Map generation device, map generation program, and map generation system

Abstract

To provide a map generation device capable of generating a dynamic map without impairing a real-time property.SOLUTION: A map generation device comprises: an identification part (11) for identifying whether or not dynamic map generation information acquired from a sensor (2) includes three-dimensional information, and is information about a tracking target object; a first conversion part (12) for converting the dynamic map generation information identified by the identification part (11) into map generation information after two-dimensional conversion; a tracking part (14) for extracting the map generation information after the two-dimensional conversion about the tracking target object in motion by tracking the tracking target object on a two-dimensional space, based on the map generation information after the two-dimensional conversion; a second conversion part (15) for converting the map generation information after the two-dimensional conversion into map generation information after three-dimensional conversion; and a map generation part (16) for generating a dynamic map, based on the map generation information after the three-dimensional conversion.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a map generation device, a map generation program, and a map generation system that generate a dynamic map. [Background technology]

[0002] In recent years, various services using map information have been provided, such as automated driving or advanced driving using dynamic maps. A dynamic map is a digital map that is generated by linking various information related to road traffic, such as information on surrounding vehicles or traffic information, to a high-precision 3D map in real time. For example, an autonomous vehicle performs autonomous driving control by comparing information on a dynamic map with information detected by sensors mounted on the vehicle. It is important for an autonomous vehicle to be able to accurately grasp the location or type of an object existing in the real world, as well as changes in the movement of the object over time, based on the dynamic map. To achieve this, it is important that the content of the dynamic map captures changes in the movement of objects over time detected in the real world and closely resembles the information in the real world. As a technology for capturing changes in the time series of the movement of an object detected in the real world, for example, Patent Document 1 discloses a technology for acquiring spatial information of a detected three-dimensional space over time using at least one sensor, identifying at least one object in the three-dimensional space, and tracking the detected three-dimensional space including the identified at least one object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 11,507,101 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional technology, when tracking objects in a three-dimensional space, spatial information about the three-dimensional space is acquired over time, which increases the amount of information required for tracking. This puts a strain on the CPU processing load, especially when there are many objects to track. When attempting to generate a dynamic map using conventional technology, there was a problem that delays could occur in generating and providing the dynamic map, which could impair the real-time performance of the system using the dynamic map.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a map generation device that can generate a dynamic map without impairing real-time performance. [Means for solving the problem]

[0006] A map generation device according to the present disclosure acquires, from at least one sensor that detects an object present in a target area, information about the object detected by the sensor as dynamic map generation information for generating a dynamic map, and includes an identification unit that identifies whether the acquired dynamic map generation information is dynamic map generation information including three-dimensional information and whether it is dynamic map generation information related to a tracked object whose movement needs to be tracked, and for the dynamic map generation information that the identification unit identifies as dynamic map generation information including three-dimensional information and related to a tracked object, By reducing the dimensional information a first conversion unit that converts the information into two-dimensional converted map generation information, which is two-dimensional spatial information; a tracking unit that tracks a tracked object in two-dimensional space based on the two-dimensional converted map generation information converted by the first conversion unit, and extracts two-dimensional converted map generation information for the tracked object that has moved; and By restoring the dimensional information that was reduced when the first conversion unit converted the data into 2D converted map generation information,The system includes a second conversion unit that converts the information into three-dimensional spatial information, which is information for generating a three-dimensional converted map, and a map generation unit that generates a dynamic map based on the information for generating three-dimensional converted map converted by the second conversion unit. [Effects of the Invention]

[0007] According to the present disclosure, a map generation device can generate a dynamic map without impairing real-time performance. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating an example of the configuration of a map generating device according to a first embodiment. [Figure 2] FIG. 2 is a diagram showing an example of a dynamic map generated by the map generating device in the first embodiment. [Figure 3] 4 is a flowchart illustrating the operation of the map generating device according to the first embodiment. [Figure 4] 4 is a flowchart for explaining details of the process of step ST2 in FIG. 3. [Figure 5] 4 is a flowchart for explaining details of the process of step ST4 in FIG. 3. [Figure 6] 6A and 6B are diagrams illustrating an example of a hardware configuration of the map generating device according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Embodiment 1 FIG. 1 is a diagram illustrating an example of the configuration of a map generating device 1 according to the first embodiment. The map generating device 1 according to the first embodiment is mounted on, for example, a roadside device 100 installed on the roadside. The map generation device 1 acquires information for generating a dynamic map (hereinafter referred to as "dynamic map generation information") from the sensors 2, vehicles 3, control center 4, and web server 5, and generates a dynamic map. In the first embodiment, it is assumed that a dynamic map already exists and is stored in a location that can be referenced by the map generation device 1. In the first embodiment, the generation of a dynamic map by the map generation device 1 includes updating the contents of an already existing dynamic map. The map generating device 1 outputs the generated dynamic map to the vehicle 3.

[0010] First, the dynamic map will be described. A dynamic map is a digital map that is generated by linking various information related to road traffic, such as information on surrounding vehicles or traffic information, to a high-precision three-dimensional map that allows the vehicle 3 to identify the vehicle's position on the road or its surroundings at the lane level in real time. Dynamic maps are used in autonomous driving or advanced driving. Specifically, the vehicle 3 performs autonomous driving control by, for example, comparing information on the dynamic map with information acquired from a sensor 2 (not shown in FIG. 1) mounted on the vehicle 3. By driving while comparing various pieces of information linked in real time on the dynamic map with information acquired from the sensor 2, the vehicle 3 can accurately identify its own position, quickly detect obstacles, etc., and drive smoothly based on predictions. Note that the vehicle 3 is assumed to be an autonomously driven vehicle (hereinafter referred to as an "autonomous driving vehicle").

[0011] The dynamic map is composed of static information, semi-static information, semi-dynamic information, and dynamic information, that is, the information for generating the dynamic map includes static information, semi-static information, semi-dynamic information, and dynamic information. The static information is high-precision 3D map information, which includes road surface information, lane information, building location information, etc. The quasi-static information includes information about scheduled traffic restrictions, information about scheduled road construction, wide-area weather forecast information, and the like. The semi-dynamic information includes accident information, congestion information, traffic regulation information, road construction information, and narrow-area weather forecast information. The dynamic information includes information about surrounding vehicles, information about pedestrians, and information about traffic signals.

