Path setting apparatus, path setting method, and storage medium

A path setting apparatus that sets a path of a mobile body having a plurality of operation modes is provided. The apparatus includes a quality acquisition unit configured to acquire communication qualities at a plurality of geographical locations, and a setting unit configured to set a path of the mobile body so as to pass through an area that satisfies a requirement of communication quality that is determined according to an operation mode of the mobile body.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims priority to and the benefit of Japanese Patent Application No. 2019-067127 filed on Mar. 29, 2019, the entire disclosure of which is incorporated herein by reference.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a path setting apparatus, a path setting method, and a storage medium.

Description of the Related Art

Remote driving techniques, also known as tele-operated driving techniques, in which a vehicle is operated by an operator located in a distant place are known. There is a demand for, in remote driving, sufficiently suppressing a delay in communication between an operator apparatus for an operator that executes remote driving and a user terminal mounted in a vehicle, along with other demands. In Japanese Patent Laid-Open No. 2013-115803, a communication amount is reduced by transmitting difference information of three-dimensional map data of the environment around a vehicle. Even if the amount of communication between an apparatus to be operated and a remote operation apparatus is reduced, the quality of communication between these apparatuses can decrease due to other causes (for example, congestion in the communication system). Depending on communication quality, a vehicle cannot execute a remote driving function and other functions satisfactorily. The same applies to not only vehicles but also other mobile bodies.

SUMMARY OF THE INVENTION

Some aspects of the present invention provide a technique for appropriately setting a path of a mobile body. According to some embodiments, a path setting apparatus that sets a path of a mobile body having a plurality of operation modes, the apparatus comprising: a quality acquisition unit configured to acquire communication qualities at a plurality of geographical locations; and a setting unit configured to set a path of the mobile body so as to pass through an area that satisfies a requirement of communication quality that is determined according to an operation mode of the mobile body is provided.

DESCRIPTION OF THE EMBODIMENTS

A vehicle1includes a vehicle control apparatus2(hereinafter, simply referred to as “control apparatus2”) that controls the vehicle1. The control apparatus2includes a plurality of ECUs20to29that are communicably connected by an in-vehicle network. Each of the ECUs includes a processor represented by a CPU, a memory such as a semiconductor memory, an interface to an external device, and the like. The memory stores programs that are executed by the processor, data that is used by the processor to perform processing, and the like. Each of the ECUs may include a plurality of processors, memories, interfaces, and the like. For example, the ECU20includes a processor20aand a memory20b. Processing that is performed by the ECU20is executed as a result of the processor20aexecuting an instruction included in a program stored in the memory20b. Alternatively, the ECU20may include a dedicated integrated circuit such as an ASIC for executing processing that is performed by the ECU20. The same applies to the other ECUs.

Functions allocated to the (respective) ECUs20to29, and the like will be described below. Note that the number of ECUs and functions allocated to the ECUs can be designed as appropriate, and can be segmentalized further than those in this embodiment, or can be integrated.

The ECU20executes running control related to an automated driving function and a remote driving function of the vehicle1. In this running control, the ECU20automatically controls steering and/or acceleration/deceleration of the vehicle1. The automated driving function is a function of the ECU20planning a running route of the vehicle1, and controlling steering and/or acceleration/deceleration of the vehicle1based on this running route. The remote driving function is a function of the ECU20controlling steering and/or acceleration/deceleration of the vehicle1in accordance with an instruction from an operator outside the vehicle1. The operator outside the vehicle1may be a human or an AI (artificial intelligence). The ECU20can execute the automated driving function and the remote operation function in combination. For example, a configuration may also be adopted in which the ECU20plans a running route and performs running control when there is no instruction from an operator, and when there is an instruction from an operator, performs running control in accordance with the instruction.

