Information processing device, information processing method, and information processing system

Abstract

To alternatively obtain pitch information.SOLUTION: An information processing device includes a processing unit. The processing unit obtains point group data obtained by a sensor mounted on a moving body; extracts a first point belonging to a first layer from the point group data; obtains a first angle with respect to a reference layer of the sensor which is related to the first point; calculates a first pitch angle of the moving body based on both a first coordinate that is a coordinate of the first point and the first angle; and outputs a pitch angle based on the first pitch angle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device, an information processing method, and an information processing system. [Background technology]

[0002] A car needs a lot of information to steer, one of which is the pitch angle, which is the angle of the vehicle relative to the road. Pitch corresponds to the vehicle's inclination angle along its direction of travel relative to the horizontal.

[0003] Pitch-related signals are used in autonomous driving (AD) and advanced driver-assistance systems (ADS) for object detection, tracking, sensor fusion, and actuator control. They can also be used to improve vehicle ride comfort and steering control by influencing suspension, braking, and acceleration management. This information is typically obtained from an inertial measurement unit (IMU). However, if the IMU fails or the signal is erroneous, calculation errors can occur, potentially leading to ADAS / ADS system failures. To avoid this and ensure safety, redundant information is desirable. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2021 / 112074 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, one non-limiting problem that the embodiments of the present disclosure aim to solve is to alternatively obtain pitch information. The problem that the embodiments of the present disclosure aim to solve can also be, as some further non-limiting examples, a problem corresponding to the effects described in the embodiments. In other words, a problem that corresponds to at least one of the effects described in the description of the embodiments of the present disclosure can be the problem that the present disclosure aims to solve. [Means for solving the problem]

[0006] According to one embodiment, an information processing device includes a processing unit. The processing unit Acquire point cloud data acquired by sensors mounted on the moving object, extracting a first point belonging to a first layer from the point cloud data; obtaining a first angle of the sensor associated with the first point relative to a reference layer; calculating a first pitch angle of the moving body based on first coordinates that are coordinates of the first point and the first angle; A pitch angle is output based on the first pitch angle. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a block diagram illustrating a non-limiting example of a moving object according to one embodiment. [Figure 2] FIG. 2 is a diagram schematically illustrating an example of a top view of a moving body according to an embodiment. [Figure 3] FIG. 1 is a diagram schematically illustrating an example of an environment seen from a moving object according to an embodiment. [Figure 4] FIG. 4 is a schematic diagram illustrating pitch angle calculation according to an embodiment. [Figure 5] FIG. 4 is a schematic diagram illustrating pitch angle calculation according to an embodiment. [Figure 6] FIG. 4 is a schematic diagram illustrating pitch angle calculation according to an embodiment. [Figure 7] FIG. 4 is a schematic diagram illustrating pitch angle calculation according to an embodiment. [Figure 8]FIG. 2 is a diagram illustrating an outline of layers according to an embodiment. [Figure 9] FIG. 1 is a diagram schematically illustrating an example of an environment seen from a moving object according to an embodiment. [Figure 10] FIG. 1 is a diagram schematically illustrating an example of an environment seen from a moving object according to an embodiment. [Figure 11] FIG. 1 is a diagram schematically illustrating an example of an environment seen from a moving object according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The drawings are used for explanation purposes, and the shape, size, and size ratio of each component in an actual device do not necessarily have to be the same as those shown in the drawings. Furthermore, since the drawings are simplified, components necessary for implementation other than those shown in the drawings are also assumed to be appropriately provided.

[0009] For example, redundant pitch information can be obtained not only from maps but also using sensing technology already installed in the vehicle.

[0010] 1 is a block diagram showing a non-limiting example of a moving body according to an embodiment. The information processing system 1 includes a sensor 10 and an information processing device 20. The sensor 10 and the information processing device 20 are mounted on the same moving body, for example. The information processing system 1 is a system that acquires the pitch angle of the sensor 10 fixedly mounted on the moving body (i.e., the pitch angle of the moving body itself) by processing information sensed by the sensor 10 and information processing device 20.

[0011] As embodiments, processing executed by the sensor 10 and processing executed by the information processing device 20 will be described, but at least a part of the processing disclosed to be executed by the information processing device 20 can be realized by a processing circuit within the sensor 10, or at least a part of the processing disclosed to be executed by the sensor 10 can be realized by a processing circuit within the information processing device 20. These processes can be appropriately allocated depending on, for example, the sensors mounted on the mobile object, the performance of the information processing device, the span over which information needs to be acquired, etc.

