TECHNICAL FIELD

Embodiments presented herein relate to a method, a network node, a computer program, and a computer program product for traffic control of a vehicle control device. Embodiments presented herein further relate to a method, a vehicle control device, a computer program, and a computer program product for traffic control of the vehicle control device.

BACKGROUND

Unmanned or autonomous vehicles, such as unmanned aerial vehicles (UAV for short and commonly known as drones), autonomous ground vehicles (also referred to as autonomous cars, driverless cars, self-driving cars, and robotic cars) are becoming increasingly popular. Unmanned or autonomous vehicles may operate with various degrees of autonomy; either under remote control by a human operator, or fully or intermittently autonomously, by onboard computers.

In general terms, with increasingly many such vehicles, there is a risk of accidents occurring due to vehicle collisions. It could therefore be

advantageous to provide scheduling and coordination of movement of such vehicles. Scheduling and coordination of movement of such vehicles across large geographical distances and/or regions could be a complex challenge purely due to the number of vehicles, but also due to the limited operation range caused by limited resources for propulsion (such as limited battery life if the vehicle is battery operated, or limited amounts of fuel if the vehicle is gas or petrol operated). One option for scheduling and coordinating movement could be for the vehicles to perform scheduling and coordination of movement between themselves in order to allow the vehicles to move along their respective travel route, thereby reducing the risk of collisions. For example, each vehicle could communicate with nearby vehicles to negotiate travel routes, speed of travel, priorities, etc. However, this option may come with some negative effects as it requires excessive use of computational resources on the vehicles themselves, which in turn increases battery drain rate.

In more detail, when there are comparatively many (say in the order of 10, too, or more) nearby vehicles, it could be difficult to arrive at optimal scheduling and coordination by using pair to pair negotiation. Further, given that each vehicle is equipped with battery-operated means for

communications and computation, this option will increase battery

consumption and eventually reduce the travel time (e.g. flight time in case of UAVs) of the vehicle. Another option for scheduling and coordinating movement could be to provide centralized control, similar to today's aircraft air control system. Scheduling and coordination of movement could then be regarded as being examples of traffic control. A centralized system could thus control each vehicle from its source to its destination, hence performing traffic control of each vehicle. However, this option also comes with some limitations. Firstly, it could be time-consuming for the centralized system to find optimal scheduling and coordination if there are comparatively many vehicles in its area. Secondly, it requires an infrastructure to be set up in order to provide means for communicating between the centralized system and all vehicles in the range of the centralized system.

Hence, there is still a need for an improved scheduling and coordination of movement of unmanned or autonomous vehicles.

SUMMARY

An object of embodiments herein is to provide efficient traffic control of vehicles, such as unmanned or autonomous vehicles, that alleviates the issues noted for the above disclosed options for and thus enable improved

scheduling and coordination of movement of such vehicles.

According to a first aspect there is presented a method for traffic control of a vehicle control device. The method is performed by a network node. The method comprises transmitting trajectory control signalling to the vehicle control device. The trajectory control signalling is transmitted in a downlink air interface control plane message. The method comprises receiving trajectory status signalling from the vehicle control device. The trajectory status signalling is received in an uplink air interface control plane message. According to a second aspect there is presented a network node for traffic control of a vehicle control device. The network node comprises processing circuitry. The processing circuitry is configured to cause the network node to transmit trajectory control signalling to the vehicle control device. The trajectory control signalling is transmitted in a downlink air interface control plane message. The processing circuitry is configured to cause the network node to receive trajectory status signalling from the vehicle control device. The trajectory status signalling is received in an uplink air interface control plane message.

According to a third aspect there is presented a network node for traffic control of a vehicle control device. The network node comprises processing circuitry and a computer program product. The computer program product stores instructions that, when executed by the processing circuitry, causes the network node to perform operations, or steps. The operations, or steps, cause the network node to transmit trajectory control signalling to the vehicle control device. The trajectory control signalling is transmitted in a downlink air interface control plane message. The operations, or steps, cause the network node to receive trajectory status signalling from the vehicle control device. The trajectory status signalling is received in an uplink air interface control plane message. According to a fourth aspect there is presented a network node for traffic control of a vehicle control device. The network node comprises a transmit module configured to transmit trajectory control signalling to the vehicle control device. The trajectory control signalling is transmitted in a downlink air interface control plane message. The network node comprises a receive module configured to receive trajectory status signalling from the vehicle control device. The trajectory status signalling is received in an uplink air interface control plane message.

According to a fifth aspect there is presented a computer program for traffic control of a vehicle control device, the computer program comprising computer program code which, when run on processing circuitry of a network node, causes the network node to perform a method according to the first aspect.

According to a sixth aspect there is presented a method for traffic control of a vehicle control device. The method is performed by the vehicle control device. The method comprises receiving trajectory control signalling from a network node. The trajectory control signalling is received in a downlink air interface control plane message. The method comprises transmitting trajectory status signalling to the network node. The trajectory status signalling is transmitted in an uplink air interface control plane message. According to a seventh aspect there is presented a vehicle control device for traffic control of the vehicle control device. The vehicle control device comprises processing circuitry. The processing circuitry is configured to cause the vehicle control device to receive trajectory control signalling from a network node. The trajectory control signalling is received in a downlink air interface control plane message. The processing circuitry is configured to cause the vehicle control device to transmit trajectory status signalling to the network node. The trajectory status signalling is transmitted in an uplink air interface control plane message.

