Data providing device, data providing method, and program

Abstract

To provide a data providing device capable of providing accurate data within a building to an automatic driving vehicle.SOLUTION: A data providing device includes: a first type of 3D data storage unit that stores a first type of 3D data including a coordinate group of an immovable object within a vehicle-parking / stopping lot, a vehicle base, or a physical distribution facility; a present / empty information acquisition unit that acquires present / empty information indicating whether each passenger compartment is in an occupied state or a vacant state within the vehicle-parking / stopping lot, the vehicle base, or the physical distribution facility; a vehicle modeling information storage unit that records 3D modeling information of a vehicle; and a second type of 3D data generation unit that generates a second type of 3D data in which 3D modeling information is placed at a coordinate of a passenger compartment corresponding to the vehicle's presence state; and a data transmission unit that transmits the first type and the second type of 3D data to an automatic driving vehicle entering the vehicle-parking / stopping lot, the vehicle base, or the physical distribution facility.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a data providing device, a data providing method, and a program that provide accurate data about the inside of a building to an autonomous driving vehicle. [Background technology]

[0002] The driving procedures for autonomous vehicles at level 3 or above may roughly include the following steps 1) to 3).

[0003] 1) The autonomous vehicle inputs its destination into the system and generates a global driving route.

[0004] 2) The autonomous vehicle begins autonomous driving according to the global driving route. After starting autonomous driving, the autonomous vehicle checks whether there are any vehicles nearby, whether there are any people or obstacles around, and also checks for traffic lights, etc.

[0005] 3) An autonomous vehicle compares 3D digital map information delivered from a map distribution system, etc., with a group of sensor information generated by synthesizing information obtained from cameras and various sensors equipped on the vehicle, and by confirming that this information matches, it recognizes its own position and creates a local driving route.The autonomous vehicle drives according to the local driving route, repeatedly operating the steering wheel, accelerator, brake, etc., while determining whether to go forward / stop, turn right / left, or go straight.

[0006] In this way, in principle, to ensure autonomous driving of self-driving cars, it is necessary to input the destination and have a 3D digital map to the destination.

[0007] 3D digital maps are being created as a policy step as an important infrastructure for the future society of autonomous driving, and currently all expressways (30,000 km) have been completed. Non-Patent Document 1, for example, discloses an example of an autonomous driving system that uses 3D digital maps.

[0008] Similarly, a 3D digital map of the route inside a building is required for driving inside the building. Examples of autonomous driving inside a building include autonomous driving in parking lots, vehicle depots for buses and taxis, and logistics facilities. [Prior art documents] [Non-patent literature]

[0009] [Non-Patent Document 1] MLIT Japan, "Mobility Autonomous Operation System (Vehicle) v2.0 Using 3D City Models and BIM," [online], MLIT Japan, [Retrieved February 19, 2024], Internet〈URL: https: / / www.mlit.go.jp / plateau / use-case / uc23-17-2 / 〉 Summary of the Invention [Problem to be solved by the invention]

[0010] Data measurements inside buildings for creating 3D digital maps are often taken when they are newly constructed (before opening) or at times when there are fewer users, such as at night. Therefore, data measurements are often taken when there are no vehicles in parking lots, vehicle compartments in depots, or berths in logistics facilities (hereafter referred to collectively as "car compartments"), or when only a few vehicles are parked there.

[0011] However, in operating parking lots, bus and taxi depots, and logistics facilities, there are often vehicles parked that do not exist on the 3D digital map.

[0012] Therefore, in these facilities, vehicles that do not appear on the 3D digital map may significantly degrade the accuracy of self-localization. Also, if the number of calculations performed by the onboard computer is increased to avoid errors in self-localization, this may place a heavy load on the onboard computer.

[0013] Therefore, an object of the present disclosure is to provide a data providing device that can provide accurate data about the inside of a building to an autonomous vehicle. [Means for solving the problem]

[0014] The data providing device of the present disclosure includes a first type 3D data storage unit, an airborne information acquisition unit, a vehicle modeling information storage unit, a second type 3D data generation unit, and a data transmission unit.