[0012] The sensor 10 is a sensor that acquires various information. In particular, in the present disclosure, the sensor 10 may include a LiDAR (Light Detection and Ranging) sensor. The sensor 10 may include, as part thereof, a light emitting unit suitable for receiving light from the LiDAR sensor.

[0013] The sensor 10 may include a sensor that acquires other information in addition to the LiDAR sensor. The sensor 10 may include, for example, an IMU. The IMU may include, for example, a gyro sensor, an acceleration sensor, etc., and may acquire the pitch angle of the moving object. In this embodiment, for example, redundant data on the pitch angle acquired by the IMU is acquired by another method.

[0014] The information processing device 20 includes an I / F 22, a memory unit 24, and a processing unit 26. The information processing device 20 acquires the pitch angle (tilt angle) of the moving object based on information sensed by the sensor 10. In addition to the components described below, the information processing device 20 may include any other necessary components, such as a power supply unit that supplies power to each component and a control device that controls each component.

[0015] The I / F 22 is an interface that connects the inside and outside of the information processing device 20. The information processing device 20 can, for example, acquire information from the sensor 10 via the I / F 22 and transmit a control signal to the sensor 10. The information processing device 20 can, for example, connect to a CAN (Controller Area Network) provided in a mobile object via the I / F 22 and acquire data indicating the state of the mobile object or transmit a control signal to the mobile object.

[0016] The information processing device 20 can connect to an external network via the I / F 22 to send and receive information, and can acquire information from various positioning systems, such as a global positioning system (GPS). For example, the information processing device 20 can connect to a network via the I / F 22 to acquire map data used for processing in the example of this embodiment. For example, the information processing device 20 can acquire road information and the like regarding the current location of a mobile object based on this map data and GPS information acquired via the I / F 22.

[0017] The storage unit 24 temporarily or non-temporarily stores data required for processing by the information processing device 20. The storage unit 24 may include, for example, various types of memory such as ROM (Read Only Memory) and RAM (Random Access Memory), and storage such as HDD (Hard Disc Drive) and SSD (Solid-State Drive). When the processing of the information processing device 20 is specifically realized by software information processing using hardware resources, the storage unit 24 may store programs, executable files, etc. related to this software.

[0018] The processing unit 26 executes a process for acquiring the pitch angle in the information processing system 1. The processing unit 26 may include, for example, a dedicated circuit or a general-purpose circuit, and may include a processing circuit (processor) such as an ASIC (Application Specific Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), a CPU (Central Processing Unit), or a GPU (Graphics Processing Unit). That is, as an example, the processing unit 26 may include a general-purpose processor, and the processing may be executed by the processor. As another example, the processing unit 26 may include multiple electronic circuits or equivalent devices that each execute at least a portion of the processing described below, and each electronic circuit, etc., may realize an appropriately assigned processing. The configuration of the processing unit 26 is not limited to these.

[0019] FIG. 2 is a plan view schematically illustrating an example of information acquisition related to pitch angle calculation in an information processing system 1 according to an embodiment. A moving body V is equipped with the sensor 10 and information processing device 20 according to the information processing system 1 described above. The moving body V may be, for example, an automobile, and the sensor 10 may be provided near the rearview mirror. In this case, the hood may be photographed as shown by the dotted line. As another example, the sensor 10 may be mounted closer to the hood inside the vehicle, or on the roof, front bumper, or other location outside the vehicle where the distance from the vehicle to the target can be appropriately measured.

[0020] The moving body V is, for example, stopped or moving on the road indicated by the dashed line. In this state, an object B1 such as a building is present, and information relating to one point of the object B1 is acquired from the point cloud data acquired by the sensor 10.

[0021] Fig. 3 is a plan view showing an example of an environment seen from a moving object in the same situation as Fig. 2. A user on moving object V can see object B1, for example, as shown in this figure. In this situation, sensor 10 generates point cloud data based on distance and reflection intensity, and processing unit 26 processes this point cloud data.

[0022] For example, when the processing unit 26 detects an object B1, it extracts one point within the object B1 as a point Q (first point).