The ECU21controls an electronic power steering apparatus3. The electronic power steering apparatus3includes a mechanism for steering front wheels according to a driver's driving operation (steering operation) on a steering wheel31. The electronic power steering apparatus3also includes a motor that exerts drive force for assisting a steering operation and automatically steering the front wheels, a sensor that detects a steering angle, and the like. When the driving state of the vehicle1is an automated driving state, the ECU21automatically controls the electronic power steering apparatus3according to an instruction from the ECU20, and controls the direction of forward movement of the vehicle1.

The ECUs22and23control detection units41to43that detect the situation of the outside of the vehicle, and perform information processing on detection results. Each detection unit41is a camera for shooting an image ahead of the vehicle1(which may hereinafter be referred to as “camera41”), and, in this embodiment, is installed at a roof front part and on an interior side of the front window. By analyzing an image shot by a camera41, it is possible to extract the contour of an object and a demarcation line (white line, for example) of a traffic lane on a road.

Each detection unit42is a LIDAR (Light Detection and Ranging, may hereinafter be referred to as “LIDAR42”), detects an object in the surroundings of the vehicle1, and measures the distance from the object. In this embodiment, five LIDARs42are provided, two of the five LIDARs42being provided at the respective front corners of the vehicle1, one at the rear center, and two on the respective sides at the rear. Each detection unit43is a millimeter-wave radar (which may hereinafter be referred to as “radar43”), detects an object in the surroundings of the vehicle1, and measures the distance from a marker. In this embodiment, five radars43are provided, one of the radars43being provided at the front center of the vehicle1, two at the respective front corners, and two at the rear corners.

The ECU22controls one camera41and the LIDARs42, and performs information processing on their detection results. The ECU23controls the other camera41and the radars43, and performs information processing on their detection results. By providing two sets of apparatuses that detect the surrounding situation of the vehicle, the reliability of detection results can be improved, and by providing detection units of different types such as cameras, LIDARs, and radars, the surrounding environment of the vehicle can be multilaterally analyzed.

The ECU24controls a gyro sensor5, a GPS sensor24b, and a communication apparatus24c, and performs information processing on their detection results or communication results. The gyro sensor5detects rotary movement of the vehicle1. A course of the vehicle1can be determined based on a detection result of the gyro sensor5, a wheel speed, and the like. The GPS sensor24bdetects the current position of the vehicle1. The communication apparatus24cwirelessly communicates with a server that provides map information and traffic information, and acquires such information. The ECU24can access a database24aof map information built in the memory, and the ECU24searches for a route from the current location to a destination, and the like. The ECU24, the map database24a, and the GPS sensor24bconstitute a so-called navigation apparatus.

The ECU25includes a communication apparatus25afor inter-vehicle communication. The communication apparatus25awirelessly communicates with another vehicle in the surroundings thereof, and exchanges information with the vehicle. The communication apparatus25ais also used for communication with an operator outside the vehicle1.

The ECU26controls a power plant6. The power plant6is a mechanism for outputting drive force for rotating the drive wheels of the vehicle1, and includes an engine and a transmission, for example. For example, the ECU26controls output of the engine in accordance with a driver's driving operation (an accelerator operation or an accelerating operation) detected by an operation detection sensor7aprovided on an accelerator pedal7A, and switches the gear stage of the transmission based on information regarding the vehicle speed detected by a vehicle speed sensor7c. When the driving state of the vehicle1is an automated driving state, the ECU26automatically controls the power plant6in accordance with an instruction from the ECU20, and controls the acceleration/deceleration of the vehicle1.

The ECU27controls illumination apparatuses8(lights such as headlights and taillights) that include direction indicators (blinkers). In the example inFIG.1, the illumination apparatuses8are provided on door mirrors, at the front, and at the rear of the vehicle1. The ECU27further controls an acoustic apparatus11that includes a horn and is directed to the outside of the vehicle. The illumination apparatuses8, the acoustic apparatus11, or a combination thereof has a function of providing information to the outside the vehicle1.