[0015] The first type 3D data storage unit stores first type 3D data including a group of coordinates of vehicles within a parking lot, a vehicle depot, or a logistics facility. The vacant vehicle information acquisition unit acquires vacant vehicle information indicating whether each vehicle space within the parking lot, the vehicle depot, or the logistics facility is occupied or vacant. The vehicle modeling information storage unit records 3D modeling information of vehicles. The second type 3D data generation unit generates second type 3D data in which the 3D modeling information is placed at the coordinates of vehicle spaces corresponding to occupied status. The data transmission unit transmits the first and second types of 3D data to autonomous vehicles entering the parking lot, the vehicle depot, or the logistics facility. [Effects of the Invention]

[0016] According to the data providing device of the present disclosure, accurate data on the inside of a building can be provided to an autonomous vehicle. [Brief explanation of the drawings]

[0017] [Figure 1] 3A to 3D are diagrams showing examples of first-type 3D data and second-type 3D data. [Figure 2] FIG. 2 is a block diagram showing the functional configuration of the data providing device according to the first embodiment. [Figure 3] 4 is a flowchart showing the operation of the data providing device according to the first embodiment. [Figure 4] FIG. 10 is a block diagram showing the functional configuration of a data providing device according to a second embodiment. [Figure 5] 10 is a flowchart showing the operation of the data providing device according to the second embodiment. [Figure 6]FIG. 11 is a block diagram showing the functional configuration of a data providing device according to a third embodiment. [Figure 7] 10 is a flowchart showing the operation of the data providing device according to the third embodiment. [Figure 8] FIG. 2 is a diagram showing an example of the functional configuration of a computer. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, embodiments of the present disclosure will be described in detail. Note that components having the same functions are assigned the same numbers, and redundant explanations will be omitted. [Example]

[0019] The terms used in this specification will be explained below with reference to Figure 1. Note that, hereinafter, when "inside a parking lot, a vehicle depot, or a logistics facility" is collectively referred to, it may be simply referred to as "inside the facility." Also, when "inside a parking lot, a vehicle depot, or a logistics facility" is collectively referred to, it may be simply referred to as "the facility."

[0020] <Type 1 3D data> The first type of 3D data is data that includes a group of coordinates of immovable objects within a facility. An immovable object is an object that does not normally move from its location. Examples of immovable objects include ceilings, floors, slopes, walls, pillars, beams, fences, parking barriers, gates, signs, electronic billboards, piping, ducts, lighting (fixtures, lamps), firefighting equipment, electrical equipment, and other devices. The same figure shows an example of immovable objects 110 within a parking lot. In the same figure, the immovable objects 110 include the floor, ceiling, pillars, etc. within the parking lot.

[0021] As shown in the same figure, the first type of 3D data may include driving limit information 111, which is a group of coordinates indicating the boundary between the area in which an autonomous vehicle can normally drive (the shaded area in the same figure) and the area in which it cannot normally drive (the area other than the shaded area in the same figure).

[0022] As shown in the figure, the first type of 3D data may also include marker information 112, which is information about the coordinates of markers used by an autonomous vehicle to correct its own position estimation.

[0023] Please note that changes may occur within the facility due to construction or renovations. For example, a vehicle compartment may be temporarily converted into a materials storage area, or the location of fire extinguishing equipment may be permanently changed.

[0024] In this case, the first type of 3D data can be updated by overlaying updated data created using 3D CAD or the like for the above-mentioned changes on the original first type of 3D data.

[0025] This means that even if changes are made to the facility due to construction or renovations, re-surveying using surveying equipment equipped with 3DLidar can be avoided, reducing costs.

[0026] <Availability information> Vacancy information is information that indicates whether each parking space within the facility is occupied or vacant.

