Information processing method, program, and information processing device

Abstract

In this information processing method executed by an information processing device including a processor, the processor executes: the acquisition of three-dimensional map data obtained by dividing into prescribed three-dimensional spaces and assigning identification information to each three-dimensional space (S102); the association of at least time information having differing times or dimension information having differing dimensions with the identification information for each three-dimensional space (S104); the setting of processing target spaces including one or a plurality of the three-dimensional spaces (S106); and the output to a moving body of at least one of the identification information assigned to the three-dimensional spaces in the processing target spaces, and the time information and / or dimension information associated with the identification information (S108).

Description

Information processing method, program, and information processing device

[0001] The present invention relates to an information processing method, a program, and an information processing device.

[0002] Conventionally, when a three-dimensional map is displayed, an ID is assigned to a two-dimensional area, and a display area is extracted using this ID (see, for example, Patent Document 1).

[0003] JP 2011-197064 A

[0004] However, the conventional technology is intended to be used for displaying images of vehicles moving on roads, and the range of its use is limited.

[0005] In recent years, high-precision three-dimensional map data has been researched and developed, and the use of this three-dimensional map data is being considered. For example, when drones and other flying objects navigate in airspace beyond the pilot's line of sight, there are issues regarding how to use three-dimensional map data, such as how to route drones so that they do not collide with each other.

[0006] Therefore, the present invention aims to provide new use cases for spatial IDs assigned to each three-dimensional space in three-dimensional map data, or to link information to spatial IDs to improve service content or provide new services.

[0007] An information processing method according to one aspect of the present invention is an information processing method executed by an information processing device including one or more processors, in which the one or more processors acquire three-dimensional map data divided into predetermined three-dimensional spaces, with each three-dimensional space being assigned identification information, associate at least temporal information of different times or dimensional information of different dimensions with each identification information of each three-dimensional space, set each processing target space including one or more three-dimensional spaces, and output at least one of the identification information assigned to the three-dimensional space within each processing target space and the temporal information and / or dimensional information associated with the identification information to a moving body.

[0008] According to the present invention, it is possible to provide new use cases related to the spatial IDs assigned to each three-dimensional space of the three-dimensional map data, or to link information to the spatial IDs to improve the content of services or provide new services.

[0009] 1 is a diagram illustrating an example of a hierarchical structure of map data according to an embodiment. FIG. 1 is a diagram illustrating an example of a hierarchical structure of map data according to an embodiment. FIG. 2 is a diagram illustrating an example of a three-dimensional space division process and an ID assignment process according to an embodiment. FIG. 3 is a diagram illustrating an example of wide area identification information and narrow area identification information according to an embodiment. FIG. 4 is a diagram illustrating an example of a feature code according to an embodiment. FIG. 5 is a diagram illustrating an example of common information of feature data according to an embodiment. FIG. 6 is a diagram illustrating an example of associating an identified lane with a building and a facility according to an embodiment. FIG. 7 is a diagram illustrating an example of an information processing system 1 according to an embodiment. FIG. 8 is a diagram illustrating an example of a configuration of an information processing device 10 according to an embodiment. FIG. 9 is a diagram illustrating an example of data related to a space ID according to an embodiment. FIG. 10 is a diagram illustrating an example of an information processing device 30 according to an embodiment. A flowchart illustrating an example of processing by the information processing device 10 according to an embodiment. FIG. 11 is a diagram illustrating an example of a path of an aircraft 20B according to an embodiment. A flowchart illustrating an example of processing by the information processing device 10a according to an embodiment. FIG. 12 is a diagram illustrating an example of a configuration of an information processing device 10b according to an embodiment. FIG. 13 is a diagram illustrating an example of data related to a space ID according to an embodiment. 10 is a diagram illustrating an example of three-dimensional spaces of a building or an underground space in Example 4. FIG. 11 is a flowchart illustrating an example of processing by an information processing device 10c according to Example 4. FIG. 12 is a diagram illustrating an example of the configuration of an information processing device 10d according to Example 5. FIG. 13 is a diagram illustrating an example of data related to space IDs in Example 5. FIG. 14 is a flowchart illustrating an example of processing by an information processing device 10d according to Example 5. FIG. 15 is a diagram illustrating an example of the configuration of an information processing device 10e according to Example 6. FIG. 16 is a diagram illustrating an example of representing the distribution of people in a three-dimensional space in Example 6. FIG. 17 is a flowchart illustrating an example of processing by an information processing device 10e according to Example 6.