The ECU28controls an input/output apparatus9. The input/output apparatus9outputs information to the driver, and receives information from the driver. An audio output apparatus91notifies the driver of information using sound. A display apparatus92notifies the driver of information through image display. The display apparatus92is installed in front of the driver's seat, for example, and constitutes an instrument panel, or the like. Note that, here, sound and display are illustrated, but information may be notified using vibration and light. In addition, information may also be notified using a combination of some of sound, display, vibration, and light. Furthermore, the combination or a notification aspect may be different according to the level of information to be notified (for example, an emergency level). Input apparatuses93are a group of switches arranged at positions so as to enable the driver to perform an operation on the switches to give an instruction to the vehicle1, but may include an audio input apparatus. The ECU28can give guidance related to running control of the ECU20. The guidance will be described later in detail. The input apparatuses93may also include a switch used for controlling an operation of running control by the ECU20. The input apparatuses93may also include a camera for detecting the direction of a line of sight of the driver.

The ECU29controls a brake apparatus10and a parking brake (not illustrated). The brake apparatus10is, for example, a disk brake apparatus, is provided for each of the wheels of the vehicle1, and decelerates or stops the vehicle1by imposing resistance to rotation of the wheels. The ECU29controls activation of the brake apparatus10, for example, in accordance with a driver's driving operation (brake operation) detected by an operation detection sensor7bprovided on a brake pedal7B. When the driving state of the vehicle1is an automated driving state, the ECU29automatically controls the brake apparatus10in accordance with an instruction from the ECU20, and controls deceleration and stop of the vehicle1. The brake apparatus10and the parking brake can also be activated to maintain a stopped state of the vehicle1. In addition, if the transmission of the power plant6includes a parking lock mechanism, this can also be activated in order to maintain a stopped state of the vehicle1.

A configuration of a remote driving apparatus200according to some embodiments of the present invention will be described with reference to the block diagram inFIG.2. The remote driving apparatus200is an apparatus that provides a remote driving service to a vehicle that has a remote driving function. The remote driving apparatus200is positioned at a remote location from a vehicle to which the service is provided.

The remote driving apparatus200may be able to provide the remote driving service in a plurality of operation modes. The plurality of operation modes of the remote driving service may include a leading mode and an assisting mode. The leading mode refers to an operation mode in which the operator of the remote driving apparatus200specifies control amounts (for example, a steering angle, an accelerator pedal position, a brake pedal position, a position of the directional signal lever, and on/off of the lights) of the vehicle. The assisting mode refers to an operation mode in which the vehicle (specifically, the ECU20) determines control amounts of the vehicle in accordance with a path plan specified by the operator of the remote driving apparatus200. In the assisting mode, the operator of the remote driving apparatus200may generate and designate a path plan for themselves, or may adopt and designate a path plan suggested by the vehicle.

The remote driving apparatus200includes constituent elements shown inFIG.2. A processor201controls overall operations of the remote driving apparatus200. The processor201functions as a CPU, for example. A memory202stores programs that are used for operations of the remote driving apparatus200, temporary data, and the like. The memory202is realized by a ROM and a RAM, for example. An input unit203is used by the user of the remote driving apparatus200to perform input to the remote driving apparatus200. When a human operates the remote driving apparatus200, the user of the remote driving apparatus200is this human, and when an AI operates the remote driving apparatus200, the user of the remote driving apparatus200is a human (monitoring person) that monitors operations of the AI. An output unit204is used for outputting information from the remote driving apparatus200to the user. A storage unit205stores data used for operations of the remote driving apparatus200. The storage unit205is realized by a storage apparatus such as a disk drive (for example, an HDD or an SSD). A communication unit206provides a function of the remote driving apparatus200communicating with another apparatus (for example, a vehicle to be remotely driven), and is realized by a network card or an antenna, for example.

A configuration example of the input unit203and the output unit204of the remote driving apparatus200will be described with reference to the schematic diagram inFIG.3. In this configuration example, the output unit204is constituted by a display apparatus310and an acoustic apparatus320, and the input unit203is constituted by a steering wheel330, an accelerator pedal340, a brake pedal350, a microphone360, and a plurality of switches370.