[0027] <Vehicle 3D modeling information> 3D modeling information for a vehicle refers to the three-dimensional coordinate data of the vehicle's exterior. There are various possible variations in the accuracy of the 3D modeling information for a vehicle. The highest level of accuracy would be to provide different 3D modeling information for each vehicle model. A medium level of accuracy would be to provide 3D modeling information of typical exterior shapes for each vehicle type (kei car, compact car, sedan, coupe, sports car, SUV, minivan, wagon, van, etc.). Another medium level of accuracy would be to provide 3D modeling information of typical exterior shapes for each vehicle size classification (e.g., large, medium, small). If low accuracy is sufficient, it is also possible to provide only a rectangular shape that reproduces the standard size of the vehicle. The accuracy of the 3D modeling information to be provided depends on the level of error tolerance of the self-localization system installed in the autonomous vehicle.

[0028] <Type 2 3D data> The second type of 3D data is data in which 3D modeling information is placed at the coordinates of the vehicle interior that correspond to the vehicle's in-vehicle state. The second type of 3D data can be combined with the first type of 3D data. The second type of 3D data can also be separated from the first type of 3D data. For example, the second type of 3D data can be managed on a different layer from the first type of 3D data, and then combined with the first type of 3D data.

[0029] The figure shows the state in which the second type of 3D data, which includes 3D modeling information 120a, 120b,..., 120f of multiple vehicles, is combined with the first type of 3D data. By transmitting this type of 3D data to an autonomous vehicle, the autonomous vehicle can use the 3D data that reflects the current situation within the facility for self-localization, thereby improving the accuracy of the autonomous vehicle's self-localization. In addition, this also prevents the onboard computer from being heavily burdened during self-localization.

[0030] The functional configuration of the data providing device of the first embodiment will be described below with reference to Fig. 2. As shown in Fig. 2, the data providing device 1 of this embodiment includes a first type 3D data storage unit 11, a vehicle presence information acquisition unit 12, a vehicle modeling information storage unit 13, a second type 3D data generation unit 14, a destination vehicle interior information generation unit 15, a driving route information generation unit 16, and a data transmission unit 17. The data providing device 1 of this embodiment is capable of acquiring information from a vehicle interior sensor 5 to acquire the vehicle presence information. Note that, as indicated by the dashed lines in Fig. 2, the destination vehicle interior information generation unit 15 and the driving route information generation unit 16 may be omitted in some cases (described later).

[0031] The operation of the data providing device 1 of this embodiment will be described below with reference to FIG.

[0032] The first type 3D data storage unit 11 stores in advance first type 3D data including coordinate groups of immovable objects within the facility. As described above, the first type 3D data may include not only immovable objects but also driving limit information and marker information.

[0033] The vacant vehicle information acquisition unit 12 acquires information from the vehicle compartment sensor 5, and acquires vacant vehicle information indicating whether each vehicle compartment in the facility is occupied or vacant (S12).

[0034] The vehicle modeling information storage unit 13 stores 3D modeling information of vehicles in advance. As described above, the 3D modeling information of vehicles may be of high accuracy, or in some cases may be of medium accuracy or low accuracy. The more accurate the 3D modeling information of vehicles, the more faithfully the situation inside the facility can be reproduced, but there is a trade-off between this and increased data capacity costs and costs required to identify vehicles.

[0035] The second type 3D data generating unit 14 generates second type 3D data in which the 3D modeling information is arranged at the coordinates of the vehicle interior corresponding to the vehicle presence state (S14).

[0036] The destination vehicle compartment information generation unit 15 generates destination vehicle compartment information indicating the coordinates of the destination vehicle compartment (S15). When an autonomously driven vehicle autonomously drives within a facility, there are cases where the autonomous vehicle cannot set its own destination (destination vehicle compartment). In this case, the data providing device 1 needs to execute step S15 to generate the destination vehicle compartment information.

[0037] Step S15 may be executed by a device other than the data providing device 1. In this case, the destination vehicle compartment information generating unit 15 is a functional configuration provided in another device, and therefore can be omitted from the data providing device 1.

[0038] Furthermore, if the self-driving vehicle has a function of setting its own destination (destination compartment) during autonomous driving within the facility, step S15 and the destination compartment information generation unit 15 can be omitted.

