WO2023286341A1 - 車載通信装置、車載通信システム、及び、通信方法 - Google Patents
車載通信装置、車載通信システム、及び、通信方法 Download PDFInfo
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- H—ELECTRICITY
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- the present disclosure relates to an in-vehicle communication device, an in-vehicle communication system, and a communication method.
- zone architecture a technology called zone architecture has been attracting attention in intra-vehicle communication.
- vehicles are divided into multiple zones and networks are built in each zone.
- a technology that uses, for example, a local area network (LAN) as a network constructed in each zone or a network that connects each zone is known.
- LAN local area network
- information collected at multiple points at a plurality of nodes can be transmitted within the network.
- a system using Ethernet (registered trademark) is widely used for communication between information communication devices. Construction of a system using Ethernet is also being considered for the zone architecture.
- Patent Literature 1 discloses a technique of combining wired communication and wireless communication as intra-vehicle communication.
- Patent Literature 2 discloses a technology that uses a wireless LAN for vehicle-to-vehicle communication.
- LAN technology When LAN technology is used for intra-vehicle communication, unlike when dedicated cables are used, various types of information, such as information acquired by sensors, are mixed and transmitted over the LAN wireless transmission path. Become. Also, in a LAN system, access control is performed when there are multiple pieces of data to be transmitted at the same time, which may cause delays in data transmission. there were.
- the LAN system uses an access control procedure compatible with Carrier Sense Multiple Access/Collision Detection (CSMA/CD). Therefore, in the LAN system, there still remains the problem that transmission delay occurs due to access control.
- CSMA/CD Carrier Sense Multiple Access/Collision Detection
- information simultaneously detected by multiple different sensors such as radar devices and cameras may be used as a single piece of information.
- the present disclosure provides a mechanism that can correctly synchronize multiple pieces of information even when transmission delays occur due to access control.
- an in-vehicle communication device includes a communication section and a control section.
- the communication unit wirelessly communicates with a first zone control node arranged in a first zone among a plurality of zones obtained by dividing the inside of the vehicle, and transmits first data to the receiving device via the first zone control node. conduct.
- the control unit adds synthesis information to the first data to be used when the receiving device synthesizes the first data and other data.
- FIG. 1 is a diagram for explaining an example of zone architecture
- FIG. FIG. 2 is a diagram showing an example of data transmission when LAN technology is applied to zone architecture
- 1 is a diagram showing an example of a schematic configuration of an in-vehicle communication system according to an embodiment of the present disclosure
- FIG. 1 is a diagram for explaining a hierarchical structure of an in-vehicle network according to the first embodiment of the present disclosure
- FIG. 1 is a block diagram showing an example configuration of an in-vehicle communication device according to an embodiment of the present disclosure
- FIG. FIG. 2 is a diagram for explaining problems caused by access control
- FIG. FIG. 2 is a diagram for explaining problems caused by access control
- FIG. FIG. 2 is a diagram for explaining problems caused by access control
- FIG. FIG. 2 is a diagram for explaining problems caused by access control
- FIG. 1 is a diagram for explaining problems caused by access control
- FIG. 1 is a diagram for explaining an example of data transmission in an in-vehicle communication system according to the first embodiment of the present disclosure
- FIG. FIG. 4 is a diagram showing an example of combined information according to the first embodiment of the present disclosure
- FIG. FIG. 5 is a diagram showing another example of combined information according to the first embodiment of the present disclosure
- FIG. FIG. 5 is a diagram showing another example of combined information according to the first embodiment of the present disclosure
- FIG. 4 is a flowchart showing the flow of transmission processing according to the first embodiment of the present disclosure
- 4 is a flowchart showing the flow of reception processing according to the first embodiment of the present disclosure
- FIG. 7 is a diagram for explaining a wireless communication range of an in-vehicle communication system according to the second embodiment of the present disclosure
- FIG. 7 is a diagram for explaining a wireless communication range of an in-vehicle communication system according to the second embodiment of the present disclosure
- FIG. FIG. 11 is a diagram for explaining an example of management information managed by a zone control node according to the second embodiment of the present disclosure
- FIG. FIG. 7 is a diagram for explaining an overview of communication by an in-vehicle communication system according to a second embodiment of the present disclosure
- FIG. 7 is a diagram for explaining an overview of communication by an in-vehicle communication system according to a second embodiment of the present disclosure
- FIG. FIG. 11 is a diagram for explaining a detailed example of communication by the in-vehicle communication system according to the second embodiment of the present disclosure
- FIG. 11 is a flow chart showing the flow of transmission processing according to the second embodiment of the present disclosure
- FIG. 1 is a block diagram showing a schematic configuration example of a vehicle control system, which is an example of a mobile body control system to which technology according to the present disclosure may be applied
- FIG. It is a figure which shows the example of the installation position of an imaging part and a vehicle outside information detection part.
- Zone architecture> As described above, in recent years, in intra-vehicle communication, a technique called zone architecture has attracted attention.
- FIG. 1 is a diagram for explaining an example of zone architecture.
- the vehicle Ca is divided into a plurality of areas (zones), and each area is provided with a control node 20a (hereinafter also referred to as zone control node 20a).
- a plurality of zone control nodes 20a are connected, for example, in a ring configuration by trunk cables, and perform wired LAN communication with each other.
- a ring-type wired communication network is constructed in the vehicle Ca shown in FIG.
- Another wired LAN connection example includes a configuration in which a plurality of zone control nodes 20a are connected to each other in a mesh pattern by trunk cables.
- the zone control node 20a in each area is connected to one or more devices 30a by, for example, a cable, and performs wired LAN communication with each device 30a.
- the device 30a includes, for example, sensors such as cameras and rangefinders, and display devices such as car navigation systems and DVDs.
- the device 30a is, for example, mounted on the vehicle Ca, and is a device for acquiring information for performing automatic driving, a device for performing control, and providing entertainment, vehicle status, etc. to the user who gets on the vehicle Ca. Including presenting equipment.
- the device 30a communicates with other devices 30a mounted on the vehicle Ca via the zone control node 20a.
- a central control node 10a is provided in the vehicle Ca.
- the central control node 10a connects with the zone control node 20a, for example, via a cable. This allows the central control node 10a to communicate with the zone control node 20a and the device 30a via the in-vehicle LAN.
- the central control node 10a may be configured to be able to perform wireless communication with another vehicle Cb or the base station B.
- wired communication is indicated by a straight line
- wireless communication is indicated by a dotted line.
- FIG. 2 is a diagram showing an example of data transmission when LAN technology is applied to zone architecture.
- the device 30a1 belonging to the first zone managed by the zone control node 20a1 transmits data to the central control node 10a, which is the destination node.
- the device 30 a2 belonging to the second zone managed by the zone control node 20 a2 the device 30 a31 belonging to the third zone managed by the zone control node 20 a31
- the device 30 a32 belonging to the third zone Assume that data is to be sent to the control node 10a.
- the devices 30 a1 , 30 a2 , 30 a31 , and 30 a32 are, for example, cameras placed in respective zones. Send to node 10a.
- devices 30 a1 , 30 a2 , 30 a31 , and 30 a32 capture captured images #1 to #4 at the same timing.
- the device 30a1 acquires access rights (transmission rights) after a predetermined access wait time has passed, and transmits captured image #1 as data #1 to the central control node 10a.
- the other devices 30 a2 to 30 a32 are BUSY. becomes.
- the device 30 a2 acquires the access right and transmits the captured image #2 as the data #2 to the central control node 10a.
- device 30a31 and device 30a32 acquire access rights in order and transmit captured images #3 and #4 as data #3 and #4 to central control node 10a, respectively.
- the devices 30 a1 , 30 a2 , 30 a31 , and 30 a32 can simultaneously transmit information (for example, captured images #1 to #4) that are acquired at the same time. Can not. Depending on the data size, the number of data that can be sent on the transmission path may be limited to one. Therefore, a plurality of central control nodes 10a cannot receive the information at the same time, and a delay due to access control may occur.
- information indicating the timing at which the data was collected is added to the data and transmitted in order to time-synchronize data for which transmission delay has occurred due to access control.
- a system built in a vehicle may have both a wireless network and a wired network.
- a LAN When a LAN is used in such a system, the timing at which the receiving device receives data collected by the transmitting device connected to the wired network and the timing at which the receiving device receives the data collected by the transmitting device connected to the wireless network. , there may be differences. In this case, the receiving device will receive out-of-sync data.
- the receiving device can acquire information on the timing at which data was collected by the transmitting device, regardless of the timing at which the receiving device received the data.
- FIG. 3 is a diagram showing an example of a schematic configuration of the in-vehicle communication system 1 according to the embodiment of the present disclosure.
- an in-vehicle communication system 1 according to this embodiment is provided in a vehicle C.
- the in-vehicle communication system 1 includes a central control node 10 , zone control nodes 20 and devices 30 .
- the central control node 10 is an in-vehicle communication device that controls communication in the in-vehicle LAN network.
- the central control node 10 is connected to the zone control node 20 in a ring through a backbone cable, and performs wired communication with the zone control node 20 .
- the central control node 10 also communicates with the device 30 via the zone control node 20 .
- the central control node 10 connects to an external network via wireless communication.
- the central control node 10 for example, communicates with the base station B by Uu link communication in 3GPP, and communicates with another vehicle Cb by side link communication.
- the device 30 is an in-vehicle communication device that acquires and notifies various information.
- the device 30 includes, for example, a sensor such as a camera or a distance measuring device, a control device for controlling an engine or the like, a display device such as a car navigation system or a DVD, and the like.
- the device 30 is, for example, a device that is mounted on the vehicle C to obtain information for performing automatic driving, a device for performing control, and a device that presents entertainment, vehicle conditions, etc. to the user who gets on the vehicle C. include.
- the device 30 is provided in each area (zone) into which the vehicle C is divided. A plurality of devices 30 may be provided in one zone.
- the device 30 performs wireless communication conforming to the wireless LAN standard with the zone control node 20 corresponding to each area.
- FIG. 3 shows a case where all devices 30 wirelessly communicate with the zone control node 20, there may be devices 30 that communicate with the zone control node 20 by wire.