According to an eighth aspect there is presented a vehicle control device for traffic control of the vehicle control device. The vehicle control device comprises processing circuitry and a computer program product. The computer program product stores instructions that, when executed by the processing circuitry, causes the vehicle control device to perform operations, or steps. The operations, or steps, cause the vehicle control device to receive trajectory control signalling from a network node. The trajectory control signalling is received in a downlink air interface control plane message. The operations, or steps, cause the vehicle control device to transmit trajectory status signalling to the network node. The trajectory status signalling is transmitted in an uplink air interface control plane message. According to a ninth aspect there is presented a vehicle control device for traffic control of the vehicle control device. The vehicle control device comprises a receive module configured to receive trajectory control signalling from a network node. The trajectory control signalling is received in a downlink air interface control plane message. The vehicle control device comprises a transmit module configured to transmit trajectory status signalling to the network node. The trajectory status signalling is transmitted in an uplink air interface control plane message.

According to a tenth aspect there is presented a computer program for traffic control of a vehicle control device, the computer program comprising computer program code which, when run on processing circuitry of a vehicle control device, causes the vehicle control device to perform a method according to the sixth aspect.

According to an eleventh aspect there is presented a computer program product comprising a computer program according to at least one of the fifth aspect and the tenth aspect and a computer readable storage medium on which the computer program is stored. The computer readable storage medium could be a non-transitory computer readable storage medium.

Advantageously these methods, these network nodes, these vehicle control devices, and these computer programs provide efficient traffic control of the vehicle control device. In turn, this allows for efficient traffic control, such as efficient scheduling and coordination of movement, of vehicles in which such a vehicle control device is provided, or its functionality implemented.

Advantageously these methods, these network nodes, these vehicle control devices, and these computer programs remove the need to set up a separate infrastructure since the operations, or steps, performed by the network node could be implemented and integrated in existing network nodes for telecommunications. Hence, the functionality of the herein proposed network nodes could be deployed by simply upgrading existing network nodes with the herein disclosed mechanisms for traffic control of a vehicle control device.

Advantageously, since each network node is enabled to follow vehicles within the operating range of the network node, it is possible for the network node to perform actions based on information received from the vehicle control device. For example, according to some embodiments the network node could perform prioritization between several vehicle control devices based on status information of each vehicle control device, for example based on battery status or estimated time of arrival.

Advantageously, since the majority of the computation is performed at the network node each vehicle can save battery resources for communications as well as computations.

Advantageously, since the majority of the computation is performed at the network node each vehicle can fully utilize its battery for propulsion purposes.

It is to be noted that any feature of the first, second, third, fourth, fifth, sixth seventh, eight, ninth, tenth and eleventh aspects may be applied to any other aspect, wherever appropriate. Likewise, any advantage of the first aspect may equally apply to the second, third, fourth, fifth, sixth, seventh, eight, ninth, tenth, and/or eleventh aspect, respectively, and vice versa. Other objectives, features and advantages of the enclosed embodiments will be apparent from the following detailed disclosure, from the attached dependent claims as well as from the drawings.

Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/the element, apparatus, component, means, step, etc." are to be interpreted openly as referring to at least one instance of the element, apparatus, component, means, step, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated.

BRIEF DESCRIPTION OF THE DRAWINGS

The inventive concept is now described, by way of example, with reference to the accompanying drawings, in which:

Fig. l is a schematic diagram illustrating a communications system according to embodiments;

Figs. 2, 3, 4, and 5 are flowcharts of methods according to embodiments; Fig. 6 is a signalling diagram according to embodiments;

Fig. 7 is a schematic diagram showing functional units of a network node according to an embodiment;

Fig. 8 is a schematic diagram showing functional modules of a network node according to an embodiment; Fig. 9 is a schematic diagram showing functional units of a vehicle control device according to an embodiment;

Fig. 10 is a schematic diagram showing functional modules of a vehicle control device according to an embodiment; and

Fig. 11 shows one example of a computer program product comprising computer readable means according to an embodiment.

DETAILED DESCRIPTION

The inventive concept will now be described more fully hereinafter with reference to the accompanying drawings, in which certain embodiments of the inventive concept are shown. This inventive concept may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the inventive concept to those skilled in the art. Like numbers refer to like elements throughout the description. Any step or feature illustrated by dashed lines should be regarded as optional.

Issues with some mechanism for scheduling and coordinating movement of unmanned or autonomous vehicles have been disclosed above.

Embodiments disclosed herein consider a distributed system for scheduling and coordination of unmanned or autonomous vehicles. The distributed system comprises multiple management points, defined by network nodes, where each management point is responsible for coordinating traffic of vehicles within its serving region. A vehicle transiting from a serving region served by a first network node to a serving region served by a second network node means that traffic control of this vehicle will be handed over from the first network node to the second network node as soon as the vehicle arrives at the border between these serving regions. To reduce latency, the management points, as well as the network nodes, can be physically part of, co-located with, or hosted by, radio access network nodes, and delegation of traffic control can be performed during handover from one radio access network node to another radio access network node. Vehicle propulsion charging or refueling points can also be physically part of, co-located with, or hosted by, the radio access network nodes, or they can be located elsewhere in the serving regions. Knowing the travel route of every vehicle to which the network node provides traffic control, the network nodes could use techniques such as beamforming to increase network quality.

Introductory reference is here made to Fig. 1. Fig. 1 is a schematic diagram illustrating a communications system 100 where embodiments presented herein can be applied. The communications system 100 comprises network nodes 200a, 200b, 200c. Each network node 200a, 200b, 200c provides network access as well as traffic control of served devices 300 in a respective serving region, or cell 110a, 110b, 110c. According to some aspects each network node 200a, 200b, 200c is a cellular network node and are thus part of a cellular communications network. The network nodes 200a, 200b, 200c could thus operate according to any telecommunications standard enabling handover from one region 110a, 110b, 110c to another region 110a, 110b, 110c. Examples of such

telecommunications standards include, but are not limited to, those standardized by the 3rd Generation Partnership Project (3GPP) such as Long Term Evolution (LTE), the Global System for Mobile communication (GSM), Wideband Code Division Multiple Access (WCDMA), CDMA-2000, Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX), or any evolvement thereof.

