destination and handover timing before communication with the base station 20a becomes impossible.
- the dynamic map distribution system 2 executes the processes from S460 to S510, which are the same processes as from S260 to S310.
- the base station 20a adds predictive dynamic information, which is predicted future information, to the received dynamic map information and transmits the dynamic map information to the moving object 30x. That is, the base station 20a transmits the dynamic map information received from the application server 10 and the predicted dynamic information predicted using the data server 200a to the moving object 30x immediately before the specified handover timing.
- the mobile unit 30x executes handover from the base station 20a to the base station 20b, and the application server 10 executes change of distribution route.
- Embodiments 2 and 4 may be combined. That is, in the dynamic map distribution system 2, the mobile unit 30x determines the handover timing and notifies it to the base station 20a. 30y.
- the base station 20a transmits the predicted dynamic information to the mobile object 30x just before the handover timing.
- the dynamic map distribution system 2 can execute automatic driving level 4 as in the first embodiment with a smaller amount of information transmission than in the third embodiment.
- Embodiment 5 Next, Embodiment 5 will be described with reference to FIGS. 6 and 7.
- FIG. 5 dynamic information of dynamic map information is relayed when a plurality of mobile units undergo handover.
- FIG. 6 is a diagram showing the configuration of a dynamic map distribution system according to the fifth embodiment.
- the constituent elements in FIG. 6 that achieve the same functions as those of the dynamic map distribution system 1 of the first embodiment shown in FIG.
- the dynamic map distribution system 3 has the same components as the dynamic map distribution system 1. Specifically, the dynamic map distribution system 3 includes an application server 10, base stations 20a and 20b, and mobile units 30x and 30y.
- both mobile units 30x and 30y are connected to the base station 20a, and each of the mobile units 30x and 30y performs handover to the base station 20b under degraded operation.
- mobile 30x will hand over first and mobile 30y will hand over later.
- the moving object 30x starts moving from an area where communication with the base station 20a is possible to an area where communication is possible between the base station 20b before the moving object 30y.
- FIG. 7 is a sequence diagram showing the dynamic map information distribution processing procedure by the dynamic map distribution system according to the fifth embodiment. It should be noted that descriptions of the same processes as those described in Embodiments 1 to 4 will be omitted.
- FIG. 7 shows the operation flow of data transmission/reception processing executed between the application server 10, the base stations 20a and 20b, and the mobile units 30x and 30y.
- the mobile units 30x and 30y may move from an area where they can communicate with the base station 20a to an area where they can communicate with the base station 20b.
- the base station 20a notifies the mobile units 30x and 30y that the mobile units 30x and 30y will handover to the base station 20b before communication with the mobile unit 30x cannot be executed.
- the base station 20a can confirm that the mobile units 30x and 30y are in degraded operation, it also notifies the mobile units 30x and 30y of the handover timing.
- the base station 20a notifies the mobile unit 30x of the handover destination and the handover timing (S610), and notifies the mobile unit 30y of the handover destination and the handover timing (S620).
- the base station 20a When the base station 20a notifies the mobile units 30x and 30y of the handover destination and the handover timing, the base station 20a establishes a communication session between the mobile units 30x and 30y and sets the handover order to the mobile units 30x and 30y. direct to. Mobile units 30x and 30y form a communication session according to this instruction.
- the dynamic map distribution system 2 executes the processing from S630 to S700, which is the same processing as from S40 to S110. As a result, at the timing when the mobile unit 30x is handed over from the base station 20a to the base station 20b, the mobile unit 30y transmits the dynamic information included in the dynamic map information for the mobile unit 30x received from the base station 20a to the mobile unit 30x. relay.
- the mobile unit 30x in Embodiment 5 does not cancel the communication session between the mobile units 30x and 30y even after the handover to the base station 20b is completed.
- mobile 30y performs handover from base station 20a to base station 20b.
- the application server 10 transmits to the base station 20a the dynamic map information whose destination is the moving body 30y until the change of the destination of the dynamic map information is received from the base station 20a (S710).