[0039] The driving route information generating unit 16 generates driving route information, which is information about the driving route from the entrance of the facility to the destination vehicle compartment (S16). When an autonomously driving vehicle autonomously drives within a facility, there are cases where the autonomous vehicle cannot generate a driving route by itself. In this case, the data providing device 1 needs to execute step S16 to generate the driving route information.

[0040] Step S16 may be executed by a device other than the data providing device 1. In this case, the driving route information generating unit 16 is a functional configuration provided in another device, and therefore can be omitted from the data providing device 1.

[0041] Furthermore, if the self-driving vehicle has the function of generating its own driving route when autonomously driving within the facility, step S16 and the driving route information generation unit 16 can be omitted.

[0042] The data transmission unit 17 transmits the first and second types of 3D data, and, if necessary, the destination vehicle compartment information and driving route information to the autonomous vehicle entering the facility (S17). The data transmission unit 17 may transmit the first and second types of 3D data, the destination vehicle compartment information, and the driving route information in a combined state to the autonomous vehicle.

[0043] The self-driving car uses the received first and second types of 3D data to estimate its own position, and then begins autonomous driving based on destination vehicle information and driving route information.

[0044] <Update of Type 2 3D data> It is expected that vehicles will constantly be entering and exiting the facility during operation. Therefore, the airspace information may change from moment to moment. For example, the airspace information when an autonomous vehicle enters the facility may differ from the airspace information when the autonomous vehicle is traveling within the facility.

[0045] In order to avoid the deterioration of the accuracy of self-position estimation and the increased load on the vehicle-mounted computer caused by the above-mentioned phenomenon, it is preferable that the data providing device 1 add the following processing.

[0046] The aircraft presence information acquisition unit 12 acquires the latest aircraft presence information every time a predetermined time elapses (repeated execution of S12). The second type 3D data generation unit 14 updates the second type 3D data based on the latest aircraft presence information every time the aircraft presence information is updated (repeated execution of S14). The data transmission unit 17 transmits the updated second type 3D data when transmitting 3D data to the autonomous vehicle for the second or subsequent time (repeated execution of S17).

[0047] When transmitting 3D data to the autonomous vehicle for the second or subsequent time, the data transmission unit 17 may transmit only the updated second type of 3D data (i.e., omit retransmission of the first type of 3D data, etc.). When selecting this process, it is assumed that the autonomous vehicle has a function to select the latest second type of 3D data and perform self-location estimation.

[0048] Furthermore, when transmitting 3D data to the autonomous vehicle for the second or subsequent time, the data transmission unit 17 may transmit only differential data, which is the difference between the latest second-type 3D data and the second-type 3D data updated or generated immediately before that. When this processing is selected, it is assumed that the autonomous vehicle has a function to update and use old second-type 3D data based on the differential data.

[0049] As described above, according to the data providing device 1 of this embodiment, the data transmitting unit 17 transmits the first and second types of 3D data to an autonomous vehicle entering a facility, allowing the autonomous vehicle to use the 3D data that reflects the current situation within the facility for self-location estimation. This improves the accuracy of the self-location estimation of the autonomous vehicle and also prevents a heavy load from being placed on the on-board computer during self-location estimation.

[0050] In addition, since the destination compartment information generating unit 15 generates the destination compartment information, a destination compartment can be specified even for an autonomous vehicle that does not have a destination setting function. In addition, since the driving route information generating unit 16 generates the driving route information, even an autonomous vehicle that does not have a driving route generating function can autonomously drive according to the driving route.