Each network node 200a, 200b, 200c could thus be a radio access network node, radio base station, base transceiver station, node B, evolved node B, access point, or access node. Each network node 200a, 200b, 200c could be configured to communicate with at least one other network node 200a, 200b, 200c (as indicated by interfaces 130a, 130b, 130c), for example over the LTE X2 interface. Further, each network node 200a, 200b, 200c is assumed to be operatively connected to a core network (not shown) which in turn is operatively connected to a service network (not shown) such as the Internet through a core network gateway (not shown).

A device 300 operatively connected to (as indicated by interface 120), and thus served by, one of the network nodes 200a, 200b, 200c is thereby enabled to access services and exchange data with the service network. In the present example the device 300 is assumed to be a vehicle control device 300. The vehicle control device 300 may be part of, co-located with, hosted by, or integrated with, a portable wireless device, mobile station, mobile phone, handset, wireless local loop phone, user equipment (UE),

smartphone, laptop computer, tablet computer, wireless modem, or vehicle navigation system. Further, the vehicle control device 300 may be part of, co- located with, hosted by, or integrated with an unmanned or autonomous vehicle. In the illustrative example of Fig. 1 the vehicle control device 300 is assumed to be moving along a travel route 140 defined by waypoints 150a, 150b, 150c, i50d, i50e, lsof.

The communications system 100 is implementable using existing cellular infrastructure (updated with the functionality as defined by the herein disclosed embodiments) and protocols. Additionally, the communications system 100 is cost-effective (from a resource utilization and data traffic perspective) as traffic control of the vehicle control device 300 can be limited spatio-temporally, i.e. depending on the presence of vehicle control devices 300 at a specific location at a given time.

Further aspects of the network node 200a, 200b, 200c and the vehicle control device 300 will be disclosed below.

The embodiments disclosed herein particularly relate to mechanisms for traffic control of the vehicle control device 300. In order to obtain such mechanisms there is provided a network node 200a, a method performed by the network node 200a, a computer program product comprising code, for example in the form of a computer program, that when run on processing circuitry of the network node 200a, causes the network node 200a to perform the method. In order to obtain such mechanisms there is further provided a vehicle control device 300, a method performed by the vehicle control device 300, and a computer program product comprising code, for example in the form of a computer program, that when run on processing circuitry of the vehicle control device 300, causes the vehicle control device 300 to perform the method. Figs. 2 and 3 are flow charts illustrating embodiments of methods for traffic control of a vehicle control device 300 as performed by the network node 200a. Figs. 4 and 5 are flow charts illustrating embodiments of methods for traffic control of a vehicle control device 300 as performed by the vehicle control device 300. The methods are advantageously provided as computer programs 1120a, 1120b. Reference is now made to Fig. 2 illustrating a method for traffic control of a vehicle control device 300 as performed by the network node 200a according to an embodiment.

The network node 200a performs traffic control of the vehicle control device 300 by transmitting trajectory control signalling to the vehicle control device 300. Hence the network node 200a is configured to perform step S106:

S106: The network node 200a transmits trajectory control signalling to the vehicle control device 300. Examples of trajectory control signalling will be provided below. The trajectory control signalling is transmitted in a downlink air interface control plane message. Examples of downlink air interface control plane messages will be provided below.

The vehicle control device 300 responds to the trajectory control signalling by transmitting trajectory status signalling. It is assumed that this trajectory status signalling is received by the network node 200a. Hence the network node 200a is configured to perform step S108:

S108: The network node 200a receives trajectory status signalling from the vehicle control device 300. Examples of trajectory status signalling will be provided below. The trajectory status signalling is received in an uplink air interface control plane message. Examples of uplink air interface control plane messages will be provided below.

Embodiments relating to further details of traffic control of the vehicle control device 300 as performed by the network node 200a will now be disclosed.

Reference is now made to Fig. 3 illustrating methods for traffic control of the vehicle control device 300 as performed by the network node 200a according to further embodiments. It is assumed that steps S106, S108 are performed as described above with reference to Fig. 2 and a thus repeated description thereof is therefore omitted. There may be different ways for the network node 200a to be aware that the vehicle control device 300 is located within the operating range of the network node 200a. According to some aspects the vehicle control device 300 is discovered by network node 200a via broadcast or multicast of a discovery message. Hence, according to an embodiment the network node 200a is configured to perform step S102:

S102: The network node 200a transmits a discovery message.

It is in this embodiment assumed that the vehicle control device responds to this discovery message. Hence, according to this embodiment the network node 200a is configured to perform step S104:

S104: The network node 200a receives a response to the discovery message from the vehicle control device 300. The trajectory control signalling is then in step S106 transmitted in response to the network node 200a having received the response to the discovery message from the vehicle control device 300 in step S104.

According to other aspects the network node 200a is made aware that the vehicle control device 300 is about to enter the operating range of the network node 200a by receiving trajectory status signalling information of the vehicle control device 300 from at least one other network node 200b, 200c, see step S118 below. According to yet further aspects the network node 200a is made aware that the vehicle control device 300 is about to enter the operating range of the network node 200a by having the vehicle control device 300 handed over from another network node 200b, 200c, see step S128 below. In addition to receiving trajectory status signalling from the vehicle control device 300, the network node 200a could receive further signalling from the vehicle control device 300. In some aspects the network node 200a receives destination information from the vehicle control device 300, therefrom determines a travel route, and then provides the travel route to the vehicle control device 300. Hence, according to an embodiment the network node 200a is configured to perform steps Siioa, S112, S114:

Siioa: The network node 200a receives destination information of the vehicle control device 300 from the vehicle control device 300 in a further uplink air interface control plane message.