[0010] [Embodiments] Preferred embodiments of the present invention will be described with reference to the accompanying drawings, in which the same reference numerals denote the same or similar configurations.

[0011] <Outline of Map Data> An outline of the map data used in this embodiment will be described with reference to Figures 1 to 7. The map data used in this embodiment is, for example, high-precision three-dimensional map data used for automated driving and the like. As a specific example, this map data is map data called a dynamic map that is provided in real time and to which more dynamic information such as information on surrounding vehicles and traffic information is added. The map data used in this embodiment is classified into, for example, four hierarchical levels.

[0012] 1 and 2 are diagrams showing an example of a hierarchical structure of map data according to an embodiment of the present invention. In the example shown in Fig. 1 and 2, the map data is classified into static information SI1, semi-static information SI2, semi-dynamic information MI1, and dynamic information MI2.

[0013] The static information SI1 is high-precision three-dimensional basic map data (high-precision three-dimensional map data) and includes road surface information, lane information, three-dimensional structures, etc., and is composed of three-dimensional position coordinates and linear vector data indicating features. The quasi-static information SI2, quasi-dynamic information MI1, and dynamic information MI2 are dynamic data that change from moment to moment, and are data that are superimposed on the static information based on position information.

[0014] The quasi-static information SI2 includes traffic regulation information, road construction information, wide-area weather information, etc. The quasi-dynamic information MI1 includes accident information, congestion information, narrow-area weather information, etc. The dynamic information MI2 includes ITS (Intelligent Transport System) information, including information on nearby vehicles, pedestrians, traffic lights, etc.

[0015] The 3D map data in this embodiment may be 3D map data generated by measurement using an MMS (Mobile Mapping System) or 3D map data generated from satellite images, and the generation process is not particularly important. For example, the 3D map data may be 3D map data generated by measurement using a drone, fixed-point measurement, measurement using an airborne LiDAR, or measurement using satellite images / SAR images.

[0016] The three-dimensional map data is divided into predetermined three-dimensional spaces according to predetermined criteria, and multiple three-dimensional spaces are generated. The shape of the three-dimensional space is not particularly limited, but the shape of the three-dimensional space may be specified according to the model of the three-dimensional map data. For example, from the viewpoint of ease of division and management efficiency, a rectangular parallelepiped shape (including an approximately rectangular parallelepiped shape) is preferable, and a cubic shape (including an approximately cubic shape) is even more preferable. Furthermore, the three-dimensional space to be divided may include not only the surface of the earth and above the sea, but also underground and underwater areas.

[0017] In this embodiment, the 3D map data is divided into predetermined three-dimensional spaces with a focus on the height direction, and identification information is assigned to each three-dimensional space. The identification information may be information that can identify each three-dimensional space and may be assigned according to a predetermined rule. From the perspective of data management, it is also preferable that the identification information be assigned according to a rule that allows surrounding three-dimensional spaces or three-dimensional spaces within the same region to be easily derived.

[0018] This makes it possible to appropriately select the ID of each three-dimensional space when setting the routing of an aircraft or when using other applications, eliminating the need to set the coordinate values ​​and area of ​​the desired area each time. Therefore, according to this embodiment, it is possible to provide users with easy-to-use three-dimensional map data, such as dividing the space into manageable sizes to enable the setting of a drone's flight route and linking surrounding information such as weather information on a space-by-space basis.