The display apparatus310is an apparatus that outputs visual information for providing the remote driving service. The acoustic apparatus320is an apparatus that outputs audio information for providing the remote driving service. A screen displayed on the display apparatus310includes one main region311and a plurality of sub regions312. Information regarding a vehicle to be controlled from among a plurality of vehicles to which the remote driving service is to be provided is displayed in the main region311. The vehicle to be controlled is a vehicle to which an instruction from the remote driving apparatus200is transmitted. Information regarding a vehicle other than the vehicle to be controlled from among the plurality of vehicles to which the remote driving service is provided is displayed in each of the sub regions312. A vehicle other than the vehicle to be controlled may be called a “vehicle to be monitored”. When one remote driving apparatus200provides the remote driving service to a plurality of vehicles, the operator switches a vehicle displayed on the main region311(i.e., the vehicle to be controlled) as appropriate. Information displayed on the main region311and the sub regions312includes the traffic condition in the surrounding of the vehicle, the speed of the vehicle, and the like.

The steering wheel330is used for controlling the steering amount of the vehicle to be controlled, in the leading mode. The accelerator pedal340is used for controlling the accelerator pedal position of the vehicle to be controlled, in the leading mode. The brake pedal350is used for controlling the brake pedal position of the vehicle to be controlled, in the leading mode. The microphone360is used for inputting audio information. Audio information input to the microphone360is transmitted to the vehicle to be controlled, and is regenerated in the vehicle.

The plurality of switches370are used for inputting various types of instructions for providing the remote driving service. For example, the plurality of switches370include a switch for switching the vehicle to be controlled, a switch for performing an instruction of a determination result of the operator in the assisting mode, a switch for switching a plurality of operation modes, and the like.

The remote driving apparatus200described with reference toFIGS.2and3can provide both the leading mode and the assisting mode. Alternatively, the remote driving apparatus200can provide only one of the leading mode and the assisting mode. When the leading mode is not provided, the steering wheel330, the accelerator pedal340, and the brake pedal350can be omitted. In addition, the remote driving service may be provided by a plurality of remote driving apparatuses200in cooperation. A configuration may be adopted, in this case, a remote driving apparatuses200can take over a vehicle to which the service is to be provided, from another remote driving apparatus200.

An overview of some embodiments of the present invention will be described with reference toFIG.4.FIG.4shows an actual environment in which the vehicle1is present. A destination401of running (moving) is set for the vehicle1. Geographical locations (hereinafter, simply referred to “locations”) included in an area extending from the current position of the vehicle1to the destination401respectively have various communication quality levels. In the embodiment inFIG.4, communication quality is classified into three stages, namely “high quality”, “intermediate quality”, and “low quality”. Communication quality may be determined based on throughput, may be determined based on delay, or may be determined based on a combination of these. Communication quality in an area outside a broken line402inFIG.4is as assumed to be “intermediate quality”, communication quality in the area between the broken line402and a broken line403is as assumed to be “high quality”, and communication quality in the area enclosed by the broken line403is as assumed to be “low quality”.

The vehicle1can execute various functions in addition to the above-described automated driving function and remote driving function. Functions that can be executed by the vehicle1may include, for example, a manual driving function and an IVI (in-vehicle infotainment) function. The manual driving function refers to a function of running the vehicle1as a result of the driver of the vehicle1manually controlling acceleration/deceleration and steering. A driving assist function may be operated in parallel during manual driving. The IVI function refers to a function of providing entertainment-related data such as music and moving images to a vehicle interior. All of the remote driving function, the automated driving function, the manual driving function, and the IVI function are examples of a function that uses communication with an apparatus outside of the vehicle1. For example, in the remote driving function, the vehicle1transmits, to the remote driving apparatus200, data regarding the vehicle and an object in the surroundings of the vehicle, and receives an operation instruction from the remote driving apparatus200. In the automated driving function, the vehicle1receives data regarding an object in the surroundings of the vehicle1from an apparatus installed on infrastructure such as a road monitoring camera. The data from the apparatus installed on infrastructure can also be used in the manual driving function. In the IVI function, data of music and/or moving images is received from an apparatus that provides a distribution service. The vehicle1that is executing an individual function is expressed as “vehicle1in an operation mode for the individual function”. For example, the vehicle1that is executing the remote driving function is expressed as “the vehicle1in a remote driving mode”. In the remote driving mode and an automated driving mode, a passenger (driver) of the vehicle1does not drive the vehicle1. On the other hand, in a manual driving mode, a passenger (driver) of the vehicle1drives the vehicle1.