S112: The network node 200a determines travel route information with respect to the destination information.

S114: The network node 200a transmits the travel route information to the vehicle control device 300 in a further downlink air interface control plane message.

In this respect, the travel route determination in step S112 could be performed with respect to the destination coordinates and/or any

considering any intermediate network nodes 200b, 200c as waypoints.

Hence, the destination coordinates need not to define the only factor when the network node 200a is planning the travel route, but it can also take other network nodes 200b, 200c into account. Further, the travel route

determination in step S112 could only involve the travel route within the coverage region of network node 200a and not the complete travel route of the vehicle control device 300 from its source coordinates to its destination coordinates.

The further uplink air interface control plane message received in step Siioa could further comprise device status information of the vehicle control device 300. The travel route information as determined in step S112 then depends on the device status information. There are different examples of device status information. In general terms, the device status information could comprise information as provided in the trajectory status signalling. In particular, the device status information could be battery status, estimated time of arrival, priority, etc. Further, the travel route information as determined in step S112 could depend on environment status information. Examples of environment status information include, but are not limited to, weather, traffic (air and/or ground traffic) in cell, etc. Hence, according to an embodiment the network node 200a is configured to perform steps Snob:

Snob: The network node 200a obtains environment status information. The travel route information (as determined in step S112) then depends on the environment status information.

According to some embodiments the trajectory status signalling indicates that the vehicle control device 300 has a power level below a threshold value. The travel route information can then be transmitted to the vehicle control device 300 in response thereto. The further downlink air interface control plane message transmitted in step S114 could then indicate to the vehicle control device 300 to switch off its sensors for detecting other vehicle control devices.

Hence, by switching off its sensors for detecting other vehicle control devices, the vehicle control device 300 may not be able to detect other vehicle control devices within it vicinity. However, potential collisions could be avoided by letting the network node 200a take over responsibility for navigating the vehicle control device 300. This could enable the vehicle control device 300 to save power resources whilst still being able to navigate safely and avoid collisions.

In some aspects the network node 200a shares information about the vehicle control device 300 to other network node 200b, 200c. Hence, according to an embodiment the network node 200a is configured to perform steps S116:

S116: The network node 200a transmits information received in the trajectory status signalling from the vehicle control device 300 to at least one other network node 200b, 200c. Examples of such information include, but are not limited to, source coordinates, destination coordinates, current speed of travel, current height (for example, if the vehicle control device 300 is part of, co-located with, hosted by, or provided in a UAV), travel route, etc. Such information may also be received by the network node 200a from at least one other network node 200b, 200c. Hence, according to an embodiment the network node 200a is configured to perform step Si 18:

S118: The network node 200a receives trajectory status signalling

information of the vehicle control device 300 from at least one other network node 200b, 200c.

The network nodes 200a, 200b, 200c could share the information over the LTE X2 interface. Sharing information as in steps S116, S118 could allow for collective scheduling and coordination of movement of all vehicle control devices 300 served by all the network nodes 200a, 200b, 200c. In general terms, the network node 200a only provides traffic control to the vehicle control devices 300 located within its operating range. Traffic control of vehicle control devices 300 leaving the operating range of the network node 200a could therefore be handed over to another network node 200b, 200c. Hence, according to an embodiment the network node 200a is configured to perform step S120:

S120: The network node 200a obtains an indication that the vehicle control device 300 is to leave a region in which the network node 200a provides traffic control of the vehicle control device 300.

The network node 200a could then coordinate with other network node 200b, 200c responsible for providing traffic control in neighbouring regions regarding handover of the vehicle control device 300. Hence, according to this embodiment the network node 200a is configured to perform step S122:

S122: The network node 200a exchanges, with at least one other network node 200b, 200c, capacity status information for handling traffic control of the vehicle control device 300. Examples of such capacity status information include, but are not limited to, capacity for providing traffic control of the vehicle control device 300, number of vehicle control devices for which traffic control currently is being provided by each individual network node 200a, 200b, 200c, etc. Based on the capacity status information the network node 200a then makes a handover decision. Hence, according to this embodiment the network node 200a is configured to perform step S124:

S124: The network node 200a determines, based on the capacity status information, whether to hand over the vehicle control device 300 or not. Hence, in step S124 the network node 200a could determine, based on the capacity status information, either to hand over the vehicle control device 300 or to not hand over the vehicle control device 300.

In some aspect handover of traffic control of the vehicle control device 300 is available to another network node 200b, 200c. That is, the network node 200a in step S124 determines to hand over the vehicle control device

300.Hence, according to an embodiment the network node 200a is configured to perform steps S126, S128:

S126: The network node 200a transmits, in a further downlink air interface control plane message to the vehicle control device 300, a notification that the vehicle control device 300 is to be handed over to another network node 200b, 200c for traffic control of the vehicle control device 300.

S128: The network node 200a hands over traffic control of the vehicle control device 300 to this another network node 200b, 200c.

Likewise, traffic control of the vehicle control device 300 could be handed over to the network node 200a from another network node 200b, 200c.