[0023] 2 and 3, for example, one point on this side of the building is extracted, but this is not limited to this. For example, one point on the road side of the building may be extracted, or one point on the corner (edge) of the building may be extracted. In the processing by the sensor 10 and the processing unit 26, for example, if the information on the corner of the building is accurate, it is more desirable to extract a point from the point cloud related to the corner.

[0024] 4 is a schematic diagram for explaining calculation of the pitch angle according to one embodiment, which is a view of the plane indicated by the dotted line in FIG. 2 as viewed from the direction of the dashed line.

[0025] In the following description, the processing unit 26 performs calculations on numerical values ​​within a plane. A mobile object V is equipped with a sensor 10 and an information processing device 20, which form an information processing system 1. The mounting position of the sensor 10 is indicated as point O. As shown in the drawing, an x-axis (horizontal direction) and a y-axis (vertical direction) are defined. Coordinates are defined with point O as the center.

[0026] The moving body V is in a state where it has a pitch angle with respect to the horizontal plane due to some cause, for example, a state where the front wheels run over some object as shown in the figure. The cause of the pitch angle is not limited to this, and it may be, for example, a state where the moving body V is accelerating in the horizontal direction (during acceleration / deceleration, etc.), or the pitch angle may be due to some other cause.

[0027] The processing unit 26 acquires points belonging to a reference layer of the LiDAR sensor from, for example, a point cloud within the object B1 in the point cloud data. The reference layer is a plane that serves as a reference in the light receiving sensor unit of the scanning LiDAR, and is generally a layer that indicates a plane parallel to a plane on which the vehicle or the like on which the sensor is mounted exists when it is stationary. The processing unit 26 can extract points belonging to this reference plane as points Q.

[0028] Point P and point R are points defined on the same line as point Q in the vertical direction of point Q. Point P is, for example, a point having the same height (same y coordinate) as point O on object B1. Point R is, for example, a point having the highest height on object B1. The pitch angle is θ p It is expressed as:

[0029] The coordinates of point R can be calculated from the point cloud using a general LiDAR calculation method. The y coordinate of point P is 0, and the x coordinate is the same as the x coordinate of point R or point Q.

[0030] That is, point O (0, 0) and point Q (q x , q y ), point P (p x , p y ) = (q x , 0) , point R (r x , r y ) = (q x , r y ) to get the coordinates of each point.

[0031] The coordinates of point P can be calculated based on the fact that the lines OP and RP intersect perpendicularly. For example, the coordinates can be calculated as follows, based on the fact that the dot product of vector OP and vector RP is 0:

number

number

[0032] Using these results, the processing unit 26 calculates the pitch angle θ from the coordinates of points O, P, Q, and R. p can be calculated as follows:

number

[0033] 5 is a schematic diagram for explaining pitch angle calculation according to an embodiment. Similar processing can be performed when the moving body V is on a slope such as a hill. For example, the angle of the moving body V with respect to the horizontal plane is a slope angle θ s On the slope, the pitch angle θ is calculated by obtaining the coordinates of point P from the coordinates of point Q and point R, which belong to the reference layer on the object B1. p can be obtained.

[0034] From this figure, it can be seen that the following equation holds true:

number

[0035] That is, the pitch angle θ p is the slope angle θ s can be calculated as follows using

number

[0036] 6 is a diagram showing an example of a downhill slope. In this case, the pitch angle θ p It is possible to calculate

[0037] The processing unit 26 can acquire the slope angle from, for example, map data. The map data can be acquired from the cloud via the I / F 22, for example. The processing unit 26 may acquire the slope angle based on the acquired map data and coordinate information of the moving object acquired from a GPS. The processing unit 26 can also calculate the slope angle based on information acquired by an IMU. However, if it is desired to acquire redundant data for the pitch angle acquired using data from the IMU, it is more desirable to use slope angle data acquired from other means, such as GPS, map data, or well-known slope detection using a LiDAR sensor, rather than using data acquired from the IMU.

[0038] Figure 7 shows a case where a point Q belonging to an arbitrary layer is used instead of the reference layer of the scanning LiDAR sensor. The angle between the reference layer of the LiDAR sensor and the arbitrary layer is defined as the layer angle α. In this case, the pitch angle θ p can be expressed by the following formula. Here, the first point extracted from the point cloud that belongs to an arbitrary layer is represented as point S, and the coordinates of this point S are (s x , s y )

number

[0039] The processing unit 26 acquires the horizontal and vertical distances from the sensor 10 to the point Q as coordinates as described above, divides the vertical distance from the sensor 10 to the point Q by the distance from the sensor 10 to the point Q, and then substitutes the division result into an arc sine function, subtracting from the result to obtain the pitch angle θ p can be calculated.