[0012] A dynamic map is generated by linking quasi-static information, semi-dynamic information, and dynamic information to high-precision 3D map information, which is static information. Note that the linking rules for linking the quasi-static information, semi-dynamic information, and dynamic information to the high-precision 3D map information are set in advance.

[0013] Dynamic information is frequently reflected in the dynamic map. The dynamic information is reflected very frequently, such as once per second. In other words, dynamic information is information that needs to be reflected in the dynamic map in real time. For example, if the dynamic information is not reflected in the dynamic map in real time, the dynamic map will show information that differs from the real world. As a result, for example, the vehicle 3 will not be able to perform correct autonomous driving control. Semi-dynamic information is also frequently reflected in the dynamic map, although not as frequently as dynamic information. On the other hand, the quasi-static information and static information are reflected in the dynamic map less frequently than the dynamic information and quasi-dynamic information. The quasi-static information and static information are reflected less frequently, such as once a day. In other words, even if the quasi-static information and static information are not reflected in the dynamic map in real time, the vehicle 3 can still perform autonomous driving control.

[0014] As described above, in a dynamic map, the timings at which dynamic information, semi-dynamic information, semi-static information, and static information are reflected in the dynamic map are different. The map generation device 1 generates a dynamic map that reflects dynamic information, quasi-dynamic information, quasi-static information, or static information at a predetermined timing for reflecting dynamic information, a predetermined timing for reflecting quasi-dynamic information, a predetermined timing for reflecting quasi-static information, and a predetermined timing for reflecting static information. That is, the map generation device 1 updates the dynamic map at a predetermined timing for reflecting dynamic information, a predetermined timing for reflecting quasi-dynamic information, a predetermined timing for reflecting quasi-static information, and a predetermined timing for reflecting static information. Every time the map generation device 1 generates a dynamic map, it outputs the generated dynamic map to the vehicle 3. In the first embodiment, the map generation device 1 will be described on the assumption that the timing for reflecting dynamic information has arrived.

[0015] FIG. 2 is a diagram showing an example of a dynamic map generated by the map generating device 1 in the first embodiment. As shown in FIG. 2, in the dynamic map, the region that needs to reflect static information, semi-static information, semi-dynamic information, and dynamic information is divided into a plurality of areas in advance. In FIG. 2, as an example, it is assumed that areas 1 to 36 are set on the dynamic map. In the first embodiment, the map generating device 1 generates a dynamic map for each area.

[0016] Returning to the explanation of Figure 1. As shown in FIG. 1, a map generating device 1 is connected to a sensor 2, a vehicle 3, a control center 4, and a web server 5.

[0017] The sensor 2 is mounted on the roadside device 100. The sensor 2 is, for example, a sensing device such as a camera, a radar, or a LiDAR. The sensor 2 senses an area where an object is to be detected (hereinafter referred to as a "target area"), and detects an object present in the target area. In the first embodiment, the target area is a three-dimensional space around the roadside device 100. Objects detected by the sensor 2 include stationary objects such as buildings, road surfaces, trees, and other obstacles, and moving objects such as vehicles 3, pedestrians, animals, and other moving objects. The sensor 2 outputs information relating to the detected object (hereinafter referred to as "object information") to the map generating device 1 as information for generating a dynamic map. The sensor 2 generates object information for each detected object and outputs it to the map generation device 1 as information for generating a dynamic map. The object information includes information indicating the type of the object (such as the type of building, road surface, tree, or vehicle 3), the position of the object, and information indicating the moving speed of the object. The type of object is expressed, for example, by a numerical value (for example, for the type of vehicle 3, "0: passenger car," "1: light vehicle," "2: truck," etc.). The position information of the object includes, for example, information regarding the position of the object in three-dimensional space and information regarding the height of the object. The position of the object in three-dimensional space is expressed in a so-called world coordinate system. The height of the object is expressed, for example, by a value obtained by converting the z coordinate of the so-called world coordinate system, which indicates the position of the object, into meters. The moving speed of the object is expressed, for example, by one of 16 directions (values ​​0 to 15) and speed per hour. As described above, objects detected by the sensor 2 include stationary objects and moving objects. That is, the object information is information about stationary objects, in other words, static information, or information about moving objects, in other words, dynamic information.

[0018] Although FIG. 1 shows only the sensor 2 mounted on the roadside device 100, a plurality of sensors 2 can be connected to the map generating device 1. For example, the map generation device 1 may be connected to a sensor 2 mounted on another roadside device 100, or to a sensor 2 (not shown) mounted on the vehicle 3. The sensor 2 mounted on the vehicle 3 detects information related to the vehicle 3 and outputs the detected information related to the vehicle 3 to the map generation device 1 as information for generating a dynamic map. The information related to the vehicle 3 includes information that can identify the type of the vehicle 3, position information related to the vehicle 3, information related to the moving speed of the vehicle 3, etc. The position information of the vehicle 3 includes, for example, information related to the position of the vehicle 3 in a three-dimensional space and information related to the height of the vehicle 3. The position of the vehicle 3 in the three-dimensional space is expressed in a so-called world coordinate system. The height of the vehicle 3 is expressed, for example, by a value obtained by converting the z coordinate of the so-called world coordinate system, which indicates the position of the vehicle 3, into meters. The moving speed of the vehicle 3 is expressed, for example, by 16 directions (values ​​0 to 15) and speed per hour. In other words, the information about the vehicle 3 is dynamic information.

[0019] The vehicle 3 is an autonomous vehicle, and performs autonomous driving control using the dynamic map output from the map generating device 1. As described above, the vehicle 3, more specifically, the sensor 2 mounted on the vehicle 3, outputs information about the vehicle 3 to the map generating device 1 as information for generating a dynamic map. 1 shows only one vehicle 3, the number of vehicles 3 is not limited to one. A plurality of vehicles 3 can be connected to the map generating device 1.

[0020] The control center 4 outputs all road-related information as information for generating a dynamic map to the map generation device 1. All road-related information includes high-precision 3D map information, such as road surface information, lane information, and building position information, in other words, static information. The road surface information includes, for example, information on the road surface condition and information on road surface irregularities. The road surface condition is expressed, for example, as "0: dry," "1: wet," or "2: frozen." The road surface irregularities are expressed, for example, by the width of the irregularities. Furthermore, the lane information includes, for example, information on the number of lanes and whether or not there are intersections. The number of lanes is expressed, for example, by a numerical value from 0 to 9. The presence or absence of an intersection is expressed, for example, by "0: present" or "1: absent." The building position information includes, for example, information on the building position, the number of buildings, and the building height. The building position is expressed in a so-called world coordinate system. The number of buildings is expressed, for example, by an integer value. The building height is expressed, for example, by a value in meters of the z coordinate in a so-called world coordinate system that indicates the building position.