- the device 30 communicates with other devices (for example, other devices 30, other zone control nodes 20, and the central control node 10A) via the zone control node 20.
- other devices for example, other devices 30, other zone control nodes 20, and the central control node 10A
- the zone control node 20 is provided in each area (zone) into which the vehicle C is divided.
- the zone control nodes 20 are connected in a ring via backbone cables, and perform wired communication with other zone control nodes 20 and the central control node 10 in accordance with the wired LAN standard.
- the vehicle C is divided into six zones #1 to #6, each zone provided with zone control nodes 20 1 to 20 6 .
- the connection of the backbone cable is not limited to a ring shape, and may be connected in a mesh shape.
- the zone control node 20 performs wireless communication conforming to the wireless LAN with the device 30 belonging to the zone in which it is located.
- the zone control node 20 has a communication area Z corresponding to the size of the zone, and wirelessly communicates with the devices 30 within the communication area Z.
- FIG. In this case, the zone control node 20 functions as a wireless LAN access point AP.
- the zone control node 20 operates as an AP, the zone control node 20 is also referred to as the AP 20 .
- FIG. 4 is a diagram for explaining the hierarchical structure of the in-vehicle network according to the first embodiment of the present disclosure.
- a central control node 10 functioning as a network controller is arranged in the onboard network of vehicle C.
- the central control node 10 manages the number of zones forming the in-vehicle network as the number of configuration zones.
- zone control nodes 20 1 to 20 N are arranged.
- each zone #n includes the same M devices 30, the present invention is not limited to this.
- the number of devices 30 included in each zone #n may be different or the same.
- FIG. 5 is a block diagram showing an example of the configuration of the in-vehicle communication device 100 according to the embodiment of the present disclosure.
- the in-vehicle communication device 100 functions as each node and device 30 of the in-vehicle communication system 1 .
- the in-vehicle communication device 100 includes an antenna section 110 , a wireless communication section 120 , a network communication section 130 , a storage section 140 and a control section 150 .
- Antenna section 110 radiates the signal output from wireless communication section 120 into space as radio waves. Antenna section 110 also converts radio waves in space into signals and outputs the signals to wireless communication section 120 . Note that the antenna unit 110 of this embodiment has a plurality of antenna elements and can form a beam.
- Wireless communication unit 120 transmits and receives signals.
- wireless communication unit 120 transmits signals to and receives signals from other devices.
- the wireless communication unit 120 can form a plurality of beams using the antenna unit 110 for communication.
- the wireless communication unit 120 communicates with the base station B and other vehicles Cb via an external network.
- the radio communication unit 120 performs communication according to cellular communication schemes such as NR, LTE, W-CDMA, and cdma2000.
- the wireless communication unit 120 communicates with the device 30 .
- the wireless communication section 120 communicates with the zone control node 20.
- FIG. it is assumed that the wireless communication unit 120 performs communication corresponding to, for example, a wireless LAN system.
- Network communication unit 130 transmits and receives information.
- the network communication unit 130 transmits information to other vehicle-mounted communication devices 100 and receives information from other vehicle-mounted communication devices.
- the network communication unit 130 communicates with the zone control node 20 via the backbone cable.
- the network communication unit 130 communicates with the central control node 10 and other zone control nodes 20 .
- Storage unit 140 The storage unit 140 temporarily or permanently stores programs and various data for operating the in-vehicle communication device 100 .
- Control unit 150 is a controller that controls each unit of the in-vehicle communication device 100 .
- the control unit 150 is implemented by a processor such as a CPU or MPU, for example.
- the control unit 150 is implemented by the processor executing various programs stored in the storage device inside the vehicle-mounted communication device 100 using the RAM or the like as a work area.
- the control unit 150 may be realized by an integrated circuit such as ASIC or FPGA. CPUs, MPUs, ASICs, and FPGAs can all be considered controllers.
- the in-vehicle communication device 100 functions as a node that performs wireless communication but does not perform wired communication like the device 30, the above-described network communication unit 130 may be omitted.
- device 30 may perform both wireless and wired communication. In this case, the device 30 connects to the zone control node 20 via wireless and wired transmission paths.
- the in-vehicle communication device 100 when the in-vehicle communication device 100 functions as the device 30, which is a sensor that acquires information inside and outside the vehicle, for example, the in-vehicle communication device 100 may have a sensor unit (not shown) that acquires the information. . Also, if the in-vehicle communication device 100 is a device 30 that presents information to the user, such as a car navigation system, it may have an input/output unit (not shown). Thus, the in-vehicle communication device 100 can have a configuration according to the functions to be implemented.
- problems caused by access control> 6 to 8 are diagrams for explaining problems caused by access control.
- the devices 30 1 to 30 4 belonging to zones #1 to #4 respectively capture (picture) the surroundings of the vehicle C at the same timing, and transmit to the central control node 10, for example.
- the devices 30 1 to 30 4 capture images at predetermined intervals and transmit the captured images to the central control node 10 .
- the devices 30 1 to 30 4 capture images four times from Time 1 to Time 4 and transmit the captured images to the central control node 10 .
- the central control node 10 for example, synchronizes and synthesizes captured images captured at the same timing by the devices 30 1 to 30 4 to generate a synthesized image. For example, the central control node 10 combines captured images captured by the devices 30 1 to 30 4 at Time 1 to generate one combined image. Alternatively, the central control node 10 may detect the same object included in the captured images captured at the same timing. It is assumed that the devices 30 1 to 30 4 transmit the captured images without including synthesis information (for example, information about delay) for synthesizing the captured images.
- synthesis information for example, information about delay
- FIG. 7 shows a case where access control restricts the number of captured images that can be transmitted over the vehicle-mounted communication network to one.
- the devices 30 1 to 30 4 attempt to transmit captured images captured at time #1 (Time 1) to the central control node 10 at the same time.
- time #1 Time 1
- the number of captured images that can be transmitted through, for example, a trunk cable (wired transmission line) of an in-vehicle communication network is limited to one. Therefore, each of the devices 30 1 to 30 4 acquires the access right after the access wait time has elapsed, and then transmits the captured image.
- the captured images transmitted by the devices 30 1 to 30 3 are transmitted to the central control node 10 with a time lag.
- the timing at which the device 304 acquires the access right is after time #2 (Time 2 ) when each device 30 next captures a captured image.
- the device 304 transmits the captured image captured at time #2 (Time 2).
- the devices 30 1 and 30 2 transmit the captured image captured at time #2 (Time 2) at the next timing when the access right is acquired.
- the devices 30 3 , 30 4 , and 30 1 transmit captured images captured at time #3 (Time 3) at the next timing when the access right is acquired.
- the devices 30 2 , 30 3 , and 30 4 transmit captured images captured at time #4 (Time 4) at the next access right acquisition timing.
- each device 30 may acquire access rights after the timing of capturing the captured image, and may not be able to transmit all captured images to the central control node 10.
- the central control node 10 acquires captured images from the devices 30 in zones #1 to #4. is
- the captured image does not include synthesis information for use in synthesizing each captured image, such as information about access control delay. Therefore, when the central control node 10 acquires captured images from the devices 30 in zones #1 to #4, the central control node 10 generates a composite image regardless of the captured time.
- the central control node 10 synthesizes captured images (see range I in FIG. 7) captured at different times and analyzes the images. There is a risk that errors will occur in the analysis results.
- a transmitting device eg, device 30
- a receiving device eg, central control node 10
- Synthesis information for is attached to the data and transmitted.
- the receiving device can synchronize multiple pieces of data and synthesize the data.
- FIG. 9 is a diagram for explaining an example of data transmission on multiple routes in the in-vehicle communication system 1 according to the first embodiment of the present disclosure.
- device 30 1 belonging to zone #1 and device 30 2 belonging to zone #2 transmit data as transmitting devices
- device 30 3 belonging to zone #3 and device 30 4 belonging to zone #4 transmit data.
- Receive data as a receiver.
- the device 301 divides data into sizes that can be transmitted at one transmission opportunity, and generates four Data 1-1 to 1-4.
- the device 301 stores the four Data 1-1 to 1-4 in the transmission buffer with no access control delay (Delay: 0).
- the device 301 When the device 301 acquires access rights as a result of access control, it sequentially transmits Data 1-1 to 1-4 stored in the transmission buffer. In the example of FIG. 9, the device 301 first transmits Data 1-1 with combined information (Delay: 0) indicating that there is no delay due to access control.
- the device 301 transmits Data 1-2 as Delay: 1 and transmits Data 1-3 as Delay:2 as a result of access control.
- the device 302 also attempts to transmit data.
- the device 302 divides the data into sizes that can be transmitted at one transmission opportunity, and generates four Data 2-1 to 2-4.
- the device 302 stores the four Data 2-1 to 2-4 in the transmission buffer with no access control delay (Delay: 0), and attempts to acquire access rights.
- Delay no access control delay
- the device 302 acquires access rights and transmits Data 2-1 as Delay:0.
- Data 1-4 are stored in the transmission buffer with, for example, Delay:3 added as combined information indicating a delay due to access control.
- Delay:1 is added as combined information indicating a delay due to access control, and stored in the transmission buffer.
- device 301 After device 302 sends Data 2-2 , device 301 gets access. As a result, the device 301 transmits Data 1-4 as Delay:5. As a result, Data 2-3 and Data 2-4 are stored in the transmission buffer with, for example, Delay:2 added as combined information indicating a delay due to access control.
- the device 303 can recognize that all of Data 1-1 to 1-4 have been received at the timing of Delay:5 by checking the combined information added to Data 1-4. In this case, the device 303 synthesizes Data 1-1 to 1-3 and Data 1-4, which were previously received, by going back in timing according to the information (Delay: 5) on the delay included in the synthesis information. do.
- Device 302 then gains access and transmits Data 2-3 as Delay:3 and Data 2-4 as Delay:4.
- the device 304 can recognize that all of Data 2-1 to 2-4 have been received at the timing of Delay: 4 by checking the combined information added to Data 2-4. In this case, the device 304 synthesizes Data 2-1 to 2-3 and Data 2-4 that were previously received by tracing back the timing according to the information (Delay: 4 ) regarding the delay included in the synthesis information. do.