There are cases where a function that uses communication with an apparatus outside the vehicle cannot operate satisfactorily, depending on the quality of communication between this apparatus and the vehicle1. In view of this, the vehicle1(specifically, the control apparatus2of the vehicle1) sets a path of the vehicle1so as to satisfy a requirement of communication quality. The control apparatus2that executes a path setting operation can be called a “path setting apparatus”. Quality levels required for executing respective functions are managed using a required quality table500shown inFIG.5, for example. The required quality table500is created by a driver, an automobile manufacturer, or the like in advance, and is stored in the memory20bof the vehicle1, for example.

The required quality table500inFIG.5will be described. A column501represents functions that use communication. Required communication quality and essential data items for the remote driving function are different according to the situation of a planned path of the vehicle1and an operation mode, and are thus individually determined for each case. The situation of a planned path of the vehicle1includes a type of road, a type of traffic participant, and a degree of congestion, for example. In the following description, a type of road will be handled as the situation of a planned path. A type of road may be a highway, a toll ordinary road, or an ordinary road. A toll ordinary road may be handled similarly to a highway, and thus an ordinary road and a highway are handled as a type of road. An ordinary road is an example of a road that a pedestrian is allowed to enter, and a highway is an example of a road that a pedestrian is prohibited to enter.

A column502represents communication quality required for executing a function. A column503represents data items essential for executing a function from among data items used for executing the function. A column504represents one or more data items not essential for executing a function (i.e. auxiliary data items) from among data items used for executing the function.

A case will be described in which the remote driving function is executed in the leading mode in a situation in which the vehicle1is running on a highway. Essential data items when the remote driving function is executed in this situation and this operation mode are transmission of information regarding the vehicle itself, transmission of information regarding an object in front of the vehicle, and receiving of an operation instruction. If at least one of these is missing, the vehicle1cannot execute the remote driving function. Auxiliary data items when the remote driving function is executed in this situation and this operation mode are transmission of information regarding objects to the left/right of and behind the vehicle and receiving of data from an infrastructure apparatus. If at least one of these is missing, the vehicle1can execute the remote driving function in a range where such information is not used. For example, without information regarding objects to the left/right of and behind the vehicle, the vehicle1only accepts control of acceleration/deceleration from the operator of the remote driving apparatus200, and performs steering using the automated driving function. When the remote driving function is executed in the leading mode when the vehicle1is running on a highway, there is demand that essential data items can be transmitted with high quality.

A case will be described in which the remote driving function is executed in the leading mode in an environment in which the vehicle1is running on an ordinary road. Unlike a case of a highway, there is the possibility that a pedestrian is present, and thus transmission of information regarding objects to the right/left of and behind the vehicle are set as essential data items. When the remote driving function is executed in the assist mode, there is demand that essential data items can be transmitted with intermediate quality. In the assist mode, it is possible to keep running the vehicle using the automated driving function, and thus delay that is larger than that in the leading mode is allowed in communication between the vehicle1and the remote driving apparatus200.

A case will be described in which the vehicle1executes the automated driving function. In this case, an essential data item is data from infrastructure, and there is demand that this data can be transmitted with intermediate quality. The manual driving function makes it possible to keep running the vehicle without using communication, and thus there is no essential data item, and no required quality is determined accordingly. Essential data items for the IVI function are moving images and music, large delay does not affect running, and thus required quality is low quality.