[0021] Web server 5 is a web server provided in a traffic information system (not shown) or a web server provided in a weather information system (not shown), and outputs traffic-related information and weather-related information as information for generating a dynamic map to map generation device 1. The traffic-related information and weather-related information include semi-static information such as information on scheduled traffic restrictions, information on scheduled road construction, and wide-area weather forecast information, and semi-dynamic information such as accident information, congestion information, traffic restrictions information, road construction information, and narrow-area weather forecast information. Weather information including wide-area weather forecast information and narrow-area weather forecast information includes, for example, information on weather conditions, rainfall amount, snowfall amount, wind direction, or wind strength. Information on weather conditions is expressed, for example, as "0: sunny," "1: cloudy," "2: rain," or "3: snow." Rainfall amount and snowfall amount are expressed, for example, in mm. Information on wind direction is expressed, for example, as a value from 0 to 15, with 16 directions. Information on wind strength is expressed, for example, as a value from 0 to 17. Information about traffic congestion, traffic restrictions, accidents, and scheduled road construction is represented, for example, as "0: yes" or "1: no." 1 shows only one Web server 5, the number of Web servers 5 is not limited to one. A plurality of Web servers 5 may be connected to the map generating device 1.

[0022] As shown in FIG. 1, the map generating device 1 includes a recognition unit 11, a first conversion unit 12, a storage unit 13, a tracking unit 14, a second conversion unit 15, a map generating unit 16, and a communication unit 17.

[0023] The identification unit 11 acquires the information for generating a dynamic map from the sensor 2. The identification unit 11 also acquires the information for generating a dynamic map from the control center 4 and the Web server 5 via the communication unit 17. The identification unit 11 may also acquire the information for generating a dynamic map from a sensor 2 mounted on another roadside device 100 or a sensor 2 mounted on a vehicle 3 via the communication unit 17. The identification unit 11 identifies whether the acquired dynamic map generation information is dynamic map generation information including three-dimensional information, and whether the acquired dynamic map generation information is dynamic map generation information related to an object whose movement needs to be tracked. In the first embodiment, the three-dimensional information is assumed to be information indicating the height direction. In the first embodiment, the "movement" is assumed to be the movement of the object due to a change in the position of the object.

[0024] More specifically, first, the identification unit 11 identifies whether the dynamic map generation information acquired from the sensor 2 is dynamic information or static information. If the dynamic map generation information is information about a moving object that is detected by the sensor 2 and can move, in other words, an object whose position can change, the identification unit 11 identifies the dynamic map generation information as dynamic information. As described above, the dynamic information includes information about the height of the moving object. Furthermore, moving objects, which are objects that can move, are objects whose movements need to be tracked when generating a dynamic map. When the position of the object changes, the object must be reflected in the changed position on the dynamic map, and the dynamic map must be updated. Therefore, the identification unit 11 identifies the dynamic map generation information, which is dynamic information output from the sensor 2, as dynamic map generation information that includes three-dimensional information and is dynamic map generation information related to an object whose movement needs to be tracked. In embodiment 1, an object indicated by dynamic information, in other words, a moving object detected by sensor 2, whose movement needs to be tracked, is also referred to as a "tracked object."

[0025] If the information for generating a dynamic map is information about a stationary object that is an immovable object detected by the sensor 2, in other words, an object whose position does not change, the identification unit 11 identifies the information for generating a dynamic map as static information. As mentioned above, the static information includes information about the height of stationary objects. However, a stationary object is an object whose position does not change, and whose movement does not need to be tracked to generate a dynamic map. Therefore, the identification unit 11 identifies the dynamic map generation information, which is static information output from the sensor 2, as dynamic map generation information that includes three-dimensional information and that relates to an object whose movement does not need to be tracked.

[0026] Furthermore, the identification unit 11 identifies the dynamic map generation information acquired from the control center 4 as static information. As described above, the information for generating a dynamic map acquired from the control center 4 includes high-precision three-dimensional map information, and the high-precision three-dimensional map information includes all information related to roads. The information related to roads also includes information related to the stationary objects detected by the sensor 2. Although there is a possibility that the information may overlap with the "static information" acquired from the control center 4, in the first embodiment, it is assumed that the "static information" is also acquired from the sensor 2. The identification unit 11 identifies the dynamic map generation information, which is static information output from the control center 4, as dynamic map generation information that includes three-dimensional information and that relates to an object whose movement does not need to be tracked.

[0027] The identification unit 11 also identifies whether the dynamic map generation information acquired from the Web server 5 is quasi-static information or quasi-dynamic information. More specifically, the identification unit 11 identifies, among the dynamic map generation information acquired from the Web server 5, information indicating scheduled traffic restrictions, information regarding scheduled road construction, wide-area weather forecast information, etc. as quasi-static information. The identification unit 11 also identifies, among the dynamic map generation information acquired from the Web server 5, information indicating accident information, congestion information, traffic restrictions information, road construction information, narrow-area weather forecast information, etc. as quasi-dynamic information. As mentioned above, the quasi-static information and the quasi-dynamic information do not include information about height. Additionally, quasi-static and quasi-dynamic information is not information about objects whose position changes, i.e., quasi-static and quasi-dynamic information is information about events whose movement does not need to be tracked. Therefore, the identification unit 11 identifies the dynamic map generation information, which is quasi-static information and quasi-dynamic information output from the web server 5, as dynamic map generation information that does not contain three-dimensional information and that relates to an event whose movement does not need to be tracked.