[0019] <Specific example of map data> Next, the division of a three-dimensional space and the assignment of identification information will be described using a specific example. The examples shown in Figs. 3 to 7 are examples of three-dimensional map data, and the present invention is not limited to these. Fig. 3 is a diagram showing an example of a process for dividing a three-dimensional space and a process for assigning an ID according to an embodiment. In the example shown in Fig. 3, an example is shown in which a three-dimensional area of ​​the Japanese territory is divided into predetermined three-dimensional areas. For example, in the three-dimensional map data, the area of ​​Japan (approximately 380,000 km) is divided into predetermined three-dimensional areas. ２ ) and the division target is from underground to an altitude of 3000 m. An altitude of 3000 m is the maximum altitude at which a helicopter can fly without oxygen supply, but other altitude values ​​may also be used.

[0020] The area to be divided is divided into cubes with each side being 1 km long. ２ ) × 3 (km) = 1.14 million (pieces) of three-dimensional spaces are generated. Note that the unit of each side does not have to be 1 km, but may be 5 km, 500 m, 100 m, etc. Also, the shape of the three-dimensional space may not be a cube, but may be a rectangular parallelepiped or other three-dimensional space.

[0021] Each three-dimensional space is assigned identification information. For example, two types of IDs, wide area identification information ID1 and narrow area identification information ID2, may be assigned as identification information (space ID) for the three-dimensional space. The wide area identification information ID1 is, for example, an ID that identifies each three-dimensional space and also serves as a management ID for managing each three-dimensional space. Furthermore, by managing the narrow area information ID2 contained in each three-dimensional space, the number of digits of the narrow area information ID2 can be reduced, making it possible to reduce the communication capacity when distributing the narrow area information ID2.

[0022] The narrow area identification information ID2 is, for example, an ID that targets a predetermined district and is associated with the wide area identification information ID1 and is managed for each predetermined application. The narrow area information ID2 is also information that identifies an object, and its persistence may be guaranteed. Basically, one ID is assigned to one object, but if the same object has different acquisition criteria, it may be managed as a different ID. The predetermined district may be, for example, a densely inhabited district.

[0023] Furthermore, the narrow-area identification information ID2 may be used for the purpose of managing necessary information, for example, in the operation of automated mobility. For example, if a predetermined application is AD (Autonomous Driving) / ADAS (Advanced Driver Assistance System) or PMV (Personal Mobility Vehicle), roadways, lanes, sidewalks, signs, road markings, buildings, etc. are used as objects of the narrow-area identification information, and IDs (identification information) are assigned to these. Furthermore, if the predetermined application is an air vehicle such as a drone, air routes, emergency evacuation zones, restricted flight zones, etc. are used as objects of the narrow-area identification information, and IDs are assigned to these. If the predetermined application is snow removal, lanes, sidewalks, manholes, bridge joints, etc. are used as objects of the narrow-area identification information, and identification information is assigned to these.

[0024] As a specific example, the narrow area identification information ID2 is an ID assigned to a predetermined position of a corridor used for routing an aircraft, or an ID of feature data used for autonomous driving. The feature data shown in Figure 4 is a lane. The ID assigned to this lane and the ID of the corridor are associated with the wide area ID.

[0025] Furthermore, the voxel size of each divided three-dimensional space may be changed as appropriate based on the purpose of the application, etc. Furthermore, the three-dimensional space may be subdivided or aggregated depending on the purpose. For example, a cube such as 2x2x2 (V10) or 3x3x3 (V20), or a rectangular parallelepiped such as 2x2x1 or 3x3x2 may be used as the space to be processed by the application.

[0026] This makes it possible to generate flexible three-dimensional spaces according to the intended use of the three-dimensional map data. Regarding altitude, any one of elevation, geoid height, and ellipsoid height can be used as a reference. Furthermore, if the size of the three-dimensional space is to be made as uniform as possible, the altitude can be determined using the geoid height. Furthermore, the ellipsoid height or altitude can be derived from the geoid height using the relationship of elevation = ellipsoid height - geoid height, using the ID assigned to the spatial region (described later) as a key.