An overview of a path setting method that is performed by the control apparatus2will be described with reference toFIG.4again. When the vehicle1is in the manual driving mode, required quality of the vehicle1is low quality. Therefore, the control apparatus2sets a path (for example, a path404) without selection of a path being restricted depending on communication quality. The path404passes through an area of high-quality, an area of intermediate quality, and an area of low-quality.

When the vehicle1is in the remote driving mode and the assist mode, required quality of the vehicle1is intermediate quality. Therefore, the control apparatus2sets a path (for example, a path405) so as to not pass through an area of low-quality.

It is assumed that there are a relatively large number of communication apparatuses in the area of high-quality between the broken line402and the broken line403, and if a communication service is provided to a larger number of communication apparatuses than that, there is a risk that the communication quality will decrease. In this case, the control apparatus2of the vehicle1in the manual driving mode may set a path (for example, a path406) so as to not pass through an area in which there is a risk that the quality will decrease. Accordingly, another vehicle can pass through this area in an operation mode in which high-quality communication is required.

An example of a path setting method that is performed by the vehicle1will be described with reference toFIG.6. This method may be performed as a result of a processor (for example, the processor20a) of the vehicle1executing a program stored in a memory (for example, the memory20b). Alternatively, some or all of the processes of the method may be executed by a dedicated circuit such as an ASIC (application specific integrated circuit). In the former case, the processor serves as a constituent element for a specific operation, and, in the latter case, the dedicated circuit serves as a constituent element for a specific operation. The control method inFIG.6is executed, for example, in response to a destination having been set for the vehicle1, and/or in response to the operation mode of the vehicle1having been changed.

In step S601, the vehicle1acquires communication qualities at a plurality of geographical locations in a region that includes the current position and a destination. A communication quality may be a communication quality at a time point when step S601is executed, or a communication quality at a time when the vehicle1is expected to arrive at each position. A communication quality may also be the quality of communication between the vehicle1and a communication partner. If there are different communication partners for respective functions, the vehicle1may acquire a communication quality for each of the communication partners. Alternatively, the vehicle1may acquire the quality of communication between the vehicle1and a serving wireless base station, as a communication quality to be assigned to all of the functions. The vehicle1may transmit/receive test data to/from a communication partner in order to acquire a communication quality, or may specify the communication standard (3G, 4G, 5G, etc.) that is being used by the vehicle1. In addition, the vehicle1may also inquire the communication network about communication qualities at respective locations in order to acquire communication qualities. A configuration may also be adopted in which the communication network inquires terminal apparatuses positioned at respective locations about communication quality, and responds to the vehicle1based on the result.

In step S602, the vehicle1acquires the current operation mode of the vehicle1. Furthermore, the vehicle1specifies communication quality required for the current operation mode of the vehicle1by referencing the required quality table500.

In step S603, the vehicle1sets an area that does not satisfy the quality requirement as an entry prohibited area. For example, when the operation mode of the vehicle1is the automated driving mode, required quality is intermediate quality, and thus an area of low-quality is set as an entry prohibited area.

In step S604, the vehicle1sets a path of the vehicle1so as to pass through an area that satisfies the requirement of communication quality determined in step S603according to the operation mode. Specifically, the vehicle1sets a path so as to not pass through the entry prohibited area set in step S603. As a result, when the vehicle1is in an operation mode in which low quality is set as a requirement (for example, the manual driving mode), a path that passes through an area in which the communication quality is low compared with an operation mode in which high quality is set as a requirement (for example, the remote driving mode) is set.

In step S605, the vehicle1determines whether or not the operation mode of the vehicle1is an operation mode in which the communication requirement is lower than a threshold. If the operation mode of the vehicle1is an operation mode in which the communication requirement is lower than the threshold (“YES” in step S605), the vehicle1advances the procedure to step S606, and otherwise (“NO” in step S605), the vehicle1ends the procedure. The threshold is set on a boundary between the intermediate quality and the low quality, for example. In this case, if the vehicle1is in an operation mode in which the quality requirement is high quality and intermediate quality, the procedure ends, and if the vehicle1is an operation mode in which the required quality is low quality, step S606is executed.