- the combined information may include information other than delay information related to delays due to access control.
- the combination information may include, for example, combination target information indicating that the transmission data is to be combined, and output timing information regarding the timing at which the receiving apparatus outputs data.
- the output timing information is, for example, information indicating the timing at which the receiving device synthesizes and outputs data.
- the receiving device can check the timing at which all the divided data transmitted from one device 30 are received. Also, by confirming the output timing information of the data transmitted by the plurality of devices 30, the receiving apparatus can synthesize and output the data collected at the same timing.
- FIG . 9 shows a case where the devices 30-1 and 30-2 transmit data as transmitters and the devices 30-3 and 30-4 receive data as receivers, but the present invention is not limited to this.
- the zone control node 20 may operate as a transmitter or receiver
- the central control node 10 may operate as a transmitter or receiver.
- FIG. 10 is a diagram illustrating an example of combined information according to the first embodiment of the present disclosure. The example shown in FIG. 10 shows a case where the synthesis information is added to the header of the transmission data.
- Synthesis information is written, for example, in an arbitrary header portion (Header Portion) added to the payload of transmission data.
- Header Portion For example, as a general MAC header configuration, at least one Type indicating the format, Source Address indicating the sender, Transmit Address indicating the sender, Receive Address indicating the recipient, and Destination Address indicating the destination are set. Furthermore, parameters of each layer required for communication are set as necessary.
- Mobility Zone Parameters for synthesizing and processing data in the receiving device are set as synthesis information.
- the Mobility Zone Parameter may include at least one of the following parameters. ⁇ Combining processing information (Rx Combine) indicating that the data will be combined on the receiving side ⁇ Output timing information (Output Time) ⁇ Delay information about access control delay (Delay Times)
- the delay information may include information regarding the occurrence of access control delay and the delay time.
- Synthesis information may be any information that is used when data is synthesized by the receiving device, and may include information other than the above-described information.
- FIG. 11 is a diagram showing another example of combined information according to the first embodiment of the present disclosure.
- the example shown in FIG. 11 shows a case in which the zone control node 20 operating as a wireless LAN access point adds combined information and transmits transmission data.
- the data shown in FIG. 11 includes a predetermined PLCP header (Physical Layer Convergence Protocol Header) and PPDU (Physical Layer Protocol Data Unit).
- PLCP header Physical Layer Convergence Protocol Header
- PPDU Physical Layer Protocol Data Unit
- the PLCP header consists of the following fields. ⁇ Short training field L-STF ⁇ Long training field L-LTF ⁇ Signal field L-SIG ⁇ Repeating signal field RL-SIG ⁇ First signal field EXHT-SIG-A ⁇ Short training field EXHT-STF ⁇ Long training field EXHT-LTF ⁇ First signal field EXHT-SIG-B
- EXHT-LTF More than one EXHT-LTF can be included in the PLCP header.
- EXHT-SIG-A, EXHT-STF, EXHT-LTF and EXHT-SIG-B are fields standardized as next-generation wireless LAN standards.
- the PPDU contains the data that is actually sent.
- Synthesis information is stored in EXHT-SIG-A of the PLCP header mentioned above. Note that the synthesized information includes the same information as in the example of FIG. 10, so the description is omitted.
- Composition information may be stored in EXHT-SIG-B of the PLCP header. Combining information may be stored in any field of the PLCP header.
- FIG. 12 is a diagram showing another example of combined information according to the first embodiment of the present disclosure.
- the example shown in FIG. 12 shows a case in which the zone control node 20 operating as a wireless LAN access point adds combined information and transmits transmission data.
- FIG. 12 shows the case where the synthesis information is included in the header or similar delimiter portion that exists within the PPDU.
- FIG. 12 shows a case where multiple MPDUs are aggregated as an A-MPDU frame as an example of a PPDU configuration.
- A-MPDU frame a plurality of A-MPDU subframes are arranged in succession, and a delimiter is added to the beginning of each A-MPDU subframe.
- Synthetic information is stored in the delimiter as MZP (Mobility Zone Parameter).
- MZP Mobility Zone Parameter
- FIG. 12 shows a case where the combining information is included in the leading A-MPDU subframe, the A-MPDU subframe including the combining information is not limited to the leading A-MPDU subframe. There may be. For example, the combining information may be included in the last A-MPDU subframe.
- the combining information may be stored in the portion corresponding to the MAC header in each MPDU that constitutes the A-MPDU frame.
- FIG. 12 shows the case where the combining information is stored in both the delimiter of the A-MPDU subframe and the MAC header, the present invention is not limited to this.
- Combining information may be stored in either the delimiter of the A-MPDU subframe or the MAC header.
- FIG. 13 is a flow chart showing the flow of transmission processing according to the first embodiment of the present disclosure. The transmission process shown in FIG. 13 is executed by the transmission device.
- the transmission device determines whether transmission data has been received via an interface from a sensor unit (not shown) or the like (step S101). If transmission data has not been received (step S101; No), the transmission device returns to step S101 and waits for reception of transmission data.
- the transmission device acquires the characteristic information of the application of the transmission data (step S102).
- the transmitting device sets the timing at which the output device outputs data according to the acquired characteristic information (step S103).
- the transmitting device determines whether or not the receiving device needs to combine the transmission data (step S104). If there is no need to perform combining processing (step S104; No), the transmitting device proceeds to step S106. If it is necessary to perform the combining process (step S104; Yes), the transmitting device sets a combining process parameter (combining process information) (step S105).
- the transmitting device determines whether or not the transmission timing has arrived (step S106). If the transmission timing has not arrived (step S106; No), the transmitter returns to step S06 and waits for the transmission timing to arrive.
- step S106 determines whether or not the access right (access transmission right) has been acquired (step S107). If the access right cannot be obtained (step S107; No), the transmitting device proceeds to step S112.
- the transmitting device calculates the amount of transmission opportunity data (step S108).
- the transmitting device calculates the maximum amount of data corresponding to the duration that can be transmitted in one transmission opportunity.
- the transmitting device acquires the calculated amount of data from the buffer (step S109) and transmits the data (step S110).
- the transmitting device determines whether or not data waiting to be transmitted remains (step S111). If there is no transmission waiting data left (step S111; Yes), the transmission device ends the process.
- step S111 If data waiting to be transmitted remains (step S111; No), the transmitting device acquires access delay information (step S112) and adds the access delay information to the delay parameter (delay information) (step S113). After adding the access delay information, the transmitter returns to step S106 and waits for the arrival of the transmission timing.
- the transmission device acquires transmission data from the sensor unit
- the present invention is not limited to this.
- the zone control node 20 when it operates as a transmitter, it acquires transmission data from the device 30 .
- FIG. 14 is a flow chart showing the flow of reception processing according to the first embodiment of the present disclosure. The receiving process shown in FIG. 14 is executed by the receiving device.
- the receiving device determines whether data has been received from another device (for example, the zone control node 20) (step S201). If data has not been received (step S201; No), the receiving device returns to step S201 and waits for data reception.
- another device for example, the zone control node 20
- the receiving device acquires reception header information from the data (step S202).
- the receiving device determines whether or not the received data requires synthesis processing, according to the acquired header information (step S203).
- step S203 If there is no need to perform synthesis processing (step S203; No), the receiving device proceeds to step S210. If it is necessary to perform the combining process (step S203; Yes), the receiving device determines whether or not there is access delay information in the received data (step S204).
- the receiving device acquires the received data (step S205) and stores it as synthesized data (step S206).
- the receiving device If the received data has access delay information (step S204; No), the receiving device reads the previously received data (existing synthesized data) that has already been synthesized and stored (step S207). , acquires the current reception data (step S208). The receiving device combines the read existing combined data and the received data as data at the same timing (step S209), returns to step S206, and stores the combined data as combined data.
- step S203 determines whether or not the received data has access delay information. If the transmitting device determines in step S203 that the data does not require combined data processing (step S203; No), the transmitting device determines whether or not the received data has access delay information. (step S210).
- step S210 If there is no access delay information in the received data (step S210; Yes), the receiving device proceeds to step S212. If there is access delay information in the received data (step S210; No), the receiving device determines whether or not the output timing of the received data has passed (step S211).
- step S211 If the output timing has passed (step S211; Yes), the receiving device discards the received data and terminates the receiving process. If the output timing has not been exceeded (step S211; No), the receiving device acquires received data (step S212) and stores the acquired received data as uncombined single data (step S213).
- the receiving device that stored the combined data in step S206 or stored the independent data in step S213 determines whether or not the timing for outputting the combined data or the independent data (hereinafter simply referred to as output data) has arrived. (Step S214).
- step S214 If the output timing has not arrived (step S214; No), return to step S214 and wait for the output timing to arrive. If the output timing has arrived (step S214; Yes), the receiving device acquires the output data at the same timing (step S215) and outputs the output data (step S216).
- the receiving device determines whether or not there is data waiting for output (step S217). That is, the receiving device determines whether or not there is output data for which the output timing has not arrived.
- step S217 If there is data waiting to be output (step S217; No), return to step S214 and wait for the output timing of the data waiting to be output. If there is no output waiting data (step S217; Yes), the receiving device ends the process.
- the device 30 (an example of the in-vehicle communication device) according to the first embodiment of the present disclosure includes the wireless communication unit 120 (an example of the communication unit) and the control unit 150.
- the radio communication unit 120 performs radio communication with the zone control node 20 arranged in one of the zones into which the vehicle C is divided. Send data to the node 20 and other devices 30).
- the control unit 150 adds synthesis information, which is used when the receiving device synthesizes data and other data, to the first data.
- a receiving device that receives data can synchronously synthesize a plurality of data by using the synthesis information, even if there is a transmission delay in the data due to access control.
- the device 30 transmits the data with the combined information added here, the present invention is not limited to this.
- the synthesis information may be added, and the node control zone 20 or the central control node 10 may add the synthesis information and transmit the data.
- An in-vehicle communication system 1 of the present disclosure includes a wired transmission line and a wireless transmission line.