[0028] After identifying whether the acquired information for generating a dynamic map is information for generating a dynamic map that includes three-dimensional information and whether it is information about an object whose movement needs to be tracked, the identification unit 11 extracts information that is due to be reflected in the dynamic map and outputs it to the first conversion unit 12. At this time, the identification unit 11 assigns to the dynamic map generation information a flag indicating whether the dynamic map generation information includes three-dimensional information (hereinafter referred to as the "three-dimensional information flag"), a flag indicating whether the dynamic map generation information is of an object that needs to be tracked (hereinafter referred to as the "tracking flag"), information indicating the identification result as to whether the information is dynamic information, quasi-dynamic information, quasi-static information, or static information (hereinafter referred to as the "identification result information"), and information regarding the date and time when the dynamic map generation information was acquired, and outputs the information to the first conversion unit 12. The three-dimensional information flag is set to, for example, "0: does not include three-dimensional information" or "1: includes three-dimensional information." The tracking flag is set to, for example, "0: no tracking required" or "1: tracking required." The identification result information is set to, for example, "1: dynamic information," "2: semi-dynamic information," "3: semi-static information," or "4: static information." Here, since the time for reflecting the dynamic information has arrived, the identification unit 11 assigns a three-dimensional information flag indicating that the information contains three-dimensional information to the dynamic generation information identified as dynamic information, more specifically, the object information related to the object to be tracked, a tracking flag indicating that tracking is necessary, identification result information indicating that the information is dynamic information, and information related to the date and time when the dynamic map generation information was acquired, and outputs the information to the first conversion unit 12.

[0029] The first conversion unit 12 converts the dynamic map generation information output from the identification unit 11 from three-dimensional spatial information including information indicating the height direction to dynamic map generation information which is two-dimensional spatial information not including information indicating the height direction (hereinafter referred to as "2D converted map generation information"). The first conversion unit 12 performs the above conversion on the dynamic map generation information output from the identification unit 11 when the dynamic map generation information contains three-dimensional information and is dynamic map generation information related to an object that needs to be tracked. The first conversion unit 12 determines whether the dynamic map generation information contains three-dimensional information and is dynamic map generation information related to an object that needs to be tracked, based on the three-dimensional information flag and the tracking flag attached to the dynamic map generation information. Here, the dynamic map generation information output from the identification unit 11 is dynamic map generation information identified as dynamic information. A three-dimensional information flag indicating that the information includes three-dimensional information and a tracking flag indicating that tracking is required are attached to the dynamic map generation information. In detail, the dynamic map generation information is three-dimensional space information including position information of the tracked object (information regarding the position of the tracked object in three-dimensional space and information regarding the height of the tracked object). Therefore, the first conversion unit 12 performs the above conversion.

[0030] In embodiment 1, the process performed by the first conversion unit 12 to convert information for generating a dynamic map, which is three-dimensional spatial information, into information for generating a dynamic map, which is two-dimensional spatial information, i.e., information for generating a two-dimensional converted map, is referred to as the "first conversion process."

[0031] In the first conversion process, the first conversion unit 12 converts the dynamic map generation information into 2D converted map generation information by deleting information indicating the height direction of the tracked object from the dynamic map generation information. Specifically, the first conversion unit 12 converts the dynamic map generation information, which is three-dimensional spatial information, into 2D converted map generation information, which is two-dimensional spatial information, by deleting the z coordinate indicating the height direction of the tracked object from the dynamic map generation information. Then, the first conversion unit 12 assigns a three-dimensional information flag, a tracking flag, identification result information, and information related to the date and time when the information for dynamic map generation was acquired to the two-dimensional converted map generation information that has been converted into two-dimensional spatial information, and outputs it to the tracking unit 14. The first conversion unit 12 may use the three-dimensional information flag, the tracking flag, the identification result information, and information related to the date and time when the information for dynamic map generation was acquired as information assigned to the information for dynamic map generation output from the identification unit 11.

[0032] Furthermore, in the first conversion process, the first conversion unit 12 stores information indicating the deleted height direction (hereinafter referred to as "converted height information"), more specifically, the deleted z coordinate, in the storage unit 13. At this time, the first conversion unit 12 associates the converted height information with information (ID) capable of identifying the tracked object, information on the date and time when the first conversion process was performed, the 3D information flag, tracking flag, identification result information that were assigned to the dynamic map generation information that was converted into the 2D converted map generation information, and information on the acquisition date and time of the dynamic map generation information, and stores the converted height information in the storage unit 13. It is assumed that an object detected by the sensor 2 is assigned information (ID) capable of identifying the object.

[0033] Here, the first conversion unit 12 does not need to store the converted height information in the storage unit 13 every time it performs the first conversion process. The first conversion unit 12 stores the converted height information in the storage unit 13, for example, every time a preset period (hereinafter referred to as a "height update period") elapses. Because the position of a tracked object may change over time, when reflecting dynamic map generation information (i.e., dynamic information) related to the tracked object on the dynamic map, the tracked object must be tracked each time the dynamic map generation information is acquired at the timing of reflecting the dynamic map generation information on the dynamic map. Meanwhile, the height of the tracked object is generally assumed to remain constant. For example, the height of the vehicle 3 does not change over time. Therefore, the first conversion unit 12 is not required to store the converted height information in the memory unit 13 each time the first conversion process is performed. However, for example, a person riding a bicycle may get off the bicycle and start walking. In this case, the height of the person may change. Similarly, for example, a person who was crouching may stand up. Furthermore, the position information of the tracked object previously detected by the sensor 2 may have been incorrect. Therefore, when the height update period has elapsed, the first conversion unit 12 stores the converted height information in the storage unit 13, assuming that there may be a change in the converted height information.

[0034] Note that even if the height update period has not elapsed, when the first conversion process is performed on dynamic map generation information related to a tracked object that has appeared for the first time at the timing when the dynamic map generation information, here, dynamic information, is reflected in the dynamic map, the first conversion unit 12 stores the converted height information in the storage unit 13. The first conversion unit 12 can determine whether the tracked object has appeared for the first time from information (ID) that can identify the tracked object and that is associated with the converted height information that has already been stored.

[0035] The first conversion unit 12 causes the memory unit 13 to store information indicating the height direction of the tracked object that was deleted when the information for generating a dynamic map was converted into information for generating a map after 2D conversion, i.e., the height information at the time of conversion, every time the update period has elapsed, thereby limiting the number of times the process related to storing the height information at the time of conversion in the memory unit 13 to the minimum necessary, thereby reducing the processing load.

[0036] The storage unit 13 stores the converted height information. In FIG. 1, the storage unit 13 is provided in the map generating device 1, but this is merely an example. The storage unit 13 may be provided in a location outside the map generation device 1 that the map generation device 1 can refer to.