Handover of traffic control of the vehicle control device 300 could coincide with handover of network access of the vehicle control device 300 from one radio access network node to another radio access network node and hence be synchronized with such a network access handover. In some aspect handover of traffic control of the vehicle control device 300 is not available to another network node 200b, 200c. That is, the network node 200a in step S124 determines to not hand over the vehicle control device 300. Hence, according to an embodiment the network node 200a is configured to perform step S130:

S130: The network node 200a transmits, in a further downlink air interface control plane message to the vehicle control device 300, a notification that the vehicle control device 300 is not to leave the region in which the network node 200a provides traffic control of the vehicle control device 300. In case another network node 200b, 200c is not available the vehicle control device 300 could by the network node 200a thus be instructed to move inside the region in which the network node 200a provides traffic control of the vehicle control device 300, or to stop moving inside the region. That is, if the vehicle control device 300 is part of, co-located with, hosted by, or provided in, a UAV, the UAV could be instructed to land.

Reference is now made to Fig. 4 illustrating a method for traffic control of a vehicle control device 300 as performed by the vehicle control device 300 according to an embodiment.

As disclosed above, the network node 200a in a step S106 transmits trajectory control signalling to the vehicle control device 300. It is assumed that this trajectory control signalling is received by the vehicle control device 300. Hence the vehicle control device 300 is configured to perform step S206:

S206: The vehicle control device 300 receives trajectory control signalling from the network node 200a. Examples of trajectory control signalling will be provided below. The trajectory control signalling is received in a downlink air interface control plane message. Examples of downlink air interface control plane messages will be provided below. l8

The vehicle control device 300 responds to the trajectory control signalling by transmitting trajectory status signalling. Hence the vehicle control device 300 is configured to perform step S208:

S208: The vehicle control device 300 transmits trajectory status signalling to the network node 200a. Examples of trajectory status signalling will be provided below. The trajectory status signalling is transmitted in an uplink air interface control plane message. Examples of uplink air interface control plane messages will be provided below.

Embodiments relating to further details of traffic control of the vehicle control device 300 as performed by the vehicle control device 300 will now be disclosed.

Reference is now made to Fig. 5 illustrating methods for traffic control of the vehicle control device 300 as performed by the vehicle control device 300 according to further embodiments. It is assumed that steps S206, S208 are performed as described above with reference to Fig. 4 and a thus repeated description thereof is therefore omitted.

As disclosed above, there may be different ways for the to network node 200a to be aware that the vehicle control device 300 is located within the operating range of the network node 200a. In one embodiment the network node 200a transmits a discovery message, as in step S102. It is in this embodiment assumed that the vehicle control device receives this discovery message. Hence, according to this embodiment the vehicle control device 300 is configured to perform step S202:

S202: The vehicle control device 300 receives the discovery message from the network node 200a.

It is in this embodiment assumed that the vehicle control device responds to this discovery message. Hence, according to this embodiment the vehicle control device 300 is configured to perform step S204: S204: The vehicle control device 300 transmits a response to the discovery message. The trajectory control signalling is then received in step S206 in response to the vehicle control device 300 having transmitted the response to the discovery message in step S204. As disclosed above, in some aspects the vehicle control device 300 provides destination information to the network node 200a and in response receives a travel route from the network node 200a. Hence, according to an

embodiment the vehicle control device 300 is configured to perform step S210: S210: The vehicle control device 300 transmits destination information of the vehicle control device 300 to the network node 200a in a further uplink air interface control plane message.

This destination information is by the network node 200a received in step S110 and a response is transmitted in step S114. Hence, according to this embodiment the vehicle control device 300 is configured to perform step S212:

S212: The vehicle control device 300 receives travel route information with respect to the destination information from the network node 200a in a further downlink air interface control plane message. As disclosed above, in some aspects the vehicle control device 300 is handed over to another network node 200b, 200c. Hence, according to an

embodiment the vehicle control device 300 is configured to perform step S214:

S214: The vehicle control device 300 receives, in a further downlink air interface control plane message, a notification from the network node 200a that the vehicle control device 300 is to be handed over to another network node 200b, 200c for traffic control of the vehicle control device 300. Embodiment for traffic control of the vehicle control device 300 applicable for both the network node 200a, 200b, 200c and the vehicle control device 300 will now be disclosed.

There may be different examples of trajectory control signalling as

transmitted by the network node 200a and received by the vehicle control device 300. Examples of trajectory control signalling include, but are not limited to, traffic control, navigation data, feedback query, feedback reporting frequency, status report query, status report reporting frequency, battery status query, travel route information, height instructions, distance

information, travel direction instructions, inclination instructions, priority information, flight path instructions.

There may be different examples of trajectory status signalling as transmitted by the vehicle control device 300 and received by the network node 200a. Examples of trajectory status signalling include, but are not limited to, traffic control response, navigation data response, feedback in response to a feedback query, status report, battery status, travel route information response, height information, distance information, current travel direction, inclination information, flight path information.

There may be different examples of downlink air interface control plane messages and uplink air interface control plane messages. Since the network node 200a could be a cellular network node, the downlink air interface control plane messages and uplink air interface control plane messages could be air interface control plane messages of a cellular communications network. For example, at least one of the downlink air interface control plane message and the uplink air interface control plane message could be a radio resource control (RRC) message, a radio link control (RLC) message, or a medium access control (MAC) message. Hence, the downlink air interface control plane message and/or the uplink air interface control plane message could be communicated using a RRC layer protocol, a RLC layer protocol, or a MAC layer protocol. According to an embodiment at least one of the downlink air interface control plane message and the uplink air interface control plane message is a RRC connection reconfiguration message. In more detail, the RRC protocol allows use of RRC measurement reports for collecting measurements of the signal strength of the vehicle control device 300 from the network nodes 200a, 200b, 200c (from both the serving network node 200a and the neighbor network nodes 200b, 200c) in order for the serving network node 200a to make a handover decision. In more detail, the network node 200a transmits a RRC connection reconfiguration message to the vehicle control device 300 to inform in which condition the measurement report should be sent and what type of measurements should be included in this report.