[0027] 4 is a diagram showing an example of wide area identification information and narrow area identification information according to an embodiment. In the example shown in FIG. 4, the wide area identification information in three-dimensional space is "54N35123456." This is an example of information that combines the UTM zone "54," the north latitude "N35," and a six-digit number (a number indicating longitude and altitude).

[0028] In the example shown in Figure 4, the roadway has three lanes and seven links connecting the lanes. The narrow-area identification information for the lanes is generated by first representing the wide-area identification information "54N35123456" and then linking it to the ID of the feature data. The ID portion of the feature data linked to the wide-area identification information may also be called narrow-area identification information.

[0029] In the example shown in FIG. 4, if the ID of the lane feature data is "ABCDEFGHI1001," the nine-digit information "ABCDEFGHI" includes common information for the feature data (described later using FIGS. 6 and 7) and data representing the lane feature data. In the information "10001," the tenth digit "1" indicates lane 1, and the eleventh to fourteenth digits "0001" indicate the link number. This makes it possible to reduce the number of digits in the feature data ID (narrow area identification information) compared to assigning IDs to feature data without distinguishing between three-dimensional spaces. Note that the information assigned to the connection number in FIG. 4 indicates the lane link ID (narrow area identification information for this lane link).

[0030] Next, we will explain the feature code that identifies feature data and the common information for the feature data that includes this feature code. In the above example, the first six digits of "ABCDEFGHI" are used as an ID that is commonly used for each feature data.

[0031] 5 is a diagram illustrating an example of a feature code according to an embodiment. The feature code is data related to the identification of a feature, and is, for example, data included in the common information of feature data. The feature code is associated with the feature name.

[0032] In the example shown in Figure 5, the feature code "01" indicates the feature name "lane link (lane link outside intersection)", and the feature code "02" indicates the feature name "lane link (lane link inside intersection)". Note that the lane link may also be written as a "lane centerline" and includes multiple component points.

[0033] Furthermore, the type of feature can be determined by the first digit of the feature code. For example, if the first digit of the feature code is "0", the feature is a feature related to a lane link. If the first digit is "2", the feature is a feature painted on the road (division line, multiple division line, shoulder edge, tunnel boundary edge, etc.). If the first digit is "3", the feature is an intersection and road marking (regulatory sign, directional sign, other marking, etc.). If the first digit is "4", the feature is a road sign (guide sign, warning sign, regulatory sign, directional sign, other sign, indistinguishable sign, etc.). If the first digit is "5", the feature is a vehicle traffic light (main signal, auxiliary signal, arrow, etc.).

[0034] 6 is a diagram illustrating an example of common information of feature data according to an embodiment. In the example illustrated in FIG. 6, the common information of feature data includes purpose information, feature code, material identification information, positioning status information, upward status information, imaging control information, etc.

[0035] The purpose of use information includes information specifying whether the AD / ADAS will be used on an exclusive motor vehicle road or an ordinary road. An exclusive motor vehicle road refers to a road where vehicles move sideways in a parallel running state at branching or merging sections, etc. The feature code includes any of the codes shown in Figure 5.

[0036] The material identification information, positioning status information, and upper state information are included in a predetermined field (the LN (Line Number) field shown in Fig. 6) of the feature data shown in Fig. 6. Fig. 6 shows an example in which all of the material identification information, positioning status information, and upper state information are included in the feature data.

[0037] The material identification information shown in Figure 6 includes information for identifying one of measurement by MMS, drone measurement, fixed-point measurement, measurement by airborne LiDAR, and measurement by satellite imagery / SAR images. The positioning status identification information includes information for identifying one of unpositioned, multipath environment, normal positioning (single positioning), normal positioning (sub-meter class), and high-precision positioning (cm class). The upper status information includes information for identifying one of closed, partially open sky, and open sky.