[0037] The tracking unit 14 tracks the movement of the tracked object in chronological order based on the information for generating a map after 2D conversion output from the first conversion unit 12. In the first embodiment, the tracking unit 14 "tracks in chronological order" means tracking a change in the position of the tracked object from the position based on the most recent information for generating a map after 2D conversion. Specifically, it determines whether a tracked object based on the most recent information for generating a map after 2D conversion is the same as a tracked object based on the latest information for generating a map after 2D conversion, and if they are the same, it assigns information (such as an ID; the ID here refers to an ID on the dynamic map) to the tracked object that enables it to be identified as the same tracked object. In other words, for tracked objects whose positions may change, the same ID is assigned to tracked objects that are determined to be the same, even over time. In detail, the tracking unit 14 stores, for example, the information for generating a map after 2D conversion output from the first conversion unit 12 in a buffer of the tracking unit 14. The tracking unit 14 may store the information for generating a map after 2D conversion for a preset period in the buffer. The tracking unit 14 can track the movement of each tracked object based on the ID assigned to the tracked object and the stored time-series information for generating a map after 2D conversion. In other words, the tracking unit 14 can track changes in the position of each tracked object based on the ID assigned to the tracked object and the stored time-series information for generating a map after 2D conversion. The tracking unit 14 tracks two-dimensional information, i.e., changes in position indicated by x and y coordinates, for each tracked object. In other words, the tracking unit 14 tracks each tracked object in two-dimensional space.

[0038] As a result of tracking, the tracking unit 14 extracts information for generating a map after two-dimensional conversion regarding the tracked object whose position has changed, and outputs the information to the second conversion unit 15. At this time, the tracking unit 14 may output the extracted information for generating a map after two-dimensional conversion to the second conversion unit 15 in association with information indicating the amount of change in the position of the tracked object. In addition, if the tracked object appears for the first time when it is time to generate a dynamic map, in other words, if there is no information for generating a map after 2D conversion that corresponds to the ID assigned to the tracked object in the stored time-series information for generating a map after 2D conversion, the tracking unit 14 determines that there has been a change in the position of the tracked object.

[0039] The second conversion unit 15 refers to the height information at the time of conversion stored in the memory unit 13, and converts the 2D converted map generation information output from the tracking unit 14, more specifically, the 2D converted map generation information related to the tracked object whose position has changed, from 2D converted map generation information, which is 2D spatial information that does not include information regarding height, to dynamic map generation information (hereinafter referred to as "3D converted map generation information"), which is 3D spatial information that includes information regarding height. The second conversion unit 15 converts the 2D converted map generation information into 3D converted map generation information by adding information on the height direction of the tracked object to the 2D converted map generation information. Specifically, the second conversion unit 15 converts the 2D converted map generation information into 3D converted map generation information by adding a z coordinate indicating the height of the tracked object to the 2D converted map generation information. The second conversion unit 15 can identify the z coordinate to be added by matching the information for generating a map after two-dimensional conversion with the height information at the time of conversion using information (ID) that can identify the tracked object. In embodiment 1, the process performed by the second conversion unit 15 to convert information for generating a dynamic map, which is two-dimensional spatial information, i.e., information for generating a two-dimensional converted map, into information for generating a dynamic map, which is three-dimensional spatial information, is called the "second conversion process." The second conversion unit 15 outputs the three-dimensional converted map generation information after conversion into dynamic map generation information, which is three-dimensional spatial information, to the map generation unit 16.

[0040] The map generating unit 16 generates a dynamic map based on the information for generating a map after three-dimensional conversion output from the second converting unit 15. For example, suppose that the map generating device 1 is generating a dynamic map of a third area, and the 3D converted map generating information is for a standard vehicle (ID001) that is the tracked object. In this case, the map generating unit 16 generates a dynamic map of the third area in which the standard vehicle (ID001) is reflected according to the content indicated in the 3D converted map generating information. For example, if the position of a passenger car (ID001) indicated in the map generation information after 3D conversion is point (20, 30) and the height of the passenger car (ID001) is 2.0 m, the map generation unit 16 updates the dynamic map of the third area so that the passenger car (ID001) becomes a passenger car with a height of 2.0 m at point (20, 30). As a result, the position and height of the passenger car (ID001) are updated from the position and height reflected in the dynamic map before the update to the latest position and height. Note that the map generating unit 16 does not update the contents reflected in the dynamic map with respect to moving objects other than the tracked object (the passenger car (ID001) in the above example) based on the post-3D conversion map generation information, in other words, moving objects determined by the tracking unit 14 to be stationary. Note that, here, the map generation unit 16 does not update the content reflected in the dynamic map for a moving object determined by the tracking unit 14 to be stationary, but this is merely an example. For example, the tracking unit 14 may extract information for generating a map after 2D conversion for all tracked objects including stationary moving objects, the second conversion unit 15 may convert the information for generating a map after 2D conversion for all tracked objects into information for generating a map after 3D conversion and output it to the map generation unit 16, and the map generation unit 16 may update the content reflected in the dynamic map for all tracked objects including moving objects determined to be stationary.

[0041] The map generation unit 16 outputs the generated dynamic map to the vehicle 3 via the communication unit 17. The map generation unit 16 may output the generated dynamic map to the control center 4 via the communication unit 17. In the control center 4, for example, a display control device (not shown) provided in the control center 4 displays the dynamic map on a display device (not shown) provided in a control room or the like. For example, a user such as a controller can check the dynamic map by checking the display device. Then, the user instructs the vehicle 3 to take an optimal route based on the location of objects on the dynamic map. For example, if the road is blocked by an obstacle, the user instructs the vehicle 3 to take an alternative route. The user can also use, for example, a dynamic map displayed on the display device to track the vehicle 3. For example, the user can determine where a vehicle 3 that has entered the premises is parked, and send instructions to another vehicle 3 to go to the location where the vehicle 3 is parked and retrieve luggage or people.

[0042] The communication unit 17 communicates according to standards such as 5G (5th Generation) or LTE (Long Term Evolution). The communication unit 17 acquires information for generating a dynamic map from the control center 4 or the Web server 5 or the like, and outputs it to the identification unit 11 . Furthermore, the communication unit 17 outputs the dynamic map generated by the map generation unit 16 to the vehicle 3 or the control center 4. Furthermore, the communication unit 17 can also output route information for the vehicle 3 calculated and output by the control center 4 to the vehicle 3. For example, at the control center 4, a user checks the dynamic map and sets an optimal route for the vehicle 3 depending on the location of objects, and instructs the vehicle 3 on the optimal route by outputting the set route information to the vehicle 3 via the communication unit 17. For example, if the road is blocked by some kind of obstacle, the user sets an optimal route for the vehicle 3 to take a different road, and outputs the set route information to the vehicle 3 via the communication unit 17. Furthermore, the communication unit 17 can also output various instructions to the vehicle 3 output from the control center 4 to the instructed vehicle 3. For example, at the control center 4, the user tracks the vehicle 3 based on a dynamic map, and when the user determines where the vehicle 3 that entered the premises is parked, the user outputs an instruction to the other vehicle 3 via the communication unit 17 to have the other vehicle 3 go to the place where the vehicle 3 is parked and retrieve luggage or people.