Table 1 lists possible events that can trigger the vehicle control device 300 to send a measurement report to the network node 200a. RAT is short for radio access technology.

Event name Event description

Signal strength of serving network node becomes better

Event Ai

than threshold

Signal strength of serving network node becomes worse

Event A2

than threshold

Signal strength of neighbor network node becomes offset

Event A3

better than signal strength of primary cell (PCell)

Signal strength of neighbor network node becomes

Event A4

better than threshold

Signal strength of serving network node becomes worse

Event A5 than first threshold and signal strength of neighbor

network node becomes better than second threshold

Signal strength of neighbor network node becomes offset

Event A6

better than signal strength of secondary cell (SCell) Signal strength of neighbor network node using other

Event Bi

RAT becomes better than threshold

Signal strength of serving network node becomes worse than first threshold and signal strength of neighbor

Event B2

network node using other RAT becomes better than second threshold

Table 1: Events triggering measurement report from vehicle control device 300.

According to the herein disclosed embodiments, Table 1 could comprise further events. As an example, one event (for illustrative purposes denoted "Event Ci") could be defined by "battery below threshold". Transmission of such an event could cause the network node 200a, 200b, 200c to instruct the vehicle control device 300 to transmit trajectory status signalling messages less often to the network node 200a, 200b, 200c. As a further example, one event could be defined by priority change of the vehicle control device 300 (for example due to its mission such as an emergency medical delivery). Once receiving such an event, the network node 200a, 200b, 200c could re-plan the trajectories of all its served vehicle control devices 300 and perform coordination with neighboring network nodes 200a, 200b, 200c for vehicle control device 300 served by the neighboring network nodes 200a, 200b, 200c in order to optimize the travel time of prioritized vehicle control device 300.

According to an embodiment the uplink air interface control plane message is embedded in a measurement report. Table 2 provides some examples of information of the uplink air interface control plane message that could be embedded in the measurement report.

Field name Field description

Battery status The battery status of the vehicle control

device (or the vehicle hosting the vehicle control device)

Fuel status The fuel status of the vehicle control device

(or the vehicle hosting the vehicle control device)

Current Speed The current speed of travel of the vehicle

control device

Current location The current location (optionally including the height) of the vehicle control device

Current priority level Current priority level of the vehicle control device

Next destination The next destination and/or next waypoint of the vehicle control device

Estimated Time of Arrival The Estimated Time of Arrival of the vehicle control device at its destination

Current direction of travel The current direction of travel of the vehicle control device

Table 2: Parameters embedded in measurement report.

The battery status could by the network node 200a be used to determine a travel route for the vehicle control device 300, especially prioritization-based travel route determination (thus also considering the current priority level of the vehicle control device 300) based on the battery level of vehicle control devices 300 such that conflicting (crossing) travel routes with another vehicle control device 300 are avoided.

The battery status could by the network node 200a further be used to determine whether the vehicle control device 300 is to switch off sensors for detecting other vehicle control devices 300. The next destination and/or next waypoint of the vehicle control device can be useful by the network node 200a not only to make sure that the vehicle control device 300 will finally arrive at its destination, but also to potential distribute vehicle control devices 300 to different served regions 110a, 110b, 110c to avoid traffic jams in certain busy served regions 110a, 110b, 110c.

The Estimated Time of Arrival of the vehicle control device at its destination could by the network node 200a be used to perform prioritization-based travel route determination of the vehicle control device 300 when travel routes of multiple vehicle control devices 300 are considered such that conflicting (crossing) travel routes are avoided.

The current direction of travel of the vehicle control device could, for example, be given in terms of compass orientation such as west, east, south, north, southwest, southeast, northwest, northeast, etc.

One particular embodiment for traffic control of the vehicle control device 300 as performed by network nodes 200a, 200b, 200c and the vehicle control device 300 based on at least some of the above disclosed

embodiments will now be disclosed in detail with reference to Fig. 1, where steps S301-S309 are schematically indicated.

S301: Network node 200a discovers the vehicle control device 300 over interface 120.

S302: The vehicle control device 300 submits destination information to the network node 200a over interface 120. It is for illustrative purposes assumed that the destination is defined by waypoint 15 of.

S303: Network node 200a determines a travel route 140 either to waypoint i5of or to another waypoint, such as waypoint 150b based on the destination information and provides travel route information to the vehicle control device 300. In the current example, and for illustrative purposes, it is assumed that travel route information instructs the vehicle control device 300 to travel to waypoint 150a and then onwards to waypoint 150b. S304: Upon reaching waypoint 150b, network node 200a hands over traffic control of the vehicle control device 300 to network node 200b.

S305: Once traffic control of the vehicle control device 300 has been handed over to network node 200b, the vehicle control device 300 could submit destination information to network node 200b. Alternatively, the destination information is received from network node 200a over interface 130a.

S306: Network node 200b instructs the vehicle control device 300 to travel to waypoint 150c and then onwards to waypoint lsod.

S307: Upon reaching waypoint lsod, network node 200b hands over traffic control of the vehicle control device 300 to network node 200c.

S308: Once traffic control of the vehicle control device 300 has been handed over to network node 200c, the vehicle control device 300 could submit destination information to network node 200c. Alternatively, the destination information is received from network node 200b over interface 130b or from network node 200a over interface 130c.

S309: Network node 200c instructs the vehicle control device 300 to travel to waypoint lsof so as to reach its destination.