[0051] Furthermore, the second type 3D data generation unit 14 is configured to update the second type 3D data based on the latest airspace information, and the data transmission unit 17 is configured to transmit the updated second type 3D data or differential data. Therefore, even in cases where the airspace information changes from moment to moment, the accuracy of the self-position estimation of the autonomous vehicle can be improved by reflecting the latest airspace information in the second type 3D data, and it is possible to avoid placing a heavy load on the on-board computer during self-position estimation. [Example]

[0052] The functional configuration of the data providing device of the second embodiment will be described below with reference to Fig. 4. As shown in Fig. 4, the data providing device 2 of the second embodiment includes a first type 3D data storage unit 11, a vehicle presence information acquisition unit 12, a vehicle modeling information storage unit 23, a size classification information acquisition unit 21, a second type 3D data generation unit 24, a destination vehicle compartment information generation unit 15, a driving route information generation unit 16, and a data transmission unit 17. The configuration other than the vehicle modeling information storage unit 23, the size classification information acquisition unit 21, and the second type 3D data generation unit 24 is the same as that of the data providing device 1 of the first embodiment.

[0053] As in Example 1, the data providing device 2 is capable of acquiring information from the vehicle compartment sensor 5 to obtain vehicle presence information, and the destination vehicle compartment information generating unit 15 and the driving route information generating unit 16 may be omitted in some cases.

[0054] Hereinafter, operations different from those in the first embodiment will be described with reference to FIG.

[0055] The size classification information acquisition unit 21 acquires size classification information, which is information on the size classification of vehicles present in each vehicle compartment of the facility (S21). For example, the vehicle compartment sensor 5 may be a camera, and the size classification information acquisition unit 21 may acquire an image of a vehicle parked in the vehicle compartment from the vehicle compartment sensor 5, and acquire size classification information based on the vehicle captured in the image.

[0056] The vehicle modeling information storage unit 23 is assumed to store in advance 3D modeling information corresponding to each size classification. For example, the size classification information may be classified into three types: large, medium, and small. Furthermore, the size classification information may be classified into categories in which similar sizes for each vehicle type (kei car, compact car, sedan, coupe, sports car, SUV, minivan, wagon, van, etc.) are included in one category. For example, the classification may be kei car = 1, compact car = 2, sedan + coupe + sports car = 3, SUV + minivan = 4, wagon + van = 5. Furthermore, the classification of the size classification information may be a number assigned to each vehicle type. For example, the classification may be kei car = 1, compact car = 2, sedan = 3, coupe = 4, sports car = 5, SUV = 6, minivan = 7, wagon = 8, and van = 9.

[0057] The second type 3D data generating unit 24 generates second type 3D data in which the 3D modeling information corresponding to the size classification information is arranged at the coordinates of the vehicle interior corresponding to the vehicle presence state (S24).

[0058] According to the data providing device 2 of this embodiment, in addition to the effects of embodiment 1, the size classification information acquisition unit 21 acquires size classification information, and the second type 3D data generation unit 24 generates second type 3D data that reflects the size classification information, thereby further improving the accuracy of self-position estimation of an autonomous vehicle and further preventing a heavy load from being placed on the on-board computer during self-position estimation. [Example]

[0059] The functional configuration of the data providing device of the third embodiment will be described below with reference to Fig. 6. As shown in the figure, the data providing device 3 of this embodiment includes a first type 3D data storage unit 11, an airspace information acquisition unit 12, a vehicle modeling information storage unit 33, a vehicle name information acquisition unit 31, a second type 3D data generation unit 34, a destination vehicle compartment information generation unit 15, a driving route information generation unit 16, and a data transmission unit 17. The configuration other than the vehicle modeling information storage unit 33, the vehicle name information acquisition unit 31, and the second type 3D data generation unit 34 is the same as that of the data providing device 1 of the first embodiment.

[0060] As in Example 1, the data providing device 3 is capable of acquiring information from the vehicle compartment sensor 5 to obtain vehicle presence information, and the destination vehicle compartment information generating unit 15 and the driving route information generating unit 16 may be omitted in some cases.

[0061] Hereinafter, operations different from those in the first embodiment will be described with reference to Fig. 7. The vehicle name information acquisition unit 31 acquires vehicle name information, which is information on the vehicle names of vehicles present in each vehicle compartment of the facility (S31). For example, the vehicle compartment sensor 5 may be a camera, and the vehicle name information acquisition unit 31 may acquire an image of a vehicle parked in a vehicle compartment from the vehicle compartment sensor 5, and acquire vehicle name information based on the vehicle captured in the image.