- the base station 20a transmits a request to change the destination to the application server 10 (S720). Specifically, the base station 20a requests the application server 10 to specify the destination of the dynamic information of the dynamic map to be distributed to the mobile unit 30y to the mobile unit 30x. In this request, it is specified that the timing at which the destination is specified and delivered to the mobile unit 30x is the timing at which the mobile unit 30y hands over from the base station 20a to the base station 20b. That is, the base station 20a transmits to the application server 10 a request to change the destination to the mobile unit 30x at the handover timing of the mobile unit 30y. Also, the base station 20a transmits the handover timing of the mobile unit 30y to the application server 10. FIG.
- the application server 10 sends the dynamic map information for the mobile unit 30y to the base station 20b with the destination as the mobile unit 30x.
- Distribute (S730) the application server 10 sends the dynamic map information for the mobile unit 30y to the base station 20b with the destination as the mobile unit 30x.
- the base station 20b transmits the dynamic information of the dynamic map information for the mobile object 30y to the mobile object 30x (S740). In this case, the base station 20b adds flag information indicating relaying to the dynamic information packet and transmits it to the moving object 30x.
- the mobile unit 30x utilizes the communication established by the sidelink connection to relay the dynamic information of the dynamic map information for the mobile unit 30y received from the base station 20b to the mobile unit 30y (S750). In this case, the mobile unit 30x determines whether flag information indicating relaying is added to the dynamic information packet. If the flag information is added, the mobile 30x relays the dynamic information to the sidelink-connected mobile 30y.
- the mobile unit 30x relays the dynamic map information for the mobile unit 30y received from the base station 20b to the mobile unit 30y when the mobile unit 30y performs handover from the base station 20a to the base station 20b. do.
- the dynamic map distribution system 3 can distribute the dynamic map information to a plurality of mobile units 30x and 30y under degenerate operation at the handover timing without any omission.
- the base station 20a is not limited to the case where the base station 20a requests the application server 10 to change the destination and changes the destination of the dynamic information.
- the destination may be changed to the mobile unit 30x.
- the mobile 30y cancels the communication session between the mobiles 30x and 30y. Thereafter, the application server 10 transmits the dynamic map information to the base station 20b, and the base station 20b transmits the dynamic map information to the mobile object 30y. The mobile unit 30y then receives the dynamic map information from the base station 20b.
- Embodiments 2 and 5 may be combined. That is, in the dynamic map distribution system 2, the moving object 30x may determine the handover timing and notify it to the base station 20a, and the base station 20a may transmit the missing dynamic map information at the handover timing to the moving object 30y. Further, in the dynamic map distribution system 2, the moving object 30y may determine the handover timing and notify the base station 20a, and the base station 20a may transmit dynamic map information missing at the handover timing to the moving object 30x.
- Embodiments 3 and 5 may be combined. That is, in the dynamic map distribution system 3, the base station 20a may transmit predicted dynamic information to the moving bodies 30x and 30y.
- Embodiments 4 and 5 may be combined. That is, in the dynamic map distribution system 3, the base station 20a may transmit the predicted dynamic information to the mobile 30x just before the handover timing of the mobile 30x. Also, in the dynamic map distribution system 2, the base station 20a may transmit the predicted dynamic information to the mobile 30y immediately before the handover timing of the mobile 30y.
- Embodiments 2 and 5 may be combined. That is, in the dynamic map distribution system 3, the mobile units 30x and 30y determine handover timing and notify the base station 20a, and the base station 20a adds predictive dynamic information missing at the handover timing to the dynamic map information. It may be transmitted to mobile units 30x and 30y.
- the mobile unit 30y when the mobile unit 30x performs handover, the mobile unit 30y relays the dynamic map information for the mobile unit 30x received from the base station 20a to the mobile unit 30x. . Further, when the mobile unit 30y performs handover, the mobile unit 30x relays dynamic information of dynamic map information for the mobile unit 30y received from the base station 20b to the mobile unit 30y.