At least one of the waypoints lsoa-isof could be co-located with a power charging point and hence the vehicle control device 300 could be configured to charge its power upon reaching such a waypoint.

One particular embodiment for traffic control of the vehicle control device 300 relating to handover of the vehicle control device 300 from network node 200a to network node 200b as performed by network nodes 200a, 200b and the vehicle control device 300 based on at least some of the above disclosed embodiments will now be disclosed in detail with reference to the signalling diagram of Fig. 6.

S401: Vehicle control device (VCD in Fig. 6) 300 travels from a region in which traffic control is provided by network node 200a (NN-i in Fig. 6) to a region in which traffic control is provided by network node 200b (NN-2 in Fig. 6).

S402: Network node 200a informs network node 200b that the vehicle control device 300 is entering the region in which traffic control is provided by network node 200b and that traffic control of the vehicle control device 300 is about to be handed over to network node 200b. Network node 200a could further transmit information about the vehicle control device 300, such as source and destination coordinates, current speed of travel, current height (for example, if the vehicle control device 300 is part of, co-located with, hosted by, or provided in a UAV), and travel route, etc.

S403: After receiving the information from network node 200a, network node 200b starts to update travel routes for vehicle control devices in its region and thus determines a travel route for each vehicle control device in its region. Alternative, network node 200b determines only a travel route for the new vehicle control device 300 entering its region such that the vehicle control device 300 does not collide with other vehicle control devices in the region.

S404: Network node 200b transmits trajectory control signalling at least to the vehicle control device 300 and, if needed, to other vehicle control devices in its region whose travel routes are updated.

S405: Vehicle control device 300 receives the trajectory control signalling and executes the instructions in the trajectory control signalling. Such execution may involve the vehicle control device 300 to transmit trajectory status signalling to network node 200b. Such execution may involve the vehicle control device 300 to travel according to travel route information comprised in the trajectory control signalling.

Fig. 7 schematically illustrates, in terms of a number of functional units, the components of a network node 200a, 200b, 200c according to an

embodiment. Processing circuitry 210 is provided using any combination of one or more of a suitable central processing unit (CPU), multiprocessor, microcontroller, digital signal processor (DSP), etc., capable of executing software instructions stored in a computer program product 1110a (as in Fig. 11), e.g. in the form of a storage medium 230. The processing circuitry 210 may further be provided as at least one application specific integrated circuit (ASIC), or field programmable gate array (FPGA).

Particularly, the processing circuitry 210 is configured to cause the network node 200a, 200b, 200c to perform a set of operations, or steps, S102-S130, as disclosed above. For example, the storage medium 230 may store the set of operations, and the processing circuitry 210 may be configured to retrieve the set of operations from the storage medium 230 to cause the network node 200a, 200b, 200c to perform the set of operations. The set of operations may be provided as a set of executable instructions. Thus the processing circuitry 210 is thereby arranged to execute methods as herein disclosed.

The storage medium 230 may also comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory.

The network node 200a, 200b, 200c may further comprise a

communications interface 220 at least for communications with the vehicle control device 300 and at least one further network node 200a, 200b, 200c. As such the communications interface 220 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of antennas for wireless communications and/or ports for wireline communications.

The processing circuitry 210 controls the general operation of the network node 200a, 200b, 200c e.g. by sending data and control signals to the communications interface 220 and the storage medium 230, by receiving data and reports from the communications interface 220, and by retrieving data and instructions from the storage medium 230. Other components, as well as the related functionality, of the network node 200a, 200b, 200c are omitted in order not to obscure the concepts presented herein. Fig. 8 schematically illustrates, in terms of a number of functional modules, the components of a network node 200a, 200b, 200c according to an embodiment. The network node 200a, 200b, 200c of Fig. 8 comprises a number of functional modules; a transmit module 210c configured to perform step S106, and a receive module 2iod configured to perform step S108. The network node 200a, 200b, 200c of Fig. 8 may further comprise a number of optional functional modules, such as any of a transmit module 210a configured to perform step S102, a receive module 210b configured to perform step S104, a receive module 2ioe configured to perform step Snoa, an obtain module 2iof configured to perform step Snob, a determine module 2iog configured to perform step S112, a transmit module 2ioh configured to perform step S114, a transmit module 2101 configured to perform step S116, a receive module 2ioj configured to perform step S118, an obtain module 210k configured to perform step S120, an exchange module 210I configured to perform step S122, a determine module 210m configured to perform step S124, a transmit module 210η configured to perform step S126, a handover module 2100 configured to perform step S128, and a transmit module 2iop configured to perform step S130. In general terms, each functional module 2ioa-2iop may be implemented in hardware or in software. Preferably, one or more or all functional modules 2ioa-2iop may be implemented by the processing circuitry 210, possibly in cooperation with functional units 220 and/or 230. The processing circuitry 210 may thus be arranged to from the storage medium 230 fetch instructions as provided by a functional module 2ioa-2iop and to execute these instructions, thereby performing any steps of the network node 200a, 200b, 200c as disclosed herein.

The network node 200a, 200b, 200c may be provided as a standalone device or as a part of at least one further device. For example, the network node 200a, 200b, 200c could be part of, co-located with, hosted by, or provided in, a radio access network node or in a node of the core network. Hence, according to some embodiments there is provided a radio access network node comprising a network node as herein disclosed. Alternatively, functionality of the network node 200a, 200b, 200c may be distributed between at least two devices, or nodes. These at least two nodes, or devices, may either be part of the same network part or may be spread between at least two such network parts. In general terms, instructions that are required to be performed in real time may be performed in a device, or node, operatively closer to the radio access network node than instructions that are not required to be performed in real time. In this respect, at least part of the network node 200a, 200b, 200c may reside in the radio access network node.