[0062] The vehicle modeling information storage unit 33 is assumed to store in advance 3D modeling information corresponding to each vehicle name.

[0063] The second type 3D data generating unit 34 generates second type 3D data in which 3D modeling information corresponding to the vehicle name is arranged at the coordinates of the vehicle interior corresponding to the vehicle presence state (S34).

[0064] According to the data providing device 3 of this embodiment, in addition to the effects of embodiment 1, the vehicle name information acquisition unit 31 acquires vehicle name information, and the second type 3D data generation unit 34 generates second type 3D data that reflects the vehicle name information, thereby further improving the accuracy of self-position estimation of an autonomous vehicle and further preventing a heavy load from being placed on the on-board computer during self-position estimation.

[0065] <Additional Notes> The functions performed by the components described herein may be implemented in circuitry or processing circuitry, including general-purpose processors, application-specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), a CPU (a Central Processing Unit), conventional circuits, and / or combinations thereof, programmed to perform the described functions. A processor includes transistors and other circuits and is considered to be circuitry or processing circuitry. A processor may also be a programmed processor that executes programs stored in memory.

[0066] In this specification, a circuitry, unit, or means is hardware that is programmed to realize or performs the described functions, which may be any hardware disclosed herein or any hardware known to be programmed to realize or perform the described functions.

[0067] If the hardware is a processor considered to be a type of circuitry, the circuitry, means, or unit is a combination of the hardware and software used to configure the hardware and / or processor.

[0068] The various processes described above can be implemented by loading a program that executes each step of the above method into the recording unit 10020 of the computer shown in Figure 8 and operating the control unit 10010, input unit 10030, output unit 10040, etc.

[0069] The program describing the processing contents can be recorded on a computer-readable recording medium, which may be, for example, a magnetic recording device, an optical disk, a magneto-optical recording medium, a semiconductor memory, or any other suitable recording medium.

[0070] The program may be distributed, for example, by selling, transferring, or lending portable recording media such as DVDs and CD-ROMs on which the program is recorded. Furthermore, the program may be stored in a storage device of a server computer, and then transferred from the server computer to other computers via a network, thereby distributing the program.

[0071] A computer that executes such a program may first temporarily store the program recorded on a portable recording medium or transferred from a server computer in its own storage device. Then, when executing a process, the computer reads the program stored on its own recording medium and executes the process in accordance with the read program. Alternatively, the computer may read the program directly from a portable recording medium and execute the process in accordance with the program. Furthermore, the computer may execute the process in accordance with the program each time a program is transferred from a server computer to the computer. The server computer may not transfer the program to the computer, but may instead execute the process through a so-called ASP (Application Service Provider) service, which realizes the processing function by issuing an execution instruction and obtaining the results. Furthermore, the server computer may execute the process on a terminal using a so-called SaaS (Software as a Service) service, which allows users to use part of the server computer along with the program. In this embodiment, the program includes information used for computer processing that is equivalent to a program (such as data that is not a direct instruction to the computer but has properties that define computer processing).

[0072] Furthermore, in this embodiment, the device is configured by executing a predetermined program on a computer, but at least a part of the processing contents may be realized by hardware.

Claims

1. a first type 3D data storage unit that stores first type 3D data including a group of coordinates of immovable objects within a parking lot, a vehicle depot, or a logistics facility; a vehicle presence information acquisition unit that acquires vehicle presence information indicating whether each vehicle space in the parking lot, the vehicle base, or the logistics facility is occupied or vacant; a vehicle modeling information storage unit that records 3D modeling information of the vehicle; a second-type 3D data generating unit that generates second-type 3D data in which the 3D modeling information is arranged at coordinates of the vehicle interior corresponding to the vehicle presence state; and a data transmission unit that transmits the first type and the second type of 3D data to an autonomous vehicle entering the parking lot, the vehicle base, or the logistics facility. Data providing device.