- the dynamic map distribution system 3 can switch to the base station 20b by handover without lowering the autonomous driving level even when the plurality of moving bodies 30x and 30y are under degraded operation. Therefore, the dynamic map distribution system 3 can execute automatic driving level 4 even at the timing of handover during degenerate operation, as in the first embodiment.
- the application server 10 is implemented by a processing circuit.
- the processing circuitry may be a processor and memory executing programs stored in the memory, or may be dedicated hardware. Processing circuitry is also called control circuitry.
- FIG. 8 is a diagram showing a configuration example of a processing circuit provided in the application server according to Embodiments 1 to 5 when the processing circuit is realized by a processor and a memory.
- a processing circuit 90 shown in FIG. 8 is a control circuit and includes a processor 91 and a memory 92 .
- each function of the processing circuit 90 is implemented by software, firmware, or a combination of software and firmware.
- Software or firmware is written as a program and stored in memory 92 .
- each function is realized by the processor 91 reading and executing the program stored in the memory 92.
- FIG. 8 is a diagram showing a configuration example of a processing circuit provided in the application server according to Embodiments 1 to 5 when the processing circuit is realized by a processor and a memory.
- a processing circuit 90 shown in FIG. 8 is a control circuit and includes a processor 91 and a memory 92 .
- each function of the processing circuit 90 is implemented by software, firmware, or a combination of software and firmware.
- Software or firmware
- the processing circuitry 90 includes a memory 92 for storing programs that result in the processing of the application server 10 being executed.
- This program can also be said to be a program for causing the application server 10 to execute each function realized by the processing circuit 90 .
- This program may be provided by a storage medium storing the program, or may be provided by other means such as a communication medium.
- the above program can also be said to be a program that causes the application server 10 to execute the process of distributing the dynamic map information to the mobile units 30x and 30y via the base station 20a or the base station 20b.
- the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor).
- the memory 92 is a non-volatile or volatile memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM), etc.
- RAM Random Access Memory
- ROM Read Only Memory
- flash memory EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM), etc.
- a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc) is applicable.
- FIG. 9 is a diagram showing an example of a processing circuit when the processing circuit included in the application server according to Embodiments 1 to 5 is configured with dedicated hardware.
- the processing circuit 93 shown in FIG. 9 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these thing applies.
- the processing circuit 93 may be partially realized by dedicated hardware and partially realized by software or firmware.
- the processing circuitry 93 can implement each of the functions described above by dedicated hardware, software, firmware, or a combination thereof.
- 1 to 3 dynamic map distribution system 10 application server, 20a, 20b base station, 30x, 30y mobile, 90, 93 processing circuit, 91 processor, 92 memory, 200a, 200b data server, 300x, 300y mobile communication unit, 301x , 301y side link communication unit.