Thus, a first portion of the instructions performed by the network node 200a, 200b, 200c may be executed in a first device, and a second portion of the of the instructions performed by the network node 200a, 200b, 200c may be executed in a second device; the herein disclosed embodiments are not limited to any particular number of devices on which the instructions performed by the network node 200a, 200b, 200c may be executed. Hence, the methods according to the herein disclosed embodiments are suitable to be performed by a network node 200a, 200b, 200c residing in a cloud computational environment. Therefore, although a single processing circuitry 210 is illustrated in Fig. 7 the processing circuitry 210 may be distributed among a plurality of devices, or nodes. The same applies to the functional modules 2ioa-2iop of Fig. 8 and the computer program 1120a of Fig. 11 (see below).

Fig. 9 schematically illustrates, in terms of a number of functional units, the components of a vehicle control device 300 according to an embodiment. Processing circuitry 310 is provided using any combination of one or more of a suitable central processing unit (CPU), multiprocessor, microcontroller, digital signal processor (DSP), etc., capable of executing software instructions stored in a computer program product mob (as in Fig. 11), e.g. in the form of a storage medium 330. The processing circuitry 310 may further be provided as at least one application specific integrated circuit (ASIC), or field

programmable gate array (FPGA). Particularly, the processing circuitry 310 is configured to cause the vehicle control device 300 to perform a set of operations, or steps, S202-S214, as disclosed above. For example, the storage medium 330 may store the set of operations, and the processing circuitry 310 may be configured to retrieve the set of operations from the storage medium 330 to cause the vehicle control device 300 to perform the set of operations. The set of operations may be provided as a set of executable instructions. Thus the processing circuitry 310 is thereby arranged to execute methods as herein disclosed.

The storage medium 330 may also comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory. The vehicle control device 300 may further comprise a communications interface 320 for communications at least with a network node 200a, 200b, 200c. As such the communications interface 320 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of antennas for wireless communications and/or ports for wireline communications.

The processing circuitry 310 controls the general operation of the vehicle control device 300 e.g. by sending data and control signals to the

communications interface 320 and the storage medium 330, by receiving data and reports from the communications interface 320, and by retrieving data and instructions from the storage medium 330. Other components, as well as the related functionality, of the vehicle control device 300 are omitted in order not to obscure the concepts presented herein.

Fig. 10 schematically illustrates, in terms of a number of functional modules, the components of a vehicle control device 300 according to an embodiment. The vehicle control device 300 of Fig. 10 comprises a number of functional modules; a receive module 310c configured to perform step S206, and a transmit module 3iod configured to perform step S208. The vehicle control device 300 of Fig. 10 may further comprise a number of optional functional modules, such as any of a receive module 310a configured to perform step S202, a transmit module 310b configured to perform step S204, a transmit module 3ioe configured to perform step S210, a receive module 3iof configured to perform step S212, and a receive module 3iog configured to perform step S214. In general terms, each functional module 3ioa-3iog may be implemented in hardware or in software. Preferably, one or more or all functional modules 3ioa-3iog may be implemented by the processing circuitry 310, possibly in cooperation with functional units 320 and/or 330. The processing circuitry 310 may thus be arranged to from the storage medium 330 fetch instructions as provided by a functional module 3ioa-3iog and to execute these instructions, thereby performing any steps of the vehicle control device 300 as disclosed herein.

The vehicle control device 300 may be provided as a standalone device or as a part of at least one further device. For example, the vehicle control device 300 could be part of, co-located with, hosted by, or provided in, a vehicle navigation system or an autonomous vehicle. Hence, according to some aspects there is provided a navigation system or an autonomous vehicle comprising a vehicle control device 300 as herein disclosed. According to some embodiments the autonomous vehicle is a UAV. According to some embodiments the autonomous vehicle is battery operated. If the vehicle navigation system or unmanned vehicle already comprises processing circuitry, this processing circuitry could be shared by the vehicle control device 300 and thus be configured to perform steps or operations of the vehicle control device 300 as herein disclosed.

Fig. 11 shows one example of a computer program product 1110a, mob comprising computer readable means 1130. On this computer readable means 1130, a computer program 1120a can be stored, which computer program 1120a can cause the processing circuitry 210 and thereto operatively coupled entities and devices, such as the communications interface 220 and the storage medium 230, to execute methods according to embodiments described herein. The computer program 1120a and/or computer program product 1110a may thus provide means for performing any steps of the network node 200a, 200b, 200c as herein disclosed. On this computer readable means 1130, a computer program 1120b can be stored, which computer program 1120b can cause the processing circuitry 310 and thereto operatively coupled entities and devices, such as the communications interface 320 and the storage medium 330, to execute methods according to embodiments described herein. The computer program 1120b and/or computer program product mob may thus provide means for performing any steps of the vehicle control device 300 as herein disclosed.

In the example of Fig. 11, the computer program product 1110a, mob is illustrated as an optical disc, such as a CD (compact disc) or a DVD (digital versatile disc) or a Blu-Ray disc. The computer program product 1110a, mob could also be embodied as a memory, such as a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or an electrically erasable programmable read-only memory (EEPROM) and more particularly as a non-volatile storage medium of a device in an external memory such as a USB (Universal Serial Bus) memory or a Flash memory, such as a compact Flash memory. Thus, while the computer program 1120a, 1120b is here schematically shown as a track on the depicted optical disk, the computer program 1120a, 1120b can be stored in any way which is suitable for the computer program product 1110a, mob.

The inventive concept has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the inventive concept, as defined by the appended patent claims.