[0040] When there is a slope, the calculation can be performed in the same manner as above, and can be expressed by the following formula.

number

[0041] Figure 8 shows an outline of the layers of a scanning LiDAR. For the purpose of explanation, the angle difference is shown to make it easier to understand, and the actual resolution is determined by a collection of denser layers.

[0042] As above, point Q is defined as a point on the reference layer L0. This reference layer L0 is, for example, a layer that defines the horizontal plane of the LiDAR sensor. Using this reference layer L0 as a reference, the layers of the LiDAR sensor are set as follows: Layer L-2, Layer L-1, Layer L1, Layer L2, Layer L3, Layer L4, and so on. In this way, the layers of the LiDAR sensor are surfaces that are set in the up-down direction (vertical direction) of the LiDAR sensor.

[0043] This layer is set, for example, depending on the angle at which infrared light is emitted by the light-emitting unit in the LiDAR sensor. That is, it is possible to detect which layer was used depending on the angle at which the light-emitting unit emitted light when the light-receiving pixel received the light.

[0044] The angle between adjacent layers is, for example, a unit layer angle θ l Using this relationship, the layer angle α can be calculated by subtracting the unit layer angle θ from the irradiation information of the light that received the information related to the point Q. l Therefore, by using the above formula (6) or formula (7), it is possible to extract any point on the object B1 as the first point S. In this case, the processing unit 26 also calculates an appropriate pitch angle θ p can be calculated.

[0045] In this way, the processing unit 26 extracts point Q as a first point belonging to an arbitrary first layer from the point cloud data acquired by the sensor 10, acquires the first angle, which is the angle between the first layer and the reference layer, and calculates the pitch angle θ using this angle and the coordinates of point Q. p The processing unit 26 calculates the pitch angle θ p can be output as the pitch angle of the moving body, or the pitch angle θ p It is also possible to make some correction to this and then output it as the pitch angle of the moving body.

[0046] The above-mentioned formula (3) and the like are equivalent to the first angle being set to 0°.

[0047] In the above, the pitch angle θ is calculated from information on one point using the reference layer or an arbitrary layer. p However, in other embodiments of the present disclosure, information on two or more points may be used to calculate the pitch angle θ p It is also possible to improve the accuracy of the calculation.

[0048] 9 is a diagram illustrating the acquisition of the second point according to an embodiment. As shown in this figure, the processing unit 26 extracts a first point Q1 and a second point Q2 from the same object B1 in the point cloud data, calculates the first pitch angle and the second pitch angle for each point Q1 and Q2 using the above equations, and then calculates the pitch angle θ p may be calculated.

[0049] The processing unit 26 may acquire the first point Q1 and the second point Q2 from the same layer or from different layers, or may extract the first point Q1 and the second point Q2 from points on the same vertical plane.

[0050] The processing unit 26 performs statistical processing on the first pitch angle and the second pitch angle to calculate the pitch angle θ p The processing unit 26 may calculate the pitch angle θ by, for example, calculating an average value. p can be obtained.

[0051] The processing unit 26 extracts three or more points and calculates the pitch angle θ p In this case, the processing unit 26 can acquire values ​​such as the mode or median in addition to the average value as statistical processing. In addition, the processing unit 26 can also use a weighted average, etc.

[0052] As another example, the processing unit 26 may acquire a point on the reference layer as the first point Q1, acquire a point other than the reference layer as the second point Q2, and calculate the pitch angle θ calculated based on the first point Q1 using a second pitch angle calculated based on the second point Q2. p For example, the processing unit 26 may calibrate (correct, compensate) the pitch angle θ acquired in the reference layer by taking a weighted average using the second pitch angle acquired from the second point Q2. p can be corrected.

[0053] 10 is a diagram illustrating the acquisition of a second point according to an embodiment. As shown in this figure, the processing unit 26 can extract a first point Q1 and a second point Q2 from different objects B1 and B2, respectively, from the point cloud data and perform the above processing. In this case, the first point Q1 and the second point Q2 may be extracted from the same layer or from different layers.