In step S606, the vehicle1determines whether or not there is an area in which the communication quality is expected to decrease if the vehicle1runs on the path set in step S604. If there is such an area (“YES” in step S606), the vehicle1advances the procedure to step S607, and otherwise (“NO” in step S606) the vehicle1ends the procedure.

In step S607, the vehicle1sets an area in which the communication quality is expected to decrease as an entry prohibited area, and sets a path again in step S604. In this step, a path that does not pass through the area in which the communication quality is expected to decrease is set.

In the above embodiment, a case has been described in which the vehicle1(specifically, the control apparatus2of the vehicle1) sets a path of its own. Alternatively, one path setting apparatus may also set paths respectively for a plurality of vehicles. Such an embodiment will be described below. In the embodiment below, paths of a plurality of mobile bodies are adjusted relative to each other based on requirements of communication quality of a plurality of vehicles.

FIG.7shows a configuration example of a path setting apparatus700that sets paths respectively for a plurality of vehicles. The path setting apparatus700includes, for example, a processor701, a memory702, an input unit703, an output unit704, a storage unit705, and a communication unit706. The processor701, the memory702, the input unit703, the output unit704, the storage unit705, and the communication unit706may be respectively equivalent to the processor201, the memory202, the input unit203, the output unit204, the storage unit205, and the communication unit206of the remote driving apparatus200that have been described with reference toFIG.2, and thus a redundant description thereof is omitted. The path setting apparatus700communicates with a plurality of vehicles1. From among the plurality of vehicles1, a vehicle1in the remote driving mode is denoted by a vehicle1rd, and a vehicle1in the manual driving mode is denoted by a vehicle1md.

An example of a path setting method that is performed by the path setting apparatus700will be described with reference toFIG.8. This method may be performed as a result of the processor701of the path setting apparatus700executing a program stored in the memory702. Alternatively, some or all of the processes of the method may be performed by a dedicated circuit such as an ASIC (application specific integrated circuit). In the former case, the processor serves as a constituent element for a specific operation, and, in the latter case, the dedicated circuit serves as a constituent element for a specific operation. The control method inFIG.8is executed in response to a destination having been set for one of a plurality of vehicles for which paths are to be set, and/or in response to the operation mode of one of the plurality of vehicles having been changed.

Since steps S601to S607inFIG.8are similar to those inFIG.6, the same reference signs are assigned, and a redundant description thereof is omitted. In step S602, the path setting apparatus700acquires the operation mode of a vehicle1by receiving the operation mode from the vehicle1. In step S604, the path setting apparatus700sets a path of the vehicle1, and then transmits this path to the vehicle1. The path setting apparatus700may transmit the set path to the vehicle1on the condition that the method inFIG.8has completed.

In step S605, if the operation mode of the vehicle1is not an operation mode in which the communication requirement is lower than a threshold (“NO” in step S605), the vehicle1advances the procedure to step S801. In step S801, path setting apparatus700determines whether or not there is an area in which the communication quality is expected to decrease if the vehicle1runs on the path set in step S604. If there is such an area (“YES” in step S801), the path setting apparatus700advances the procedure to step S802, and otherwise (“NO” in step S801) the path setting apparatus700ends the procedure.

In step S802, the path setting apparatus700changes a path, of a vehicle from among a plurality of vehicles for which a path is to be set, that passes through an area in which the communication quality is expected to decrease, and in which the quality requirement is lower than the threshold, so as to not pass through that area.

A specific scenario of the setting method inFIG.8will be described with reference toFIG.7again. Assume that a destination711is set for the vehicle1md, and then a destination712is set for the vehicle1rd. In addition, assume that the communication quality in an area enclosed by a broken line713is high quality, and the communication quality in an area outside the broken line713is intermediate quality.