[0043] The operation of the map generating device 1 according to the first embodiment will be described. FIG. 3 is a flowchart illustrating the operation of the map generating device 1 according to the first embodiment. The map generating device 1 repeats the operation shown in the flowchart of FIG. 3 every time it is time to generate a dynamic map. Here, the operation of the map generating device 1 will be described on the assumption that the timing for reflecting dynamic information has arrived.

[0044] The identification unit 11 acquires the information for generating a dynamic map from the sensor 2. The identification unit 11 also acquires the information for generating a dynamic map from the control center 4 and the Web server 5 via the communication unit 17. The identification unit 11 may also acquire the information for generating a dynamic map from a sensor 2 mounted on another roadside device 100 or a sensor 2 mounted on a vehicle 3 via the communication unit 17. Then, the identification unit 11 identifies whether the acquired dynamic map generation information is dynamic map generation information that includes three-dimensional information and whether the acquired dynamic map generation information is dynamic map generation information related to an object whose movement needs to be tracked (step ST1). After performing the above-mentioned classification, the classification unit 11 extracts information that has reached the timing for being reflected in the dynamic map, that is, dynamic information for generating a dynamic map, and outputs the information to the first conversion unit 12.

[0045] The first conversion unit 12 performs a first conversion process (step ST2). The first conversion unit 12 outputs information for generating a two-dimensional converted map to the tracking unit 14, and stores the converted height information in the storage unit 13.

[0046] The tracking unit 14 tracks the movement of the tracked object in time series based on the information for generating a two-dimensional converted map output from the first conversion unit 12 in step ST2 (step ST3). As a result of tracking, the tracking unit 14 extracts information for generating a two-dimensional converted map relating to the tracked object whose position has changed, and outputs the information to the second conversion unit 15.

[0047] The second conversion unit 15 performs a second conversion process (step ST4). The second conversion unit 15 outputs the three-dimensional converted map generation information to the map generation unit 16.

[0048] The map generating unit 16 generates a dynamic map based on the information for generating a map after three-dimensional conversion output from the second converting unit 15 in step ST4 (step ST5). The map generation unit 16 outputs the generated dynamic map to the vehicle 3 via the communication unit 17. The map generation unit 16 may output the generated dynamic map to the control center 4 via the communication unit 17.

[0049] FIG. 4 is a flowchart for explaining the details of the process of step ST2 in FIG.

[0050] The first conversion unit 12 determines whether or not the tracked object is currently being tracked (step ST21). That is, the first conversion unit 12 determines whether or not the dynamic map generation information output from the identification unit 11 in step ST1 of Fig. 3 is dynamic map generation information related to the tracked object that appears for the first time at the timing when the dynamic map generation information, here, dynamic information, is reflected in the dynamic map.

[0051] If the tracked object is being tracked (if "YES" in step ST21), in other words, if the dynamic map generation information output from the identification unit 11 in step ST1 of Figure 3 is not dynamic map generation information regarding the tracked object that appears for the first time at the time when the dynamic map generation information, here, dynamic information, is reflected in the dynamic map, the first conversion unit 12 determines whether the height update period has elapsed (step ST22).

[0052] If the height update period has elapsed (YES in step ST22), or if it is determined in step ST21 that the tracked object is not being tracked (NO in step ST21), in other words, if the dynamic map generation information output from the identification unit 11 in step ST1 of Fig. 3 is dynamic map generation information related to a tracked object that first appeared when the dynamic map generation information, here, dynamic information, is reflected in the dynamic map, the first conversion unit 12 converts the dynamic map generation information, which is three-dimensional spatial information, into two-dimensional converted map generation information, which is two-dimensional spatial information (step ST23).The first conversion unit 12 then assigns a three-dimensional information flag, a tracking flag, identification result information, and information related to the date and time when the dynamic map generation information was acquired to the two-dimensional converted map generation information, and outputs the two-dimensional converted map generation information to the tracking unit 14. The first conversion unit 12 also stores the converted height information in the storage unit 13 (step ST24).

[0053] If it is determined that the height update period has not elapsed (if "NO" in step ST22), the first conversion unit 12 converts the information for dynamic map generation, which is three-dimensional spatial information, into information for 2D converted map generation, which is two-dimensional spatial information (step ST25), and adds a three-dimensional information flag, a tracking flag, identification result information, and information regarding the date and time when the information for dynamic map generation was acquired to the information for 2D converted map generation, and outputs it to the tracking unit 14.

[0054] The converted height information stored in the storage unit 13 is initialized, for example, when the generation of the dynamic map is completed or when the power of the map generating device 1 is turned off.

[0055] FIG. 5 is a flowchart for explaining the details of the process of step ST4 in FIG.

[0056] The second conversion unit 15 acquires information for generating a map after two-dimensional conversion from the tracking unit 14 (step ST31). The second conversion unit 15 acquires the converted height information stored in the storage unit 13 (step ST32).

[0057] The second conversion unit 15 converts the information for generating a map after 2D conversion from information for generating a map after 2D conversion to information for generating a map after 3D conversion based on the information for generating a map after 2D conversion acquired in step ST31 and the height information at the time of conversion acquired in step ST32 (step ST33). The second conversion unit 15 outputs the three-dimensional converted map generation information to the map generation unit 16.

[0058] In the flowchart of FIG. 5, the process of step ST32 is performed after the process of step ST31 is performed, but this is merely an example. For example, the order of the processing of step ST31 and the processing of step ST32 may be reversed, or the processing of step ST31 and the processing of step ST32 may be performed in parallel.