[0054] 11 is a diagram illustrating acquisition of the second point according to one embodiment. The sensor 10 may acquire point cloud data in a time series, and the processing unit 26 may acquire the first point and the second point from the point cloud data acquired at different times.

[0055] 3 as a first point, and then acquires a second point Q2 from point cloud data acquired at a different timing. In this case, data of points indicating the same position on the object B1 may be acquired, or points may be extracted from different objects or data of points indicating different positions on the object B1 may be acquired.

[0056] Furthermore, if the time at which the point cloud data is acquired changes too much, there is a high possibility that the pitch angle will change. Therefore, it is more desirable to extract the first and second points using data acquired as close together as possible, for example, point cloud data acquired at times that differ by one frame.

[0057] Of course, as described above, three or more points may be extracted from different frames. In this case, multiple points with different positions may be acquired, or, for example, points indicating the same position in consecutive frames may be extracted. By extracting points at the same position in consecutive frames, it is possible to obtain a more accurate pitch angle even in a disturbing environment such as rain or fog. When multiple points at different times are extracted, the processing unit 26 can also perform temporal statistical processing to correct the pitch angle. In addition, point cloud data in which position information compared at different times changes suddenly can be excluded from the pitch angle calculation.

[0058] Furthermore, for example, when a building such as a building is used as the target for extracting points, the processing unit 26 may extract points from the point cloud data while avoiding surfaces with high reflectivity such as glass surfaces.

[0059] As described above, according to this embodiment, the pitch angle of a moving body can be obtained by using information from a LiDAR sensor without using information from an IMU such as an acceleration sensor. This process obtains the pitch angle of the moving body in real time, and can be reflected in driving and control, or in obtaining position and orientation information.

[0060] As another example, by acquiring the pitch angle while the vehicle is stationary, the pitch angle of the LiDAR sensor relative to the moving vehicle can be acquired in advance. Based on the acquired pitch angle information, the processing unit 26 can perform various controls and can also calibrate the LiDAR sensor itself.

[0061] The above-described embodiment can be summarized as follows, for example.

[0062] (1) a processing unit; The processing unit Acquire point cloud data acquired by sensors mounted on the moving object, extracting a first point belonging to a first layer from the point cloud data; obtaining a first angle of the sensor associated with the first point relative to a reference layer; calculating a first pitch angle of the moving body based on first coordinates that are coordinates of the first point and the first angle; outputting a pitch angle based on the first pitch angle; Information processing device.

[0063] (2) The processing unit a horizontal distance from the sensor to the first point and a vertical distance from the sensor to the first point are set as the first coordinates; dividing the vertical distance from the sensor to the first point by the distance from the sensor to the first point, and then substituting the division result into an arc sine function to subtract the first angle from the result to calculate the first pitch angle as the pitch angle; The information processing device described in (1).

[0064] (3) The processing unit further comprises: Obtaining a slope angle between a horizontal plane and a reference layer of the sensor; correcting the calculation result of the first pitch angle based on the slope angle; (2) An information processing device according to the present invention.

[0065] (4) The processing unit obtaining the slope angle based on map data; (3) An information processing device according to the present invention.

[0066] (5) The processing unit The first layer is the reference layer; The first pitch angle is calculated by setting the first angle to 0°. An information processing device according to any one of (1) to (4).

[0067] (6) The processing unit further comprises: extracting a second point different from the first point from the point cloud data; obtaining a second angle of the sensor associated with the second point relative to a reference layer; calculating a second pitch angle of the moving body based on second coordinates that are coordinates of the second point and the second angle; modifying the pitch angle based on the second pitch angle; An information processing device according to any one of (2) to (5).

[0068] (7) The processing unit calculating the pitch angle by statistically processing the first pitch angle and the second pitch angle; (6) An information processing device according to the present invention.

[0069] (8) The second point is a point indicating a different point of the same object as the first point. An information processing device according to (6) or (7).

[0070] (9) The second point is a point indicating a point of an object different from the first point. An information processing device according to (6) or (7).

[0071] (10) The second point is a point acquired at a different timing from the first point. An information processing device according to any one of (6) to (9).

[0072] (11) The second point is the same as the first point, but acquired at a different time from the first point. (10) An information processing device according to (10).

[0073] (12) The processing unit further comprises: The pitch angle is calculated from information on three or more points including the first point and the second point. An information processing device according to any one of (6) to (11).