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Abstract
Description
図1は、実施の形態1にかかるダイナミックマップ配信システムの構成を示す図である。ダイナミックマップ配信システム1は、アプリケーションサーバ10と、基地局20a,20bと、移動体30x,30yとを備えている。移動体30x,30yの例は、車両などに搭載される通信端末、すなわち移動体通信装置である。
アプリケーションサーバ10は、ダイナミックマップの情報であるダイナミックマップ情報を含んだ、アプリケーションデータを格納するサーバである。ダイナミックマップ情報は、移動体30x,30yへ提供される情報である。アプリケーションサーバ10は、基地局20aまたは基地局20bを介して、ダイナミックマップ情報を移動体30xに配信する。
基地局20a,20bは、アプリケーションサーバ10が指定したユーザ(実施の形態1では移動体30x,30y)に対して、ダイナミックマップ情報などの配信データを配信する通信基地局である。
移動体30xは、基地局20a,20bとの間で通信を実行可能な移動通信部300xを備えている。また、移動体30xは、周囲の移動体(ここでは移動体30y)、または路側機(図示せず)との間でサイドリンク通信を実行可能なサイドリンク通信部301xを備えている。なお、以下の説明では、移動体30xのサイドリンク通信部301xが、移動体30yとの間で通信処理を実行する場合について説明する。
移動体30yは、移動体30xと同様の機能を有している。移動体30yは、基地局20a,20bとの間で通信を実行可能な移動通信部300yを備えている。また、移動体30yは、周囲の移動体(ここでは移動体30x)、または路側機(図示せず)との間でサイドリンク通信を実行可能なサイドリンク通信部301yを備えている。なお、以下の説明では、移動体30yのサイドリンク通信部301yが、移動体30xとの間で通信処理を実行する場合について説明する。
つぎに、実施の形態2について説明する。実施の形態2では、移動体30xがハンドオーバタイミングを決定して基地局20aに通知し、基地局20aが、ハンドオーバタイミングで欠落するダイナミックマップ情報を移動体30yに送信する。
つぎに、図3および図4を用いて実施の形態3について説明する。実施の形態1,2では、移動体30xとは異なる他の移動体30yが動的情報を移動体30xにリレーすることによって移動体30xの自動運転レベル4を維持した。実施の形態3では、基地局20aが、動的情報を予測することで動的情報を補間し、予測した動的情報を事前に移動体30xに配信しておく。
つぎに、図5を用いて実施の形態4について説明する。実施の形態4の基地局20aは、実施の形態3での基地局20aよりも移動体30xへの予測動的情報の送信頻度を減らす。
つぎに、図6および図7を用いて実施の形態5について説明する。実施の形態5では、複数の移動体がハンドオーバする際に、ダイナミックマップ情報の動的情報をリレーする。
Claims (18)
- 特定条件下での完全自動運転が実行される際に用いられるダイナミックマップの情報であるダイナミックマップ情報を受信する第1の移動体に、前記ダイナミックマップ情報を配信するアプリケーションサーバであって、
前記第1の移動体が、第1の領域内で前記ダイナミックマップ情報を送信可能な第1の基地局から、第2の領域内で前記ダイナミックマップ情報を送信可能な第2の基地局にハンドオーバを実行する際に、前記第1の移動体が、前記第1の基地局および前記第2の基地局の両方とは通信できない縮退運用をしている場合、前記第1の基地局と、前記第1の基地局から前記ダイナミックマップ情報を受信可能な通信装置とを介して、前記ダイナミックマップ情報を前記第1の移動体に配信する、
ことを特徴とするアプリケーションサーバ。 - 特定条件下での完全自動運転が実行される際に用いられるダイナミックマップの情報であるダイナミックマップ情報を受信する第1の移動体に、第1の領域内で前記ダイナミックマップ情報を送信可能な基地局であって、
前記第1の移動体が、前記基地局から、第2の領域内で前記ダイナミックマップ情報を送信可能な別の基地局にハンドオーバを実行する際に、前記第1の移動体が、前記基地局および前記別の基地局の両方とは通信できない縮退運用をしている場合、前記ダイナミックマップ情報を配信するアプリケーションサーバから前記ダイナミックマップ情報を受信すると、前記ダイナミックマップ情報を受信可能な通信装置を介して前記ダイナミックマップ情報を前記第1の移動体に送信する、