- the access control delay of the transmission data may increase due to the influence of the access control delay that occurs in the wireless transmission path.
- Wireless transmission lines tend to have a smaller communication capacity and less stable communication than wired transmission lines. Therefore, the access control delay that occurs in the wireless transmission line may become longer than in the case of the wired transmission line.
- the communication range of the wired transmission line is limited to the communication devices to which the cable is actually connected, while the communication range of the wireless transmission line is within the area where the radio waves of the communication device reach. Therefore, in wireless communication, the communication range can be changed by controlling the power of radio waves by the communication device.
- FIGS. 15 and 16 are diagrams for explaining the wireless communication range of the in-vehicle communication system 1 according to the second embodiment of the present disclosure.
- the zone control node 20 of the in-vehicle communication system 1 performs power control so that the range in which it can wirelessly communicate with the devices 30 belonging to the zone it manages becomes the communication range.
- the zone control node 20 can suppress an increase in power consumption and reduce interference with radio communications of other zone control nodes 20 .
- the zone control node 20 maximizes at least one of the transmission power and the reception power, thereby enabling wireless communication with devices 30 belonging to other zones.
- the device 304A is included in the communication range R4 of the zone control node 204 and is not included in the communication ranges R2 , R3 of the other zone control nodes 202,203. Therefore, the device 30-4A wirelessly communicates with the zone control node 20-4 , but does not wirelessly communicate with the other zone control nodes 20-2 and 20-3 .
- zone control nodes 20 2 , 20 3 power control by zone control nodes 20 2 , 20 3 allows device 30 4A to wirelessly communicate with other zone control nodes 20 2 , 20 3 in addition to zone control node 20 4 .
- zone control node 20 does not necessarily have to maximize the transmission power or reception power, and may control the power to the extent that wireless communication can be performed with devices 30 belonging to other zones.
- FIG. 17 is a diagram for explaining an example of management information managed by the zone control node 20 according to the second embodiment of the present disclosure.
- an example of management information managed by the zone control node 201 that manages zone # 1 among the plurality of zone control nodes 20 is shown.
- the zone control node 201 can wirelessly communicate with devices 30 belonging to zones other than its own zone by controlling transmission power (or reception power).
- the zone control node 201 manages its own zone information (Own Zone information) about the devices 30 in the zones it manages, as well as adjacent zone information (Neighbor Zone information) about the devices 30 in other zones where wireless communication is possible. do.
- the zone control node 201 provides the number of devices constituting the zone # 1 (M in the example of FIG. Zone #1 Device30 1M ).
- the device information includes, for example, ID information that identifies the device 30 .
- the zone control node 201 manages its own zone information about the device 30 belonging to the zone # 1 , so that the device 30 and other communication devices (for example, the other device 30, the central control node 10, the other zone control node 20 ).
- the zone control node 201 can wirelessly communicate with devices 30 in other zones. Therefore, the zone control node 201 manages adjacent zone information about the devices 30 belonging to the zone # 1 as well as the devices 30 in other zones with which wireless communication is possible.
- the zone control node 201 has the number of devices (M in the example of FIG. 17) configuring the adjacent zone #2 and the device information (Zone #2 Device30 21 to Zone #2 Device30 21 to Zone #2 Device30 2M ).
- the device information includes, for example, ID information for identifying the device 30 .
- zone control node 201 may manage the devices 30 capable of direct wireless communication among all the devices 30 belonging to the zone # 2 as adjacent zone information.
- zone control node 201 may manage all devices 30 belonging to zone # 2 .
- the zone control node 20-1 can obtain information about the devices 30 belonging to zone # 2 from the zone control node 20-2 that manages zone # 2 .
- the device 30 managed by the zone control node 201 as adjacent zone information belongs to one zone #2, but the present invention is not limited to this.
- the zone control node 201 may manage devices 30 belonging to zones other than zone #2 (for example, zone #3) as adjacent zone information. In this case, the zone control node 201 can manage adjacent zone information separately for zones # 2 and #3.
- the zone managed by the zone control node 20-1 as adjacent zone information need not be adjacent to the zone # 1 managed by the zone control node 20-1 as its own zone information.
- the zone managed as the adjacent zone information may be the zone to which the device 30 capable of wireless communication with the zone control node 201 belongs.
- the zone may be a zone managed by other than the zone control nodes 20 2 and 20 6 (see FIG. 3) directly connected to the zone control node 20 1 by wire.
- the zone control node 201 may associate and manage the information about the corresponding transmission power (or received electric field strength) with the zone.
- the zone control node 201 according to the second embodiment of the present disclosure can wirelessly communicate with devices 30 in other zones. Therefore, according to the access control delay between the device 30 and the zone control node 20 that manages the zone to which the device 30 according to the second embodiment of the present disclosure belongs, the zone control node 20 that manages the zone to which it does not belong. to the receiving device.
- the zone control node 20 that manages the zone to which the device 30 belongs is also referred to as its own zone control node 20.
- the zone control node 20 that manages the zone to which the device 30 does not belong is also referred to as other zone control node 20 .
- the device 30 can further reduce the amount of delay in data arriving at the receiving device even when access control delays occur in wireless communication with its own zone control node 20.
- the device 30 may perform wireless communication with the maximum transmission power or reception power. Alternatively, the device 30 may carry out wireless communication with the other zone control node 20 by performing power control so that the power is at a level at which wireless communication with the other zone control node 20 is possible.
- 18 and 19 are diagrams for explaining an outline of communication by the in-vehicle communication system 1 according to the second embodiment of the present disclosure.
- data is transmitted from device 304A to device 301A .
- Device 30 4 A is managed by zone control node 20 4 . Therefore, device 304A first obtains access from zone control node 204 and attempts to transmit data.
- the amount of data that device 304A can transmit in one transmission opportunity obtained is smaller than the size of data that device 304A wants to transmit. In this case, device 304A cannot transmit all of the data in one transmission opportunity, and access control delays occur in the remaining data.
- the device 304A acquires access rights to the other zone control nodes 202 and 203 and transmits the remaining data.
- the device 304A divides the data to be transmitted, and adds the data to its own zone control node 204 to other zones.
- the divided data are transmitted to the control nodes 20 2 and 20 3 respectively.
- the own zone control node 20 4 and the other zone control nodes 20 2 and 20 3 each transfer data to the receiving device 30 1A via the zone control node 20 1 .
- the device 304A can further reduce the amount of delay of data arriving at the receiving apparatus (delay due to access control).
- FIG. 20 is a diagram for explaining a detailed example of communication by the in-vehicle communication system 1 according to the second embodiment of the present disclosure.
- the device 304A which is the source device, transmits data to the device 301A , which is the destination device.
- device 304A divides data into four data, Data1 to Data4, and transmits the data.
- the device 304A transmits Data1 of a data size that can be transmitted in one transmission opportunity to its own zone control node 204 , which is an access point.
- the own zone control node 204 transmits the received Data1 to the zone control node 201, which is the access point, at the next timing.
- the other zone control nodes 20 detect that the wired transmission line (Ethernet, for example) is busy and do not transmit data.
- the zone control node 20-1 transmits the received Data1 to the device 30-1A at the next timing.
- device 304A transmits Data2 of a data size that can be transmitted in one transmission opportunity to other zone control node 202 , which is an access point. Send.
- the other zone control node 20-2 transmits the received Data1 to the zone control node 20-1 at the next timing.
- other zone control nodes 20 detect that the wired transmission line is busy and do not transmit data.
- the zone control node 20-1 transmits the received Data2 to the device 30-1A at the next timing.
- zone control node 20-2 transmits Data 2 to zone control node 20-1
- device 30-4A transmits Data 3 of a data size that can be transmitted in one transmission opportunity to other zone control node 20-3 , which is an access point. Send.
- the other zone control node 20-3 transmits the received Data3 to the zone control node 20-1 at the next timing.
- other zone control nodes 20 detect that the wired transmission line is busy and do not transmit data.
- the zone control node 20-1 transmits the received Data3 to the device 30-1A at the next timing.
- Device 304A transmits Data4 of a data size that can be transmitted in one transmission opportunity to its own zone control node 204.
- the own zone control node 204 transmits the received Data4 to the zone control node 201, which is the access point, at the next timing. At this time, other zone control nodes 20 detect that the wired transmission line is busy and do not transmit data.
- the zone control node 20-1 transmits the received Data4 to the device 30-1A at the next timing.
- the device 30 4A transmits Data1 to Data4 via its own zone control node 20 4 and the other zone control nodes 20 2 and 20 3 , so that the zone control node 20 1 and the device 30 1A can continuously can receive Data1 to Data4.
- the device 301A can receive all Data1 to Data4 with a shorter transmission delay time.
- FIG. 21 is a flowchart showing the flow of transmission processing according to the second embodiment of the present disclosure.
- the same reference numerals are assigned to the same processes as the transmission process shown in FIG. 13, and the description thereof is omitted.
- the transmission device that added the access delay information to the delay parameter (delay information) in step S113 shown in FIG. 21 determines whether or not the adjacent zone can be used (step S301). For example, if the transmitting device has permission from its own zone control node 20, it determines that the adjacent zone can be used.
- step S301 If the adjacent zone cannot be used (step S301; No), the transmitting device returns to step S116 and waits for the arrival of the transmission timing at which data can be transmitted to its own zone control node 20.
- the transmitting device acquires adjacent zone information from its own zone control node 20 (step S302).
- the transmitting device acquires, for example, information about other zone control nodes 20 with which communication is possible, information about transmission power, and the like.
- the transmitting device determines whether or not it is possible to transmit to the adjacent zone (step S303). For example, if the transmitting device cannot acquire the access right from the other zone control node 20 in the adjacent zone, or if it cannot transmit with the transmission power acquired in step S302, it determines that it cannot transmit to the adjacent zone.
- step S303 If it is not possible to transmit to the adjacent zone (step S303; No), the transmitting device returns to step S116 and waits for the arrival of the transmission timing at which data can be transmitted to its own zone control node 20.
- step S303 If transmission to the adjacent zone is permitted (step S303; Yes), the transmitting device transmits data to the adjacent zone (step S304), and proceeds to step S111.