[0074] (13) The processing unit includes a processor as a general-purpose circuit, an electronic circuit or a programmable circuit as a dedicated circuit, or a combination thereof, which includes an analog circuit and / or a digital circuit. An information processing device according to any one of (1) to (12).

[0075] (14) A processing unit mounted on the moving body Acquire point cloud data acquired by sensors mounted on the moving object, extracting a first point belonging to a first layer from the point cloud data; obtaining a first angle of the sensor associated with the first point relative to a reference layer; calculating a first pitch angle of the moving body based on first coordinates that are coordinates of the first point and the first angle; outputting a pitch angle based on the first pitch angle; Information processing methods.

[0076] (15) a sensor for acquiring distance measurement information; An information processing device according to any one of (1) to (13); Equipped with the information processing device calculates a pitch angle of the moving body based on the sensed information of the sensor; Information processing system.

[0077] The aspects of the present disclosure are not limited to the above-described embodiments and include various conceivable modifications, and the effects of the present disclosure are not limited to the above-described contents. The components in each embodiment may be appropriately combined and applied. In other words, various additions, modifications, and partial deletions are possible within the scope of the conceptual idea and intent of the present disclosure, which is derived from the content defined in the claims and their equivalents. [Explanation of symbols]

[0078] 1: Information processing system, 10: Sensor, 20: Information processing device, 22: I / F, 24: Memory section, 26: Processing section, V: moving body, B1, B2: Target, O, P, Q, R, S: points, Q1: 1st point, Q2: Second point, L0: Reference layer, L-2, L-1, L1, L2, L3, L4: Layers

Claims

1. a processing unit; The processing unit Acquire point cloud data acquired by sensors mounted on the moving object, extracting a first point belonging to a first layer from the point cloud data; obtaining a first angle of the sensor associated with the first point relative to a reference layer; calculating a first pitch angle of the moving body based on first coordinates that are coordinates of the first point and the first angle; outputting a pitch angle based on the first pitch angle; Information processing device.

2. The processing unit a horizontal distance from the sensor to the first point and a vertical distance from the sensor to the first point are set as the first coordinates; dividing the vertical distance from the sensor to the first point by the distance from the sensor to the first point, and then substituting the result of the division into an arc sine function to subtract the first angle from the result to calculate the first pitch angle as the pitch angle; The information processing device according to claim 1.

3. The processing unit further comprises: Obtaining a slope angle between a horizontal plane and a reference layer of the sensor; correcting the calculation result of the first pitch angle based on the slope angle; The information processing device according to claim 2.

4. The processing unit obtaining the slope angle based on map data; The information processing device according to claim 3.

5. The processing unit The first layer is the reference layer; The first pitch angle is calculated by setting the first angle to 0°. The information processing device according to claim 1.

6. The processing unit further comprises: extracting a second point different from the first point from the point cloud data; obtaining a second angle of the sensor associated with the second point relative to a reference layer; calculating a second pitch angle of the moving body based on second coordinates that are coordinates of the second point and the second angle; modifying the pitch angle based on the second pitch angle; The information processing device according to claim 2.

7. The processing unit calculating the pitch angle by statistically processing the first pitch angle and the second pitch angle; The information processing device according to claim 6.

8. The second point is a point indicating a different point of the same object as the first point. The information processing device according to claim 6.

9. The second point is a point indicating a point of an object different from the first point. The information processing device according to claim 6.

10. The second point is a point acquired at a different timing from the first point. The information processing device according to claim 6.

11. The second point is the same as the first point, but acquired at a different time from the first point. The information processing device according to claim 10.

12. The processing unit further comprises: The pitch angle is calculated from information on three or more points including the first point and the second point. The information processing device according to claim 6.

13. A processing unit mounted on the moving body Acquire point cloud data acquired by sensors mounted on the moving object, extracting a first point belonging to a first layer from the point cloud data; obtaining a first angle of the sensor associated with the first point relative to a reference layer; calculating a first pitch angle of the moving body based on first coordinates that are coordinates of the first point and the first angle; outputting a pitch angle based on the first pitch angle; Information processing methods.

14. a sensor for acquiring distance measurement information; an information processing device according to any one of claims 1 to 12; Equipped with the information processing device calculates a pitch angle of the moving body based on the sensed information of the sensor; Information processing system.

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