[0059] In this way, the map generation device 1 acquires object information related to an object detected by the sensor 2 as dynamic map generation information, and identifies whether the acquired dynamic map generation information is dynamic map generation information including three-dimensional information and whether the dynamic map generation information is related to a tracked object. The map generation device 1 converts the dynamic map generation information identified as dynamic map generation information including three-dimensional information and related to a tracked object into 2D-converted map generation information, which is two-dimensional spatial information, tracks the tracked object in two-dimensional space based on the converted 2D-converted map generation information, and extracts 2D-converted map generation information related to the moving tracked object. The map generation device 1 then converts the extracted 2D-converted map generation information into 3D-converted map generation information, which is three-dimensional spatial information, and generates a dynamic map based on the 3D-converted map generation information. This allows the map generation device 1 to reduce the amount of information required to track the movement of an object (tracking target object) that has been detected by the sensor 2 and that needs to be tracked over time, thereby reducing the burden on the CPU processing load. As a result, the map generation device 1 can prevent delays in the generation and distribution of dynamic maps. In other words, the map generation device 1 can generate dynamic maps without compromising real-time performance. Thus, the map generation device 1 can provide dynamic maps that do not impair real-time performance.

[0060] 6A and 6B are diagrams illustrating an example of a hardware configuration of the map generating device 1 according to the first embodiment. In the first embodiment, the functions of the identification unit 11, the first conversion unit 12, the tracking unit 14, the second conversion unit 15, and the map generation unit 16 are realized by a processing circuit 1001. That is, the map generation device 1 includes the processing circuit 1001 for controlling the generation of a dynamic map based on the acquired dynamic map sensor generation information. The processing circuit 1001 may be dedicated hardware as shown in FIG. 6A, or may be a processor 1004 that executes a program stored in memory as shown in FIG. 6B.

[0061] When the processing circuit 1001 is dedicated hardware, the processing circuit 1001 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0062] When the processing circuit is a processor 1004, the functions of the identification unit 11, the first conversion unit 12, the tracking unit 14, the second conversion unit 15, and the map generation unit 16 are realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 1005. The processor 1004 executes the functions of the identification unit 11, the first conversion unit 12, the tracking unit 14, the second conversion unit 15, and the map generation unit 16 by reading and executing the program stored in the memory 1005. In other words, the map generation device 1 includes the memory 1005 for storing a program that, when executed by the processor 1004, results in the execution of the processes of steps ST1 to ST5 in FIG. 3 described above. The program stored in the memory 1005 can also be said to cause a computer to execute the procedures or methods of the processes of the identification unit 11, the first conversion unit 12, the tracking unit 14, the second conversion unit 15, and the map generation unit 16. Here, memory 1005 refers to, for example, non-volatile or volatile semiconductor memory such as RAM, ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), etc.

[0063] It is also possible to realize some of the functions of the identification unit 11, first conversion unit 12, tracking unit 14, second conversion unit 15, and map generation unit 16 with dedicated hardware and some with software or firmware. For example, the functions of the identification unit 11 and map generation unit 16 can be realized by a processing circuit 1001 as dedicated hardware, and the functions of the first conversion unit 12, tracking unit 14, and second conversion unit 15 can be realized by the processor 1004 reading and executing a program stored in memory 1005. The storage unit 13 is configured by, for example, a memory. The map generating device 1 also includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the sensor 2.

[0064] In the above embodiment 1, the generation of a dynamic map by the map generation device 1 has been described assuming that the map generation device 1 has reached the timing to reflect dynamic information. However, for example, when the map generation device 1 reaches the timing to reflect semi-dynamic information, it generates a dynamic map that reflects the semi-dynamic information; when the map generation device 1 reaches the timing to reflect semi-static information, it generates a dynamic map that reflects the semi-static information; and when the map generation device 1 reaches the timing to reflect static information, it generates a dynamic map that reflects static information.

[0065] For example, when the time comes to reflect the semi-dynamic information, the identification unit 11 assigns a three-dimensional information flag indicating that the information does not contain three-dimensional information, a tracking flag indicating that tracking is not necessary, identification result information indicating that the information is semi-dynamic information, and information regarding the date and time when the information for generating a dynamic map was acquired to the information for generating a dynamic map that has been identified as semi-dynamic information, in other words, information indicating accident information, congestion information, traffic regulation information, road construction information, and narrow-area weather forecast information, and outputs the information to the first conversion unit 12.

[0066] When the dynamic map generation information output from the identification unit 11 is semi-dynamic information, the first conversion unit 12 does not perform the first conversion process and outputs the dynamic map generation information as is to the tracking unit 14. Accident information, congestion information, traffic regulation information, road construction information, narrow-area weather forecast information, etc. are all information whose movement does not need to be tracked and basically do not include information indicating the height direction. Therefore, the first conversion unit 12 does not perform the first conversion process.

[0067] The tracking unit 14 outputs the semi-dynamic information for generating a dynamic map, which is output from the first conversion unit 12, specifically, accident information, congestion information, traffic regulation information, road construction information, and narrow-area weather forecast information, etc., as is to the map generation unit 16 via the second conversion unit 15. The map generation unit 16 generates a dynamic map based on the information for dynamic map generation output from the identification unit 11 via the first conversion unit 12, the tracking unit 14, and the second conversion unit 15. Note that the identification unit 11 may directly output the information for dynamic map generation to the map generation unit 16.

[0068] For example, when the time comes to reflect semi-static information, the map generating device 1 performs the same processing as when the time comes to reflect semi-dynamic information.

[0069] For example, when the time comes to reflect static information, the identification unit 11 assigns a three-dimensional information flag indicating that the information for dynamic map generation identified as static information, in other words, high-precision three-dimensional map information and object information regarding a stationary object, indicating that the information contains three-dimensional information, a tracking flag indicating that tracking is not necessary, identification result information indicating that the information is static information, and information regarding the date and time when the information for dynamic map generation was obtained, and outputs the information to the first conversion unit 12.

[0070] When the information for generating a dynamic map output from the identification unit 11 is static information, the first conversion unit 12 does not perform the first conversion process and outputs the information for generating a dynamic map as is to the tracking unit 14. Since the content of both the high-precision 3D map information and the object information related to a stationary object does not change over time, there is no need to track their movement when generating a dynamic map. Therefore, the first conversion unit 12 does not perform the first conversion process. Note that although the static information includes information indicating the height direction, as described above, the information indicates the height direction of an object (such as a building) that does not need to be tracked, and therefore the first conversion unit 12 does not perform the first conversion process.

[0071] The tracking unit 14 outputs the static information for generating a dynamic map, specifically the high-precision three-dimensional map information and the object information regarding stationary objects, output from the first conversion unit 12 as is to the map generation unit 16 via the second conversion unit 15. The map generation unit 16 generates a dynamic map based on the information for dynamic map generation output from the identification unit 11 via the first conversion unit 12, the tracking unit 14, and the second conversion unit 15. Note that the identification unit 11 may directly output the information for dynamic map generation to the map generation unit 16.