- reception process is the same as the process shown in FIG. 14, so the description is omitted.
- the wireless communication unit 120 (an example of the communication unit) of the device 30 according to the first embodiment of the present disclosure is the other zone control node 20 (an example of the second zone control node), and the wireless communication unit 120 and data is transmitted via the other zone control node 20 that can communicate with it.
- the device 30 can further reduce the transmission delay due to access control.
- the device 30 operating as a transmitting device transmits data to the receiving device
- the data is transmitted via the other node control zone 20
- the present invention is not limited to this.
- the device 30 operating as a receiving device may receive data via the other node control zone 20 when receiving data.
- the other node control zone 20 uses management information managed by itself to transfer data to the device 30 in another zone capable of wireless communication.
- the other node control zones 20 2 and 20 3 transfer data to the receiving device (device 30 1A ) via the zone control node 20 1 (see FIGS. 18 and 19), but this is not the case. not.
- the device 30-3A operating as a transmitter is capable of direct wireless communication with the zone control node 201
- the device 30-3A may directly transmit data to the node control zone 20-1 .
- the node control zone 20-1 that has received the data from the device 30-3A transmits the data to the device 30-1A belonging to its own zone.
- the technology (the present technology) according to the present disclosure can be applied to various products.
- the technology according to the present disclosure can be realized as a device mounted on any type of moving body such as automobiles, electric vehicles, hybrid electric vehicles, motorcycles, bicycles, personal mobility, airplanes, drones, ships, and robots. may
- FIG. 22 is a block diagram showing a schematic configuration example of a vehicle control system 7000, which is an example of a mobile control system to which the technology according to the present disclosure can be applied.
- Vehicle control system 7000 comprises a plurality of electronic control units connected via communication network 7010 .
- the vehicle control system 7000 includes a drive system control unit 7100, a body system control unit 7200, a battery control unit 7300, an outside information detection unit 7400, an inside information detection unit 7500, and an integrated control unit 7600.
- the communication network 7010 that connects these multiple control units conforms to any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), or FlexRay (registered trademark). It may be an in-vehicle communication network.
- Each control unit includes a microcomputer that performs arithmetic processing according to various programs, a storage unit that stores programs executed by the microcomputer or parameters used in various calculations, and a drive circuit that drives various devices to be controlled. Prepare.
- Each control unit has a network I/F for communicating with other control units via a communication network 7010, and communicates with devices or sensors inside and outside the vehicle by wired communication or wireless communication. A communication I/F for communication is provided. In FIG.
- the functional configuration of the integrated control unit 7600 includes a microcomputer 7610, a general-purpose communication I/F 7620, a dedicated communication I/F 7630, a positioning unit 7640, a beacon receiving unit 7650, an in-vehicle equipment I/F 7660, an audio image output unit 7670, An in-vehicle network I/F 7680 and a storage unit 7690 are shown.
- Other control units are similarly provided with microcomputers, communication I/Fs, storage units, and the like.
- the drive system control unit 7100 controls the operation of devices related to the drive system of the vehicle according to various programs.
- the driving system control unit 7100 includes a driving force generator for generating driving force of the vehicle such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to the wheels, and a steering angle of the vehicle. It functions as a control device such as a steering mechanism to adjust and a brake device to generate braking force of the vehicle.
- the drive system control unit 7100 may have a function as a control device such as ABS (Antilock Brake System) or ESC (Electronic Stability Control).
- a vehicle state detection section 7110 is connected to the drive system control unit 7100 .
- the vehicle state detection unit 7110 includes, for example, a gyro sensor that detects the angular velocity of the axial rotation motion of the vehicle body, an acceleration sensor that detects the acceleration of the vehicle, or an accelerator pedal operation amount, a brake pedal operation amount, and a steering wheel steering. At least one of sensors for detecting angle, engine speed or wheel rotation speed is included.
- Drive system control unit 7100 performs arithmetic processing using signals input from vehicle state detection unit 7110, and controls the internal combustion engine, drive motor, electric power steering device, brake device, and the like.
- the body system control unit 7200 controls the operation of various devices equipped on the vehicle body according to various programs.
- the body system control unit 7200 functions as a keyless entry system, a smart key system, a power window device, or a control device for various lamps such as headlamps, back lamps, brake lamps, winkers or fog lamps.
- body system control unit 7200 can receive radio waves transmitted from a portable device that substitutes for a key or signals from various switches.
- Body system control unit 7200 receives the input of these radio waves or signals and controls the door lock device, power window device, lamps, etc. of the vehicle.
- the battery control unit 7300 controls the secondary battery 7310, which is the power supply source for the driving motor, according to various programs. For example, the battery control unit 7300 receives information such as battery temperature, battery output voltage, or remaining battery capacity from a battery device including a secondary battery 7310 . The battery control unit 7300 performs arithmetic processing using these signals, and performs temperature adjustment control of the secondary battery 7310 or control of a cooling device provided in the battery device.
- the vehicle exterior information detection unit 7400 detects information outside the vehicle in which the vehicle control system 7000 is installed.
- the imaging section 7410 and the vehicle exterior information detection section 7420 is connected to the vehicle exterior information detection unit 7400 .
- the imaging unit 7410 includes at least one of a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, and other cameras.
- the vehicle exterior information detection unit 7420 includes, for example, an environment sensor for detecting the current weather or weather, or a sensor for detecting other vehicles, obstacles, pedestrians, etc. around the vehicle equipped with the vehicle control system 7000. ambient information detection sensor.
- the environment sensor may be, for example, at least one of a raindrop sensor that detects rainy weather, a fog sensor that detects fog, a sunshine sensor that detects the degree of sunshine, and a snow sensor that detects snowfall.
- the ambient information detection sensor may be at least one of an ultrasonic sensor, a radar device, and a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) device.
- LIDAR Light Detection and Ranging, Laser Imaging Detection and Ranging
- These imaging unit 7410 and vehicle exterior information detection unit 7420 may be provided as independent sensors or devices, or may be provided as a device in which a plurality of sensors or devices are integrated.
- FIG. 23 shows an example of the installation positions of the imaging unit 7410 and the vehicle exterior information detection unit 7420.
- the imaging units 7910 , 7912 , 7914 , 7916 , and 7918 are provided, for example, at least one of the front nose, side mirrors, rear bumper, back door, and windshield of the vehicle 7900 .
- An image pickup unit 7910 provided in the front nose and an image pickup unit 7918 provided above the windshield in the vehicle interior mainly acquire an image in front of the vehicle 7900 .
- Imaging units 7912 and 7914 provided in the side mirrors mainly acquire side images of the vehicle 7900 .
- An imaging unit 7916 provided in the rear bumper or back door mainly acquires an image behind the vehicle 7900 .
- An imaging unit 7918 provided above the windshield in the passenger compartment is mainly used for detecting preceding vehicles, pedestrians, obstacles, traffic lights, traffic signs, lanes, and the like.
- FIG. 23 shows an example of the imaging range of each of the imaging units 7910, 7912, 7914, and 7916.
- the imaging range a indicates the imaging range of the imaging unit 7910 provided in the front nose
- the imaging ranges b and c indicate the imaging ranges of the imaging units 7912 and 7914 provided in the side mirrors, respectively
- the imaging range d is The imaging range of an imaging unit 7916 provided on the rear bumper or back door is shown. For example, by superimposing the image data captured by the imaging units 7910, 7912, 7914, and 7916, a bird's-eye view image of the vehicle 7900 viewed from above can be obtained.
- the outside information detectors 7920, 7922, 7924, 7926, 7928, and 7930 provided on the front, rear, sides, corners, and inside the windshield of the vehicle 7900 may be, for example, ultrasonic sensors or radar devices.
- the exterior information detectors 7920, 7926, and 7930 provided above the front nose, rear bumper, back door, and windshield of the vehicle 7900 may be LIDAR devices, for example.
- These vehicle exterior information detection units 7920 to 7930 are mainly used to detect preceding vehicles, pedestrians, obstacles, and the like.
- the vehicle exterior information detection unit 7400 causes the imaging section 7410 to capture an image of the exterior of the vehicle, and receives the captured image data.
- the vehicle exterior information detection unit 7400 also receives detection information from the vehicle exterior information detection unit 7420 connected thereto.
- the vehicle exterior information detection unit 7420 is an ultrasonic sensor, a radar device, or a LIDAR device
- the vehicle exterior information detection unit 7400 emits ultrasonic waves, electromagnetic waves, or the like, and receives reflected wave information.
- the vehicle exterior information detection unit 7400 may perform object detection processing or distance detection processing such as people, vehicles, obstacles, signs, or characters on the road surface based on the received information.
- the vehicle exterior information detection unit 7400 may perform environment recognition processing for recognizing rainfall, fog, road surface conditions, etc., based on the received information.
- the vehicle exterior information detection unit 7400 may calculate the distance to the vehicle exterior object based on the received information.
- the vehicle exterior information detection unit 7400 may perform image recognition processing or distance detection processing for recognizing people, vehicles, obstacles, signs, characters on the road surface, etc., based on the received image data.
- the vehicle exterior information detection unit 7400 performs processing such as distortion correction or alignment on the received image data, and synthesizes image data captured by different imaging units 7410 to generate a bird's-eye view image or a panoramic image. good too.
- the vehicle exterior information detection unit 7400 may perform viewpoint conversion processing using image data captured by different imaging units 7410 .
- the in-vehicle information detection unit 7500 detects in-vehicle information.
- the in-vehicle information detection unit 7500 is connected to, for example, a driver state detection section 7510 that detects the state of the driver.
- the driver state detection unit 7510 may include a camera that captures an image of the driver, a biosensor that detects the biometric information of the driver, a microphone that picks up the sound inside the vehicle, or the like.
- a biosensor is provided, for example, on a seat surface, a steering wheel, or the like, and detects biometric information of a passenger sitting on a seat or a driver holding a steering wheel.
- the in-vehicle information detection unit 7500 may calculate the degree of fatigue or concentration of the driver based on the detection information input from the driver state detection unit 7510, and determine whether the driver is dozing off. You may The in-vehicle information detection unit 7500 may perform processing such as noise canceling processing on the collected sound signal.