ことを特徴とする基地局。 - 特定条件下での完全自動運転が実行される際に用いられるダイナミックマップの情報であるダイナミックマップ情報を受信する第1の移動体と、
第1の領域内で前記ダイナミックマップ情報を送信可能な第1の基地局と、
第2の領域内で前記ダイナミックマップ情報を送信可能な第2の基地局と、
前記第1の基地局または前記第2の基地局を介して、前記ダイナミックマップ情報を第1の移動体に配信するアプリケーションサーバと、
前記第1の基地局から前記ダイナミックマップ情報を受信可能な通信装置と、
を備え、
前記第1の移動体が前記第1の基地局から前記第2の基地局にハンドオーバを実行する際に、前記第1の移動体が、前記第1の基地局および前記第2の基地局の両方とは通信できない縮退運用をしている場合、前記通信装置は、前記第1の基地局から前記ダイナミックマップ情報を受信して前記第1の移動体に送信し、前記第1の移動体は、前記通信装置から前記ダイナミックマップ情報を受信する、
ことを特徴とするダイナミックマップ配信システム。 - 前記第1の基地局は、前記第1の移動体が前記ハンドオーバを実行する際に前記縮退運用をしている場合、前記第1の移動体に配信される前記ダイナミックマップ情報の宛先を、前記第1の移動体から前記通信装置に変更する依頼を、前記アプリケーションサーバに送信し、
前記アプリケーションサーバは、前記依頼を受信すると、前記第1の移動体に配信する前記ダイナミックマップ情報の宛先を、前記第1の移動体から前記通信装置に変更して、前記第1の基地局に送信し、
前記第1の基地局は、前記宛先が変更された前記ダイナミックマップ情報を前記通信装置に送信し、
前記通信装置は、前記宛先が変更された前記ダイナミックマップ情報を前記第1の移動体に送信し、
前記第1の移動体は、前記宛先が変更された前記ダイナミックマップ情報を受信する、
ことを特徴とする請求項3に記載のダイナミックマップ配信システム。 - 前記第1の移動体は、前記通信装置との間でサイドリンク通信を行うことによって、前記通信装置から前記ダイナミックマップ情報を受信する、
ことを特徴とする請求項3または4に記載のダイナミックマップ配信システム。 - 前記第1の基地局は、人の動きの情報を含む動的情報を前記ダイナミックマップ情報として、前記通信装置を介して、前記第1の移動体に送信する、
ことを特徴とする請求項3から5の何れか1つに記載のダイナミックマップ配信システム。 - 前記第1の基地局は、前記第1の移動体が縮退運用のままハンドオーバを実行すると前記第1の移動体において前記動的情報の受信のみに欠落が生じるタイミングを、前記ハンドオーバのタイミングに設定して前記第1の移動体に通達する、
ことを特徴とする請求項6に記載のダイナミックマップ配信システム。 - 前記第1の移動体は、前記ハンドオーバのタイミングを自律的に決定し、決定したハンドオーバタイミングを前記第1の基地局に通達し、
前記第1の基地局は、前記第1の移動体が決定した前記ハンドオーバタイミングで欠落する前記ダイナミックマップ情報を、前記通信装置を介して前記第1の移動体に送信する、
ことを特徴とする請求項3から7の何れか1つに記載のダイナミックマップ配信システム。 - 前記第1の基地局は、前記ダイナミックマップ情報を前記通信装置が前記第1の移動体に送信することを示すフラグ情報を、前記ダイナミックマップ情報に付加して前記通信装置に送信し、
前記通信装置は、前記ダイナミックマップ情報に前記フラグ情報が付加されている場合に、前記第1の移動体に前記ダイナミックマップ情報を送信する、
ことを特徴とする請求項3から8の何れか1つに記載のダイナミックマップ配信システム。 - 前記第1の基地局は、前記アプリケーションサーバから前記第1の移動体に配信された前記ダイナミックマップ情報を格納しておくデータサーバを有し、前記データサーバに格納されている前記ダイナミックマップ情報に基づいて、前記第1の移動体が前記ハンドオーバする際の動的情報を予測し、予測した動的情報を予測動的情報として前記第1の移動体に送信し、
前記ハンドオーバの際には、前記予測動的情報を用いて前記特定条件下での完全自動運転が実行される、