[0038] 6, the imaging control information identifies blown-out highlights, crushed shadows, etc. using a histogram of pixel values ​​of the captured image. The imaging control information may also include aperture value, ISO value, shutter speed, etc. By including the imaging control information in the feature data, the vehicle-mounted camera can capture images of features using appropriate parameters based on the imaging control information, and appropriately detect the features.

[0039] The feature data identification information may be linked to the common information shown in FIG. 6 and information specific to the feature data may be added from the seventh digit onwards.

[0040] Next, an example of associating feature data of buildings and facilities along a roadway with feature data of lanes will be described. FIG. 7 is a diagram showing an example of associating identified lanes with buildings and facilities according to an embodiment of the present invention. As shown in FIG. 7 , the position information of a first building, which is a specific building and facility, is expressed by the difference (X1, Y1, Z1) between the entrance / exit of the first building and a constituent point of the lane link represented by the lane link ID "XXXXX123456ABCDEFGHI1002." The building facility data of the first building as feature data is generated as ID "XXXXX123456ABCDEFGHI1002X1Y1Z1" by adding the difference (X1, Y1, Z1) to the lane link ID "XXXXX123456ABCDEFGHI1002" as relative position information. Furthermore, the building facility data of the first building may include any information related to the first building, such as the type, shape, and size of the first building, as data linked to the ID.

[0041] Furthermore, in this example, a new building facility data ID "XXXXX123456ABCDEFGHI1002X1Y1Z1" was generated for the first building, and the building facility information for the first building was linked to this ID to generate the building facility data. However, these data may also be treated as extended data for the lane link ID "XXXXX123456ABCDEFGHI1002." For example, the building facility data may be linked to the lane link ID "XXXXX123456ABCDEFGHI1002" of a constituent point of the lane link, and the building facility data may be included in the feature data for that lane link ID. By directly linking buildings and facilities located around the lane link to the lane link ID, their relationships can be understood and this may also be convenient from the perspective of data organization.

[0042] In addition, if the amount of information regarding the relative position (X1, Y1, Z1) is large and puts strain on memory, posing a risk of delays in calculation processing, data communication, etc., the relative position information can be converted to (x1, y1, z1) by, for example, reducing the amount of information (number of digits) taking into account a predetermined resolution, within the range that will have little impact on the data used in the driving assistance system and autonomous driving system, and the building facility data for the first building can be set to "XXXXX123456ABCDEFGHI1002x1y1z1".

[0043] <System Overview> Next, an information processing system 1 that uses the above-mentioned ID of the three-dimensional space will be described. Fig. 8 is a diagram showing an example of the information processing system 1 according to an embodiment of the present invention. The information processing system 1 includes information processing devices 10A, 10B, and 10C that manage and process space IDs, and mobile objects 20A, 20B, and 20C that are controlled using the space IDs, and the devices are connected via a network so as to be able to communicate data.

[0044] When there is no need to distinguish between each of the information processing devices 10A, 10B, and 10C, they may be written as information processing devices 10, and when there is no need to distinguish between each of the mobile bodies 20A, 20B, and 20C, they may be written as mobile bodies 20.

[0045] In one embodiment of the present invention, the movement of the mobile object 20 is controlled by a space ID managed and processed by the information processing device 10. For example, the space ID is used to set the routing (path) of the mobile object 20 from a departure point to a destination, to control the movement of the mobile object 20, and when displayed on the display unit of the mobile object 20. The departure point includes, for example, the current location or a specified point. Note that the space ID can also be used for pedestrian route guidance, statistics related to three-dimensional maps, and the like, in addition to controlling the mobile object 20.

[0046] 9 is a diagram showing an example of the configuration of an information processing device 10 according to an embodiment of the present invention. The information processing device 10 includes one or more processors (CPU: Central Processing Unit) 110, one or more network communication interfaces 120, a storage device 130, a user interface 150, and one or more communication buses 170 for interconnecting these components. The user interface 150 may be connected via a network.