- the integrated control unit 7600 controls overall operations within the vehicle control system 7000 according to various programs.
- An input section 7800 is connected to the integrated control unit 7600 .
- the input unit 7800 is realized by a device that can be input-operated by the passenger, such as a touch panel, button, microphone, switch or lever.
- the integrated control unit 7600 may be input with data obtained by recognizing voice input by a microphone.
- the input unit 7800 may be, for example, a remote control device using infrared rays or other radio waves, or may be an externally connected device such as a mobile phone or PDA (Personal Digital Assistant) corresponding to the operation of the vehicle control system 7000.
- PDA Personal Digital Assistant
- the input unit 7800 may be, for example, a camera, in which case the passenger can input information through gestures.
- the input section 7800 may include an input control circuit that generates an input signal based on information input by the passenger or the like using the input section 7800 and outputs the signal to the integrated control unit 7600, for example.
- a passenger or the like operates the input unit 7800 to input various data to the vehicle control system 7000 and instruct processing operations.
- the storage unit 7690 may include a ROM (Read Only Memory) that stores various programs executed by the microcomputer, and a RAM (Random Access Memory) that stores various parameters, calculation results, sensor values, and the like. Also, the storage unit 7690 may be realized by a magnetic storage device such as a HDD (Hard Disc Drive), a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like.
- ROM Read Only Memory
- RAM Random Access Memory
- the storage unit 7690 may be realized by a magnetic storage device such as a HDD (Hard Disc Drive), a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like.
- the general-purpose communication I/F 7620 is a general-purpose communication I/F that mediates communication between various devices existing in the external environment 7750.
- General-purpose communication I/F 7620 is a cellular communication protocol such as GSM (registered trademark) (Global System of Mobile communications), WiMAX (registered trademark), LTE (registered trademark) (Long Term Evolution) or LTE-A (LTE-Advanced) , or other wireless communication protocols such as wireless LAN (also referred to as Wi-Fi®), Bluetooth®, and the like.
- General-purpose communication I / F 7620 for example, via a base station or access point, external network (e.g., Internet, cloud network or operator-specific network) equipment (e.g., application server or control server) connected to You may
- external network e.g., Internet, cloud network or operator-specific network
- equipment e.g., application server or control server
- the general-purpose communication I/F 7620 uses, for example, P2P (Peer To Peer) technology to connect terminals (for example, terminals of drivers, pedestrians, stores, or MTC (Machine Type Communication) terminals) near the vehicle. may be connected with P2P (Peer To Peer) technology to connect terminals (for example, terminals of drivers, pedestrians, stores, or MTC (Machine Type Communication) terminals) near the vehicle.
- P2P Peer To Peer
- MTC Machine Type Communication
- the dedicated communication I/F 7630 is a communication I/F that supports a communication protocol designed for use in vehicles.
- the dedicated communication I/F 7630 uses standard protocols such as WAVE (Wireless Access in Vehicle Environment), DSRC (Dedicated Short Range Communications), which is a combination of lower layer IEEE 802.11p and higher layer IEEE 1609, or cellular communication protocol. May be implemented.
- the dedicated communication I/F 7630 is typically used for vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-home communication, and vehicle-to-pedestrian communication. ) perform V2X communication, which is a concept involving one or more of the communications.
- the positioning unit 7640 receives GNSS signals from GNSS (Global Navigation Satellite System) satellites (for example, GPS signals from GPS (Global Positioning System) satellites), performs positioning, and obtains the latitude, longitude, and altitude of the vehicle. Generate location information containing Note that the positioning unit 7640 may specify the current position by exchanging signals with a wireless access point, or may acquire position information from a terminal such as a mobile phone, PHS, or smart phone having a positioning function.
- GNSS Global Navigation Satellite System
- GPS Global Positioning System
- the beacon receiving unit 7650 receives, for example, radio waves or electromagnetic waves transmitted from wireless stations installed on the road, and acquires information such as the current position, traffic jams, road closures, or required time. Note that the function of the beacon reception unit 7650 may be included in the dedicated communication I/F 7630 described above.
- the in-vehicle device I/F 7660 is a communication interface that mediates connections between the microcomputer 7610 and various in-vehicle devices 7760 present in the vehicle.
- the in-vehicle device I/F 7660 may establish a wireless connection using a wireless communication protocol such as wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), or WUSB (Wireless USB).
- a wireless communication protocol such as wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), or WUSB (Wireless USB).
- the in-vehicle device I/F 7660 is connected via a connection terminal (and cable if necessary) not shown, USB (Universal Serial Bus), HDMI (registered trademark) (High-Definition Multimedia Interface, or MHL (Mobile High -definition Link), etc.
- In-vehicle equipment 7760 includes, for example, at least one of mobile equipment or wearable equipment possessed by passengers, or information equipment carried in or attached to the vehicle. In-vehicle equipment 7760 may also include a navigation device that searches for a route to an arbitrary destination. or exchange data signals.
- the in-vehicle network I/F 7680 is an interface that mediates communication between the microcomputer 7610 and the communication network 7010. In-vehicle network I/F 7680 transmits and receives signals and the like according to a predetermined protocol supported by communication network 7010 .
- the microcomputer 7610 of the integrated control unit 7600 uses at least one of a general-purpose communication I/F 7620, a dedicated communication I/F 7630, a positioning unit 7640, a beacon receiving unit 7650, an in-vehicle device I/F 7660, and an in-vehicle network I/F 7680.
- the vehicle control system 7000 is controlled according to various programs on the basis of the information acquired by. For example, the microcomputer 7610 calculates control target values for the driving force generator, steering mechanism, or braking device based on acquired information on the inside and outside of the vehicle, and outputs a control command to the drive system control unit 7100. good too.
- the microcomputer 7610 realizes the functions of ADAS (Advanced Driver Assistance System) including collision avoidance or shock mitigation, follow-up driving based on inter-vehicle distance, vehicle speed maintenance driving, vehicle collision warning, or vehicle lane deviation warning. Cooperative control may be performed for the purpose of In addition, the microcomputer 7610 controls the driving force generator, the steering mechanism, the braking device, etc. based on the acquired information about the surroundings of the vehicle, thereby autonomously traveling without depending on the operation of the driver. Cooperative control may be performed for the purpose of driving or the like.
- ADAS Advanced Driver Assistance System
- Microcomputer 7610 receives information obtained through at least one of general-purpose communication I/F 7620, dedicated communication I/F 7630, positioning unit 7640, beacon receiving unit 7650, in-vehicle device I/F 7660, and in-vehicle network I/F 7680. Based on this, three-dimensional distance information between the vehicle and surrounding objects such as structures and people may be generated, and local map information including the surrounding information of the current position of the vehicle may be created. Further, based on the acquired information, the microcomputer 7610 may predict dangers such as vehicle collisions, pedestrians approaching or entering closed roads, and generate warning signals.
- the warning signal may be, for example, a signal for generating a warning sound or lighting a warning lamp.
- the audio/image output unit 7670 transmits at least one of audio and/or image output signals to an output device capable of visually or audibly notifying the passengers of the vehicle or the outside of the vehicle.
- an audio speaker 7710, a display section 7720, and an instrument panel 7730 are illustrated as output devices.
- Display 7720 may include, for example, at least one of an on-board display and a head-up display.
- the display unit 7720 may have an AR (Augmented Reality) display function.
- the output device may be headphones, a wearable device such as an eyeglass-type display worn by a passenger, or other devices such as a projector or a lamp.
- the display device displays the results obtained by various processes performed by the microcomputer 7610 or information received from other control units in various formats such as text, images, tables, and graphs. Display visually.
- the voice output device converts an audio signal including reproduced voice data or acoustic data into an analog signal and outputs the analog signal audibly.
- At least two control units connected via the communication network 7010 may be integrated as one control unit.
- an individual control unit may be composed of multiple control units.
- vehicle control system 7000 may comprise other control units not shown.
- some or all of the functions that any control unit has may be provided to another control unit. In other words, as long as information is transmitted and received via the communication network 7010, the predetermined arithmetic processing may be performed by any one of the control units.
- sensors or devices connected to any control unit may be connected to other control units, and multiple control units may send and receive detection information to and from each other via communication network 7010. .
- a computer program for realizing each function of the in-vehicle communication device 100 according to the present embodiment described using FIG. 5 can be implemented in any control unit or the like. It is also possible to provide a computer-readable recording medium storing such a computer program.
- the recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like.
- the above computer program may be distributed, for example, via a network without using a recording medium.
- the in-vehicle communication system 1 can be applied to the vehicle control system 7000 of the application example shown in FIG.
- the central control node 10 of the in-vehicle communication system 1 corresponds to the integrated control unit 7600 .
- the device 30 corresponds to each unit, each part, the in-vehicle device 7760, and the like.
- the zone control node 20 corresponds to a relay device (not shown) that relays communication of the device 30 in the communication network 7010 .
- each zone control node 20 may independently control communication.
- the communication between the central control node 10 and the zone control nodes 20 is wire communication, but it is not limited to this. Communication between the central control node 10 and the zone control nodes 20 may be wireless communication, or may be both wired and wireless communication. Also, although the communication between the zone control node 20 and the device 30 is wireless communication, it is not limited to this. Communication between the zone control node 20 and the device 30 may be wired communication, or both wired and wireless communication.
- the data transmitted by the device 30 is the image captured by the camera, but it is not limited to this.
- the data transmitted by the device 30 may include various information such as depth images, audio information, temperature inside the vehicle C, and the like.
- each step in the processing executed by each device in this specification does not necessarily have to be processed in chronological order according to the order described in the drawings.
- each step in the processing executed by each device may be processed in an order different from that shown in the drawings, or may be processed in parallel.
- the present technology can also take the following configuration.
- a communication unit that wirelessly communicates with a first zone control node arranged in a first zone among a plurality of zones into which the vehicle is divided, and that transmits first data to a receiving device via the first zone control node; , a control unit for adding synthesis information to the first data for use when the receiving device synthesizes the first data and other data; In-vehicle communication device.