First, the path setting apparatus700sets a path714for the vehicle1mdaccording to the destination711having been set for the vehicle1md. Next, the path setting apparatus700sets a path715for the vehicle1rdaccording to the destination712having been set for the vehicle1rd. Here, since both the vehicle1mdand the vehicle1rdcommonly pass through an area inside the broken line713as a result of executing step S801, the path setting apparatus700estimates that the communication quality in the area will decrease. In view of this, the path setting apparatus700prioritizes the path715of the vehicle1rdfor which a communication requirement is higher than that of the vehicle1md, and changes the path714of the vehicle1mdto a path716that does not pass through that area.

In the above embodiment, a path for a vehicle (automobile) is set. Alternatively, a path of a mobile body other than a vehicle may also be set. A path of an uninhabited airborne vehicle (UAV) may also be set, for example.

Overview of Embodiments

A path setting apparatus (2,700) that sets a path of a mobile body (1) having a plurality of operation modes, the apparatus comprising:

a quality acquisition unit configured to acquire communication qualities at a plurality of geographical locations (S601); and

a setting unit configured to set a path of the mobile body so as to pass through an area that satisfies a requirement of communication quality that is determined according to an operation mode of the mobile body (S604).

According to this configuration, a path of a mobile body can be appropriately set.

The path setting apparatus according to configuration 1,

wherein the mobile body is operable in a first operation mode and a second operation mode in which communication quality that is lower than that of the first operation mode is required, and

when the mobile body is in the first operation mode, the setting unit sets a path (405) that passes through an area in which communication quality is high, compared with a case where the mobile body is in the second operation mode.

According to this configuration, an appropriate path can be set for a mobile body that requires high communication quality.

The path setting apparatus according to configuration 2,

wherein, when the mobile body is in the second operation mode, and there is an area in which communication quality is expected to decrease as a result of the mobile body passing through the area, the setting unit sets a path so as to not pass through the area (S606, S607).

According to this configuration, a path can be set in accordance with a change in the communication quality.

The path setting apparatus according to configuration 1 or 2,

wherein the setting unit sets a path for each of a plurality of mobile bodies.

According to this configuration, a path can be appropriately set for each of a plurality of mobile bodies.

The path setting apparatus according to configuration 4,

wherein the setting unit adjusts paths of the plurality of mobile bodies with respect to each other based on requirements of communication quality (502) of the plurality of mobile bodies (S802).

According to this configuration, paths can be more appropriately set for a plurality of mobile bodies.

The path setting apparatus according to configuration 5,

wherein each of the plurality of mobile bodies is operable in at least one of a first operation mode and/or a second operation mode in which communication quality that is lower than that of the first operation mode is required, and

the setting unit sets a path with higher priority given to a mobile body in the first operation mode than a mobile body in the second operation mode (S802).

According to this configuration, it is possible to prioritize path setting for a mobile body that requires high communication quality.

The path setting apparatus according to configuration 6,

wherein, when it is expected, as a result of setting paths such that both a first mobile body in the first operation mode and a second mobile body in the second operation mode pass through a common area, that communication quality in the common area will decrease, the setting unit sets a path of the second mobile body such that the second mobile body does not pass through the common area (S802).

According to this configuration, it is possible to suppress a mobile body that requires low communication quality from decreasing the communication quality of the common area.

The path setting apparatus according to configuration 6 or 7,

wherein the first operation mode is a mode in which a passenger of the mobile body does not drive the mobile body, and the second operation mode is a mode in which a passenger of the mobile body drives the mobile body.

According to this configuration, it is possible to prioritize a mode in which a passenger does not drive a mobile body.

A non-transitory storage medium that stores a program for causing a computer to function as the path setting apparatus according to any one of configurations 1 to 8.

According to this configuration, each of the above configurations can be realized in a form of a storage medium that stores a program.

A path setting method for setting a path of a mobile body (1) having a plurality of operation modes, the method comprising:

acquiring communication qualities at a plurality of geographical locations (S601); and

setting a path of the mobile body so as to pass through an area that satisfies a requirement of communication quality that is determined according to an operation mode of the mobile body (S604).

According to this configuration, a path of a mobile body can be appropriately set.