[0072] Furthermore, in the first embodiment, it is assumed that a dynamic map already exists, but this is merely an example. The map generating device 1 may generate a new dynamic map.

[0073] Furthermore, in the above-described first embodiment, the map generating device 1 is mounted on the roadside device 100, but this is merely an example. The map generating device 1 may be mounted on the sensor 2, for example, or may be mounted on a server (not shown) connected to the sensor 2 via communication. Furthermore, for example, some of the identification unit 11, the first conversion unit 12, the tracking unit 14, the second conversion unit 15, or the map generation unit 16 may be provided in the server.

[0074] As described above, according to the first embodiment, the map generating device 1 acquires, from at least one sensor 2 that detects an object present in a target area, information about the object detected by the sensor 2 as dynamic map generation information for generating a dynamic map, and includes a discrimination unit 11 that discriminates whether the acquired dynamic map generation information is dynamic map generation information including three-dimensional information and whether the acquired dynamic map generation information is dynamic map generation information related to a tracked object whose movement needs to be tracked; and a discrimination unit 11 that discriminates whether the acquired dynamic map generation information is dynamic map generation information including three-dimensional information and dynamic map generation information related to a tracked object whose movement needs to be tracked. The map generating device 1 is configured to include a first conversion unit 12 that converts dynamic map generation information identified as information into 2D-converted map generation information, which is 2D spatial information; a tracking unit 14 that tracks the tracked object in 2D space based on the 2D-converted map generation information converted by the first conversion unit 12 and extracts 2D-converted map generation information related to the tracked object that has moved; a second conversion unit 15 that converts the 2D-converted map generation information extracted by the tracking unit 14 into 3D-converted map generation information, which is 3D spatial information; and a map generating unit 16 that generates a dynamic map based on the 3D-converted map generation information converted by the second conversion unit 15. Therefore, the map generating device 1 can reduce the amount of information required to track the movement of an object (tracked object) that is detected by the sensor 2 and needs to be tracked in time series, thereby reducing strain on the CPU processing load. As a result, the map generating device 1 can prevent delays in generating and distributing a dynamic map. In other words, the map generating device 1 can generate a dynamic map without impairing real-time performance.

[0075] In addition, in the present disclosure, any of the components of the embodiments may be modified or omitted. [Explanation of symbols]

[0076] 100 Roadside device, 1 Map generation device, 11 Identification unit, 12 First conversion unit, 13 Memory unit, 14 Tracking unit, 15 Second conversion unit, 16 Map generation unit, 17 Communication unit, 2 Sensor, 3 Vehicle, 4 Control center, 5 Web server, 1001 Processing circuit, 1002 Input interface device, 1003 Output interface device, 1004 Processor, 1005 Memory.

Claims

1. an identification unit that acquires, from at least one sensor that detects an object present in a target area, information about the object detected by the sensor as dynamic map generation information for generating a dynamic map, and identifies whether the acquired dynamic map generation information includes three-dimensional information and whether the acquired dynamic map generation information is about a tracked object whose movement needs to be tracked; a first conversion unit that converts the dynamic map generation information, which is identified by the identification unit as the dynamic map generation information including the three-dimensional information and as the dynamic map generation information related to the tracked object, into two-dimensional converted map generation information that is two-dimensional spatial information by reducing dimensional information; a tracking unit that tracks the tracked object in a two-dimensional space based on the two-dimensional converted map generation information converted by the first conversion unit, and extracts the two-dimensional converted map generation information related to the tracked object that has moved; a second conversion unit that converts the two-dimensional converted map generation information extracted by the tracking unit into three-dimensional converted map generation information, which is three-dimensional spatial information, by restoring dimensional information that was reduced when the first conversion unit converted the two-dimensional converted map generation information; a map generation unit that generates the dynamic map based on the three-dimensional converted map generation information converted by the second conversion unit; A map generating device comprising:

2. The first conversion unit converts the dynamic map generation information into the two-dimensional converted map generation information by deleting information indicating a height direction of the tracked object from the dynamic map generation information that the identification unit has identified as the dynamic map generation information including the three-dimensional information and relating to the tracked object.

2. The map generating device according to claim 1.

3. The second conversion unit converts the two-dimensional converted map generation information into the three-dimensional converted map generation information by adding information about the height direction of the tracked object to the two-dimensional converted map generation information.

2. The map generating device according to claim 1.

4. the first conversion unit converts the dynamic map generation information into the two-dimensional converted map generation information by deleting information indicating a height direction of the tracked object from the dynamic map generation information that the identification unit has identified as the dynamic map generation information including the three-dimensional information and related to the tracked object, and stores the deleted information indicating the height direction of the tracked object in a storage unit; The second conversion unit converts the information for generating a two-dimensional converted map into the information for generating a three-dimensional converted map by adding information indicating a height direction of the tracked object stored by the first conversion unit to the information for generating a two-dimensional converted map.

2. The map generating device according to claim 1.

5. The first conversion unit causes the storage unit to store information indicating a height direction of the tracked object, which information was deleted when the dynamic map generation information was converted into the two-dimensional converted map generation information, every time an update period elapses.

5. The map generating device according to claim 4.

6. Computer, an identification unit that acquires, from at least one sensor that detects an object present in a target area, information about the object detected by the sensor as dynamic map generation information for generating a dynamic map, and identifies whether the acquired dynamic map generation information includes three-dimensional information and whether the acquired dynamic map generation information is about a tracked object whose movement needs to be tracked; a first conversion unit that converts the dynamic map generation information, which is identified by the identification unit as the dynamic map generation information including the three-dimensional information and as the dynamic map generation information related to the tracked object, into two-dimensional converted map generation information that is two-dimensional spatial information by reducing dimensional information; a tracking unit that tracks the tracked object in a two-dimensional space based on the two-dimensional converted map generation information converted by the first conversion unit, and extracts the two-dimensional converted map generation information related to the tracked object that has moved; a second conversion unit that converts the two-dimensional converted map generation information extracted by the tracking unit into three-dimensional converted map generation information, which is three-dimensional spatial information, by restoring dimensional information that was reduced when the first conversion unit converted the two-dimensional converted map generation information; a map generation unit that generates the dynamic map based on the three-dimensional converted map generation information converted by the second conversion unit; A map generator to function as a

7. A map generating device according to any one of claims 1 to 5; the sensor that detects the object present in the target area; A map generation system comprising:

Images