- the communication unit transmits a maximum transmission amount of the first data in one transmission opportunity when an access right is acquired.
- the communication unit is a second zone control node located in a second zone different from the first zone to which the device belongs, and is capable of wirelessly communicating with the communication unit. transmitting the first data;
- the control unit divides the first data into a plurality of divided data when the data amount of the first data is larger than the maximum transmission amount in one transmission opportunity acquired by the communication unit;
- the communication unit transmits the divided data via the second zone control node.
- the first data is data collected in the first zone,
- the synthesis information includes information indicating that the first data is synthesized with the other data collected in a second zone different from the first zone, and the first data and the other data.
- the in-vehicle communication device according to any one of (1) to (6), including at least one piece of information indicating an output timing of synthesized synthesized data.
- An in-vehicle communication device arranged in a first zone among a plurality of divided zones in a vehicle, a communication unit that performs wireless communication with a first communication device belonging to the first zone and transfers first data transmitted by the first communication device to a receiving device; a control unit for adding synthesis information to the first data for use when the receiving device synthesizes the first data and other data; In-vehicle communication device.
- the combined information includes at least one of information indicating that an access control delay has occurred and information indicating a delay amount caused by the access control delay.
- (10) wherein the communication unit performs wireless communication with a second communication device belonging to a second zone different from the first zone, and transfers second data transmitted by the second communication device to the receiving device;
- (11) any one of (8) to (10), wherein the communication unit transfers transfer data received from a zone control node in a zone different from the first zone to the receiving device belonging to the first zone; An in-vehicle communication device as described.
- a communication unit that performs wireless communication with a first zone control node arranged in a first zone among a plurality of zones obtained by dividing the interior of the vehicle, and receives first data from a transmission device via the first zone control node; Synthesis information included in header information added to the first data, using the synthesis information for synthesizing the first data and the other data, the first data and the other data. and a control unit for synthesizing In-vehicle communication device. (16) The in-vehicle communication device according to (15), wherein the control unit traces back timing according to the delay information and synthesizes the data with the other data based on the delay information related to the access control delay included in the synthesis information.
- control unit outputs synthesized data obtained by synthesizing the first data and the other data by the output timing based on timing information about output timing included in the synthesis information;
- An in-vehicle communication device as described. (18) Equipped with a transmitting device and a receiving device belonging to any one of a plurality of divided zones in the vehicle, The transmitting device a communication unit that performs wireless communication with a first zone control node located in the zone to which the transmitting device belongs, and transmits first data to the receiving device via the first zone control node; a control unit for adding synthesis information to the first data for use when the receiving device synthesizes the first data and other data; with The receiving device a communication unit that performs wireless communication with a second zone control node located in the zone to which the receiving device belongs, and receives the first data from the transmitting device via the second zone control node; a control unit that synthesizes the first data and the other data using the synthesis information; in-vehicle communication system.
- In-Vehicle Communication System 10 Central Control Node 20 Zone Control Node 30 Device 100 In-Vehicle Communication Device 110 Antenna Section 120 Wireless Communication Section 130 Network Communication Section 140 Storage Section 150 Control Section
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Abstract
Description
<1.1.ゾーンアーキテクチャ>
上述したように、近年、Intra-vehicle通信において、ゾーンアーキテクチャと呼ばれる技術が注目されている。
<2.1.車載通信システムの構成例>
図3は、本開示の実施形態に係る車載通信システム1の概略的な構成の一例を示す図である。図3に示すように、本実施形態に係る車載通信システム1は、車両C内に設けられる。車載通信システム1は、中央制御ノード10と、ゾーン制御ノード20と、デバイス30と、を含む。
図5は、本開示の実施形態に係る車載通信装置100の構成の一例を示すブロック図である。車載通信装置100は、車載通信システム1の各ノードやデバイス30として機能する。図5を参照すると、車載通信装置100は、アンテナ部110、無線通信部120、ネットワーク通信部130、記憶部140、及び、制御部150を備える。
アンテナ部110は、無線通信部120により出力される信号を電波として空間に放射する。また、アンテナ部110は、空間の電波を信号に変換し、当該信号を無線通信部120へ出力する。なお、本実施形態のアンテナ部110は、複数のアンテナ素子を有し、ビームを形成し得る。
無線通信部120は、信号を送受信する。例えば、無線通信部120は、他の装置に信号を送信し、他の装置から信号を受信する。無線通信部120は、アンテナ部110により複数のビームを形成して通信し得る。
ネットワーク通信部130は、情報を送受信する。例えば、ネットワーク通信部130は、他の車載通信装置100へ情報を送信し、他の車載通信装置からの情報を受信する。例えば、車載通信装置100が中央制御ノード10として機能する場合、ネットワーク通信部130は、基幹ケーブルを介してゾーン制御ノード20と通信する。車載通信装置100がゾーン制御ノード20として機能する場合、ネットワーク通信部130は、中央制御ノード10や他のゾーン制御ノード20と通信する。
記憶部140は、車載通信装置100の動作のためのプログラム及び様々なデータを一時的に又は恒久的に記憶する。
制御部150は、車載通信装置100の各部を制御するコントローラである。制御部150は、例えば、CPU、MPU等のプロセッサにより実現される。例えば、制御部150は、車載通信装置100内部の記憶装置に記憶されている各種プログラムを、プロセッサがRAM等を作業領域として実行することにより実現される。なお、制御部150は、ASICやFPGA等の集積回路により実現されてもよい。CPU、MPU、ASIC、及びFPGAは何れもコントローラとみなすことができる。
図6~図8は、アクセス制御によって生じる問題点を説明するための図である。図6に示すように、ゾーン#1~#4に属するデバイス301~304は、それぞれ同じタイミングで車両Cの周辺をキャプチャ(撮像)し、例えば、中央制御ノード10に送信する。デバイス301~304は、所定周期で撮像を行い、撮像画像を中央制御ノード10に送信する。図6では、デバイス301~304は、Time 1からTime 4までで4回の撮像を行い、撮像画像を中央制御ノード10に送信する。
そこで、本開示の第1実施形態に係る車載通信システム1では、例えば、送信装置(例えば、デバイス30)は、複数のデータ(例えば撮像画像)を受信装置(例えば中央制御ノード10)が合成するための合成情報を、データに付して送信する。
図10は、本開示の第1実施形態に係る合成情報の一例を示す図である。図10に示す例では、合成情報が送信データのヘッダに付加される場合について示している。
・受信側で合成処理を行うデータであることを示す合成処理情報(Rx Combine)
