Communication control apparatus, communication system, communication control method, and non-transitory computer-readable medium

Abstract

A communication control apparatus ( 10 ) according to the present disclosure includes a communication unit ( 11 ) communicating information to and from a moving body, a violation time predicting unit ( 12 ) predicting a violation time at which the moving body violates a constraint condition relating to a relative relationship between the moving body and another object or a constraint condition relating to a relative relationship between the moving body and a path on which the moving body should run by using positional information of the moving body, a deadline calculating unit ( 13 ) calculating an execution deadline of an avoidance operation for avoiding a violation of the constraint condition by using the violation time, and a communication control unit ( 14 ) increasing a priority level of a communication with the moving body as a time difference between a current time and the execution deadline decreases.

1 . A communication control apparatus comprising:
 at least one memory storing instructions, and   at least one processor configured to execute the instructions to;
 predict a condition time based on positional information of the first moving body, the condition time related to satisfying a condition, the condition comprising a relative relationship between the first moving body and a second moving body that executes a task with the first moving body; 
 increase a priority level of a communication with the first moving body as a time difference between a current time and the condition time decreases. 
   
     
     
         2 . The communication control apparatus according to  claim 1 , wherein the condition comprises a relative relationship of at least one of position, speed, acceleration and orientation to be satisfied by the first moving body with the second moving body. 
     
     
         3 . The communication control apparatus according to  claim 1 , wherein the condition time is a time at which the condition comprising the relative relationship between the first moving body and the second moving body is no longer satisfied. 
     
     
         4 . The communication control apparatus according to  claim 1 , wherein the condition comprises at least one of a difference in position, a difference in speed, a difference in acceleration and a difference in orientation between the first moving body and the second moving body. 
     
     
         5 . The communication control apparatus according to  claim 1 , wherein the at least one processor is further configured to execute the instructions to:
 calculate an execution deadline for avoiding a violation of the condition based on the condition time; and   control at least one of the first moving body and the second moving body based on the deadline.   
     
     
         6 . The communication control apparatus according to  claim 5 , wherein the at least one processor is further configured to execute the instructions to:
 predict a communication period required for communicating between the first moving body and the communication control apparatus based on at least one of a measured value of a communication period, a communication speed, a communication error rate, radio quality, a radio resource usage rate and a data size between the first moving body and the communication control apparatus; and   calculate the execution deadline based on the violation time and the communication period.   
     
     
         7 . A communication control method comprising:
 predicting a condition time based on positional information of the first moving body, the condition time related to satisfying a condition, the condition comprising a relative relationship between the first moving body and a second moving body that executes a task with the first moving body;   increasing a priority level of a communication with the first moving body as a time difference between a current time and the condition time decreases.   
     
     
         8 . The communication control method according to  claim 7 , wherein the condition comprises a relative relationship of at least one of position, speed, acceleration and orientation to be satisfied by the first moving body with the second moving body. 
     
     
         9 . The communication control method according to  claim 7 , wherein the condition time is a time at which the condition comprising the relative relationship between the first moving body and the second moving body is no longer satisfied. 
     
     
         10 . The communication control method according to  claim 7 , wherein the condition comprises at least one of a difference in position, a difference in speed, a difference in acceleration and a difference in orientation between the first moving body and the second moving body. 
     
     
         11 . The communication control method according to  claim 7 , further comprising:
 calculating an execution deadline for avoiding a violation of the condition based on the condition time; and   controlling at least one of the first moving body and the second moving body based on the deadline.   
     
     
         12 . The communication control method according to  claim 11 , further comprising:
 predicting a communication period required for communicating between the first moving body and the communication control apparatus based on at least one of a measured value of a communication period, a communication speed, a communication error rate, radio quality, a radio resource usage rate and a data size between the first moving body and the communication control apparatus; and   calculating the execution deadline based on the violation time and the communication period.   
     
     
         13 . A non-transitory computer-readable medium storing a program for causing a computer to perform:
 predicting a condition time based on positional information of the first moving body, the condition time related to satisfying a condition, the condition comprising a relative relationship between the first moving body and a second moving body that executes a task with the first moving body;   increasing a priority level of a communication with the first moving body as a time difference between a current time and the condition time decreases.   
     
     
         14 . The non-transitory computer-readable medium according to  claim 13 , wherein the condition comprises a relative relationship of at least one of position, speed, acceleration and orientation to be satisfied by the first moving body with the second moving body. 
     
     
         15 . The non-transitory computer-readable medium according to  claim 13 , wherein the condition time is a time at which the condition comprising the relative relationship between the first moving body and the second moving body is no longer satisfied. 
     
     
         16 . The non-transitory computer-readable medium according to  claim 13 , wherein the condition comprises at least one of a difference in position, a difference in speed, a difference in acceleration and a difference in orientation between the first moving body and the second moving body. 
     
     
         17 . The non-transitory computer-readable medium according to  claim 13 , wherein the program further causes the computer to perform:
 calculating an execution deadline for avoiding a violation of the condition based on the condition time; and   controlling at least one of the first moving body and the second moving body based on the deadline.   
     
     
         18 . The non-transitory computer-readable medium according to  claim 17 , wherein the program further causes the computer to perform:
 predicting a communication period required for communicating between the first moving body and the communication control apparatus based on at least one of a measured value of a communication period, a communication speed, a communication error rate, radio quality, a radio resource usage rate and a data size between the first moving body and the communication control apparatus; and calculating the execution deadline based on the violation time and the communication period.