ことを特徴とする請求項6または7に記載のダイナミックマップ配信システム。 - 前記第1の基地局は、前記ハンドオーバのタイミングを前記第1の移動体に通達した後に、前記ダイナミックマップ情報に前記予測動的情報を付加して前記第1の移動体に送信する処理を開始する、
ことを特徴とする請求項10に記載のダイナミックマップ配信システム。 - 前記第1の基地局は、前記第1の移動体が前記ハンドオーバを開始する直前に受信した前記ダイナミックマップ情報に前記予測動的情報を付加して前記第1の移動体に送信する、
ことを特徴とする請求項10に記載のダイナミックマップ配信システム。 - 前記第1の基地局は、前記ハンドオーバに要する時間分の前記ダイナミックマップ情報を予測し、予測した動的情報を予測動的情報として前記第1の移動体に送信する、
ことを特徴とする請求項10から12の何れか1つに記載のダイナミックマップ配信システム。 - 前記第1の移動体および前記通信装置が前記第1の基地局から前記第2の基地局にハンドオーバを実行する際に、前記第1の移動体および前記通信装置が、前記第1の基地局および前記第2の基地局の両方とは通信できない縮退運用をしている場合、前記第1の移動体が、前記第1の基地局および前記通信装置を介して前記ダイナミックマップ情報を受信した後、前記通信装置が、前記第2の基地局および前記第1の移動体を介して前記ダイナミックマップ情報を受信する、
ことを特徴とする請求項3から13の何れか1つに記載のダイナミックマップ配信システム。 - 前記通信装置は、第2の移動体または路側機である、
ことを特徴とする請求項3から13の何れか1つに記載のダイナミックマップ配信システム。 - 特定条件下での完全自動運転が実行される際に用いられるダイナミックマップの情報であるダイナミックマップ情報を受信する第1の移動体に、前記ダイナミックマップ情報を配信するアプリケーションサーバを制御する制御回路であって、
前記第1の移動体が、第1の領域内で前記ダイナミックマップ情報を送信可能な第1の基地局から、第2の領域内で前記ダイナミックマップ情報を送信可能な第2の基地局にハンドオーバを実行する際に、前記第1の移動体が、前記第1の基地局および前記第2の基地局の両方とは通信できない縮退運用をしている場合、前記第1の基地局と、前記第1の基地局から前記ダイナミックマップ情報を受信可能な通信装置とを介して、前記ダイナミックマップ情報を前記第1の移動体に配信する、
ことを前記アプリケーションサーバに実行させることを特徴とする制御回路。 - 特定条件下での完全自動運転が実行される際に用いられるダイナミックマップの情報であるダイナミックマップ情報を受信する第1の移動体に、前記ダイナミックマップ情報を配信するアプリケーションサーバを制御するプログラムを記憶した記憶媒体であって、
前記プログラムは、前記第1の移動体が、第1の領域内で前記ダイナミックマップ情報を送信可能な第1の基地局から、第2の領域内で前記ダイナミックマップ情報を送信可能な第2の基地局にハンドオーバを実行する際に、前記第1の移動体が、前記第1の基地局および前記第2の基地局の両方とは通信できない縮退運用をしている場合、前記第1の基地局と、前記第1の基地局から前記ダイナミックマップ情報を受信可能な通信装置とを介して、前記ダイナミックマップ情報を前記第1の移動体に配信する、
ことを前記アプリケーションサーバに実行させることを特徴とする記憶媒体。 - アプリケーションサーバが、特定条件下での完全自動運転が実行される際に用いられるダイナミックマップの情報であるダイナミックマップ情報を受信する第1の移動体に、前記ダイナミックマップ情報を配信する情報配信方法であって、
前記第1の移動体が、第1の領域内で前記ダイナミックマップ情報を送信可能な第1の基地局から、第2の領域内で前記ダイナミックマップ情報を送信可能な第2の基地局にハンドオーバを実行する際に、前記第1の移動体が、前記第1の基地局および前記第2の基地局の両方とは通信できない縮退運用をしている場合、前記アプリケーションサーバが、前記第1の基地局と、前記第1の基地局から前記ダイナミックマップ情報を受信可能な通信装置とを介して、前記ダイナミックマップ情報を前記第1の移動体に配信する配信ステップを含む、
ことを特徴とする情報配信方法。
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