・データを出力するタイミングに関する出力タイミング情報(Output Time)
・アクセス制御遅延に関する遅延情報(Delay Times)
・短いトレーニングフィールドL-STF
・長いトレーニングフィールドL-LTF
・シグナルフィールドL-SIG
・繰り返しシグナルフィールドRL-SIG
・第1のシグナルフィールドEXHT-SIG-A
・短いトレーニングフィールドEXHT-STF
・長いトレーニングフィールドEXHT-LTF
・第1のシグナルフィールドEXHT-SIG-B
<2.6.1.送信処理>
図13は、本開示の第1実施形態に係る送信処理の流れを示すフローチャートである。図13に示す送信処理は、送信装置によって実行される。
図14は、本開示の第1実施形態に係る受信処理の流れを示すフローチャートである。図14に示す受信処理は、受信装置によって実行される。
本開示の車載通信システム1は、有線伝送路及び無線伝送路を含んで構成される。このとき、無線伝送路で発生するアクセス制御遅延の影響で、送信データのアクセス制御遅延が大きくなる場合がある。無線伝送路は、有線伝送路と比較して、通信容量が小さく通信も安定しない傾向がある。そのため、有線伝送路と比較して、無線伝送路で発生するアクセス制御遅延が大きくなってしまう場合がある。
本開示に係る技術(本技術)は、様々な製品へ応用することができる。例えば、本開示に係る技術は、自動車、電気自動車、ハイブリッド電気自動車、自動二輪車、自転車、パーソナルモビリティ、飛行機、ドローン、船舶、ロボット等のいずれかの種類の移動体に搭載される装置として実現されてもよい。
なお、上述した各実施形態では、通信の制御を中央制御ノード10が行うとしたが、これに限定されない。例えば、通信の制御を各ゾーン制御ノード20が自立して行うようにしてもよい。
本明細書の各装置が実行する処理における各ステップは、必ずしも図面に記載された順序に沿って時系列に処理する必要はない。例えば、各装置が実行する処理における各ステップは、図面に記載した順序と異なる順序で処理されても、並列的に処理されてもよい。
(1)
車両内を複数に分割したゾーンのうち第1ゾーンに配置される第1ゾーン制御ノードと無線通信を行い、前記第1ゾーン制御ノードを介して受信装置に第1データの送信を行う通信部と、
前記第1データと他のデータとを前記受信装置が合成する場合に使用するための合成情報を前記第1データに付加する制御部と、
を備える車載通信装置。
(2)
前記通信部は、アクセス権を獲得した場合に、1回の送信機会において最大の送信量の前記第1データを送信する、(1)に記載の車載通信装置。
(3)
前記通信部は、自装置が属する前記第1ゾーンとは異なる第2ゾーンに配置される第2ゾーン制御ノードであって、前記通信部と無線通信可能な前記第2ゾーン制御ノードを介して、前記第1データを送信する、
(1)又は(2)に記載の車載通信装置。
(4)
前記制御部は、前記第1データのデータ量が、前記通信部が獲得した1回の送信機会における最大の送信量より大きい場合、前記第1データを複数の分割データに分割し、
前記通信部は、前記第2ゾーン制御ノードを介して、前記分割データを送信する、
(3)に記載の車載通信装置。
(5)
前記通信部は、前記第2ゾーン制御ノードに応じて送信電力又は受信電力を制御する、 (3)又は(4)に記載の車載通信装置。
(6)
前記合成情報は、アクセス制御遅延が生じたことを示す情報、及び、前記アクセス制御遅延により発生した遅延量を示す情報の少なくとも1つを含む、(1)~(5)のいずれか1つに記載の車載通信装置。
(7)
前記第1データは、前記第1ゾーンで収集されたデータであって、
前記合成情報は、前記第1データが前記第1ゾーンとは異なる第2ゾーンで収集された前記他のデータと合成されることを示す情報、及び、前記第1データ及び前記他のデータとを合成した合成データの出力タイミングを示す情報の少なくとも1つを含む、(1)~(6)のいずれか1つに記載の車載通信装置。
(8)
車両内を複数に分割したゾーンのうち第1ゾーンに配置される車載通信装置であって、
前記第1ゾーンに属する第1通信装置と無線通信を行い、前記第1通信装置が送信する第1データを受信装置に転送する通信部と、
前記第1データと他のデータとを前記受信装置が合成する場合に使用するための合成情報を前記第1データに付加する制御部と、
を備える車載通信装置。
(9)
前記合成情報は、アクセス制御遅延が生じたことを示す情報、及び、前記アクセス制御遅延により発生した遅延量を示す情報の少なくとも1つを含む、(8)に記載の車載通信装置。
(10)
前記通信部は、前記第1ゾーンとは異なる第2ゾーンに属する第2通信装置と無線通信を行い、前記第2通信装置が送信する第2データを前記受信装置に転送する、(8)又は(9)に記載の車載通信装置。
(11)
前記通信部は、前記第1ゾーンとは異なるゾーンのゾーン制御ノードから受信した転送データを、前記第1ゾーンに属する前記受信装置に転送する、(8)~(10)のいずれか1つに記載の車載通信装置。
(12)
前記通信部は、前記第1ゾーンとは異なるゾーンに属する前記受信装置に、前記第1ゾーンとは異なるゾーンのゾーン制御ノードから受信した転送データを送信する、(8)~(11)のいずれか1つに記載の車載通信装置。
(13)
前記通信部は、前記第1ゾーンとは異なるゾーンに属する通信装置と無線通信を行う場合、前記通信装置に応じて送信電力又は受信電力を制御する、(8)~(12)のいずれか1つに記載の車載通信装置。
(14)
前記通信部は、前記第1ゾーンとは異なるゾーンに属する通信装置から受信した転送データを、前記第1ゾーンに属する前記受信装置に転送する、(8)~(13)のいずれか1つに記載の車載通信装置。
(15)
車両内を複数に分割したゾーンのうち第1ゾーンに配置される第1ゾーン制御ノードと無線通信を行い、前記第1ゾーン制御ノードを介して送信装置から第1データを受信する通信部と、
前記第1データに付加されたヘッダ情報に含まれる合成情報であって、前記第1データと他のデータとを合成するための前記合成情報を使用して、前記第1データと前記他のデータとを合成する制御部と、
を備える車載通信装置。
(16)
前記制御部は、前記合成情報に含まれるアクセス制御遅延に関する遅延情報に基づき、前記遅延情報に応じたタイミングを遡って前記他のデータと合成する、(15)に記載の車載通信装置。
(17)
前記制御部は、前記合成情報に含まれる出力タイミングに関するタイミング情報に基づき、前記出力タイミングまでに前記第1データ及び前記他のデータを合成した合成データを出力する、(15)又は(16)に記載の車載通信装置。
(18)
車両内を複数に分割したゾーンのいずれか1つに属する送信装置及び受信装置を備え、
前記送信装置は、
前記送信装置が属する前記ゾーンに配置される第1ゾーン制御ノードと無線通信を行い、前記第1ゾーン制御ノードを介して前記受信装置に第1データの送信を行う通信部と、
前記第1データと他のデータとを前記受信装置が合成する場合に使用するための合成情報を前記第1データに付加する制御部と、
を備え、
前記受信装置は、
前記受信装置が属する前記ゾーンに配置される第2ゾーン制御ノードと無線通信を行い、前記第2ゾーン制御ノードを介して前記送信装置から前記第1データを受信する通信部と、
前記合成情報を使用して、前記第1データと前記他のデータとを合成する制御部と、
を備える車載通信システム。
(19)
車両内を複数に分割したゾーンのうち第1ゾーンに配置される第1ゾーン制御ノードと無線通信を行い、前記第1ゾーン制御ノードを介して受信装置に第1データの送信を行うことと、
前記第1データと他のデータとを前記受信装置が合成する場合に使用するための合成情報を前記第1データに付加することと、
を含む通信方法。
(20)
車両内を複数に分割したゾーンのうち第1ゾーンに配置される車載通信装置の通信方法であって、
前記第1ゾーンに属する第1通信装置と無線通信を行い、前記第1通信装置が送信する第1データを受信装置に転送することと、
前記第1データと他のデータとを前記受信装置が合成する場合に使用するための合成情報を前記第1データに付加することと、
を含む通信方法。
(21)
車両内を複数に分割したゾーンのうち第1ゾーンに配置される第1ゾーン制御ノードと無線通信を行い、前記第1ゾーン制御ノードを介して送信装置から第1データを受信することと、
前記第1データに付加されたヘッダ情報に含まれる合成情報であって、前記第1データと他のデータとを合成するための前記合成情報を使用して、前記第1データと前記他のデータとを合成することと、
を含む通信方法。
10 中央制御ノード
20 ゾーン制御ノード
30 デバイス
100 車載通信装置
110 アンテナ部
120 無線通信部
130 ネットワーク通信部
140 記憶部
150 制御部
Claims (9)
- 車両内を複数に分割したゾーンのうち第1ゾーンに配置される第1ゾーン制御ノードと無線通信を行い、前記第1ゾーン制御ノードを介して受信装置に第1データの送信を行う通信部と、
前記第1データと他のデータとを前記受信装置が合成する場合に使用するための合成情報を前記第1データに付加する制御部と、
を備える車載通信装置。 - 前記通信部は、アクセス権を獲得した場合に、1回の送信機会において最大の送信量の前記第1データを送信する、請求項1に記載の車載通信装置。
- 前記通信部は、自装置が属する前記第1ゾーンとは異なる第2ゾーンに配置される第2ゾーン制御ノードを介して、前記第1データを送信し、
前記第2ゾーン制御ノードは、前記通信部と無線通信可能である、
請求項1に記載の車載通信装置。 - 前記制御部は、前記第1データのデータ量が、前記通信部が獲得した1回の送信機会における最大の送信量より大きい場合、前記第1データを複数の分割データに分割し、
前記通信部は、前記第2ゾーン制御ノードを介して、前記分割データを送信する、
請求項3に記載の車載通信装置。 - 前記通信部は、前記第2ゾーン制御ノードに応じて送信電力又は受信電力を制御する、請求項3に記載の車載通信装置。
- 前記合成情報は、アクセス制御遅延が生じたことを示す情報、及び、前記アクセス制御遅延により発生した遅延量を示す情報の少なくとも1つを含む、請求項1に記載の車載通信装置。
- 前記第1データは、前記第1ゾーンで収集されたデータであり、
前記合成情報は、前記第1データが前記第1ゾーンとは異なる第2ゾーンで収集された前記他のデータと合成されることを示す情報、及び、前記第1データ及び前記他のデータとを合成した合成データの出力タイミングを示す情報の少なくとも1つを含む、請求項1に記載の車載通信装置。 - 車両内を複数に分割したゾーンのいずれか1つに属する送信装置及び受信装置を備え、
前記送信装置は、
前記送信装置が属する前記ゾーンに配置される第1ゾーン制御ノードと無線通信を行い、前記第1ゾーン制御ノードを介して前記受信装置に第1データの送信を行う通信部と、
前記第1データと他のデータとを前記受信装置が合成する場合に使用するための合成情報を前記第1データに付加する制御部と、
を備え、
前記受信装置は、
前記受信装置が属する前記ゾーンに配置される第2ゾーン制御ノードと無線通信を行い、前記第2ゾーン制御ノードを介して前記送信装置から前記第1データを受信する通信部と、
前記合成情報を使用して、前記第1データと前記他のデータとを合成する制御部と、
を備える車載通信システム。 - 車両内を複数に分割したゾーンのうち第1ゾーンに配置される第1ゾーン制御ノードと無線通信を行い、前記第1ゾーン制御ノードを介して受信装置に第1データの送信を行うことと、
前記第1データと他のデータとを前記受信装置が合成する場合に使用するための合成情報を前記第1データに付加することと、
を含む通信方法。
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JP2017215930A (ja) | 2016-06-01 | 2017-12-07 | バイドゥ ユーエスエー エルエルシーBaidu USA LLC | 自律走行車間に車両間通信を提供するためのシステム、および方法 |
JP2018006786A (ja) | 2016-06-27 | 2018-01-11 | 矢崎総業株式会社 | 通信管理装置および通信システム |
JP2020037387A (ja) * | 2018-06-29 | 2020-03-12 | アプティブ・テクノロジーズ・リミテッド | 自動車アプリケーションのための電力およびデータセンタ(PDC:power and data center) |
WO2021020206A1 (ja) * | 2019-07-31 | 2021-02-04 | マツダ株式会社 | 車両制御システム及び車両制御システムの設計方法 |
WO2021095491A1 (ja) * | 2019-11-12 | 2021-05-20 | 株式会社オートネットワーク技術研究所 | 車載中継装置及び情報処理方法 |
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JP2017215930A (ja) | 2016-06-01 | 2017-12-07 | バイドゥ ユーエスエー エルエルシーBaidu USA LLC | 自律走行車間に車両間通信を提供するためのシステム、および方法 |
JP2018006786A (ja) | 2016-06-27 | 2018-01-11 | 矢崎総業株式会社 | 通信管理装置および通信システム |
JP2020037387A (ja) * | 2018-06-29 | 2020-03-12 | アプティブ・テクノロジーズ・リミテッド | 自動車アプリケーションのための電力およびデータセンタ(PDC:power and data center) |
WO2021020206A1 (ja) * | 2019-07-31 | 2021-02-04 | マツダ株式会社 | 車両制御システム及び車両制御システムの設計方法 |
WO2021095491A1 (ja) * | 2019-11-12 | 2021-05-20 | 株式会社オートネットワーク技術研究所 | 車載中継装置及び情報処理方法 |
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