2. The data providing device according to claim 1, a destination compartment information generating unit that generates destination compartment information indicating coordinates of the destination compartment; The data transmission unit Transmitting the destination cabin information together with the first and second types of 3D data. Data providing device.

3. 3. The data providing device according to claim 2, a driving route information generating unit that generates driving route information that is information about a driving route from an entrance of the parking lot, the vehicle base, or the logistics facility to the destination vehicle compartment, The data transmission unit Transmitting the driving route information together with the first and second types of 3D data and the destination vehicle compartment information. Data providing device.

4. The data providing device according to claim 1, The airspace information acquisition unit Obtaining the latest airborne information every predetermined time period; The second type 3D data generation unit updating the second type of 3D data based on the latest airspace information every time the airspace information is updated; The data transmission unit When transmitting the 3D data to the self-driving vehicle for the second or subsequent time, the updated second type of 3D data is transmitted. Data providing device.

5. 5. The data providing device according to claim 4, The data transmission unit When transmitting the 3D data to the self-driving vehicle for the second or subsequent time, only the updated second type of 3D data is transmitted. Data providing device.

6. The data providing device according to claim 1, The airspace information acquisition unit Obtaining the latest airborne information every predetermined time period; The second type 3D data generation unit updating the second type of 3D data based on the latest airspace information every time the airspace information is updated; The data transmission unit When transmitting the 3D data to the self-driving vehicle for the second or subsequent time, only differential data that is the difference between the latest second type of 3D data and the second type of 3D data that was updated or generated immediately before that is transmitted. Data providing device.

7. The data providing device according to claim 1, a size classification information acquisition unit that acquires size classification information, which is information on the size classification of vehicles present in each vehicle compartment of the parking lot, the vehicle base, or the logistics facility; The vehicle modeling information storage unit storing the 3D modeling information corresponding to each of the size categories; The second type 3D data generation unit The second type of 3D data is generated by arranging the 3D modeling information corresponding to the size classification information at the coordinates of the vehicle interior corresponding to the vehicle presence state. Data providing device.

8. The data providing device according to claim 7, The size classification information is divided into three categories: large, medium, and small. Data providing device.

9. The data providing device according to claim 1, a vehicle name information acquisition unit that acquires vehicle name information, which is information on the names of vehicles present in each vehicle compartment of the parking lot, the vehicle base, or the logistics facility; The vehicle modeling information storage unit the 3D modeling information corresponding to each of the vehicle names is stored; The second type 3D data generation unit Generate the second type of 3D data in which the 3D modeling information corresponding to the vehicle name is arranged at the coordinates of the vehicle compartment corresponding to the vehicle presence state. Data providing device.

10. The data providing device according to claim 1, The first type of 3D data includes: The autonomous vehicle includes driving limit information, which is a group of coordinates indicating the boundaries between the range in which the autonomous vehicle can normally drive and the range in which the autonomous vehicle cannot normally drive. Data providing device.

11. The data providing device according to claim 1, The first type of 3D data includes: Marker information is information about the coordinates of markers used by the self-driving vehicle to correct its own position estimation. Data providing device.

12. The data providing device according to claim 1, The 3D modeling information This is information indicating a rectangular parallelepiped shape that reproduces the standard size of the vehicle. Data providing device.

13. A data providing method executed by a data providing device including a first type 3D data storage unit that stores first type 3D data including a coordinate group of a stationary object in a parking lot, a vehicle depot, or a logistics facility, and a vehicle modeling information storage unit that records 3D modeling information of a vehicle, acquiring vacant vehicle information indicating whether each vehicle space in the parking lot, the vehicle base, or the logistics facility is occupied or vacant; generating second type 3D data in which the 3D modeling information is arranged at coordinates of the vehicle interior corresponding to the vehicle presence state; transmitting the first type and the second type of 3D data to an autonomous vehicle entering the parking lot, the vehicle base, or the logistics facility. How data is provided.

14. A program that causes a computer to function as the data providing device according to any one of claims 1 to 12.

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