[0047] The storage device 130 may be, for example, a high-speed random access memory such as a DRAM, an SRAM, or other random access solid-state storage device. The storage device 130 may also be a non-volatile memory such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. The storage device 130 may also be a non-transitory computer-readable recording medium.

[0048] Another example of storage device 130 may be one or more storage devices located remotely from processor 110. In some embodiments, storage device 130 stores programs, modules, and data structures, or a subset thereof, that are executed by processor 110.

[0049] The storage device 130 stores data used by the information processing system 1. For example, the storage device 130 stores three-dimensional map data and data related to the three-dimensional map data. As specific examples, the three-dimensional map data, feature data, space IDs, information associated with space IDs, and the like are stored in the storage device 130.

[0050] Here, an example of three-dimensional map data includes static information SI1, semi-static information SI2, semi-dynamic information MI1, and dynamic information MI2, as described above with reference to FIG. 2, and each piece of information may be associated with each other.

[0051] The static information SI1 includes high-precision three-dimensional map data (HD (High Definition) map). As described above, the high-precision three-dimensional map data is divided into three-dimensional spaces, and a space ID is assigned to each three-dimensional space. This space ID is basic information when an application uses this high-precision three-dimensional map data.

[0052] The processor 110 that executes the processes related to the generation of 3D map data according to this embodiment will be described. The processor 110 executes the programs stored in the storage device 130, thereby configuring a map control unit 212, an acquisition unit 113, an association unit 114, a setting unit 115, and an output unit 116.

[0053] The processor 110 controls the processing of each unit described below, and executes processing related to the generation of map data.

[0054] The map control unit 112 uses various data to control processing related to space IDs assigned to each three-dimensional space in the three-dimensional map data. For example, the map control unit 112 controls processing such as dividing high-precision three-dimensional map data into predetermined three-dimensional spaces, assigning a space ID to each three-dimensional space, and associating information with the space ID.

[0055] The acquisition unit 113 acquires three-dimensional map data divided into predetermined three-dimensional spaces, with identification information (space ID) assigned to each three-dimensional space. For example, the acquisition unit 113 acquires from the storage device 130 three-dimensional map data in which a space ID is assigned to each three-dimensional space, as shown in FIG.

[0056] The associating unit 114 associates at least time information representing different times or dimension information representing different dimensions with each space ID of each three-dimensional space. The time information includes, for example, weather information and traffic signal information that have time-varying information, and the dimension information includes two-dimensional map data, such as existing SD (Standard Definition) maps and base registry data. The base registry data is, for example, basic social data on people, corporations, land, buildings, qualifications, etc. that is registered and published by public institutions and referenced in various situations, and includes data that is fundamental to society and ensures accuracy and up-to-dateness. The base registry data includes, for example, master data on addresses and locations, real estate IDs, etc. The associating unit 114 may also associate other static information with each space ID. The other static information includes, for example, no-entry area information and facility information.

[0057] The setting unit 115 sets each processing target space including one or more three-dimensional spaces. For example, if the mobile body 20 is a small-sized aerial vehicle such as a drone, the setting unit 115 may set the smallest unit of three-dimensional space as the processing target space. Furthermore, if the mobile body 20 is a personal aerial vehicle, the setting unit 115 may set a 2x2x2 voxel (V10 shown in FIG. 3 ) as the processing target space. The setting unit 115 may set the processing target space according to the type, size, location (urban area, mountainous area, etc.) of the mobile body 20, etc. The predetermined target spaces do not necessarily all need to be the same size.

[0058] The output unit 116 outputs identification information (space ID) assigned to a three-dimensional space within each processing target space and at least one of time information, dimensional information, and / or other static information associated with the identification information to the moving body 20. For example, the output unit 116 outputs a space ID used for movement control of the moving body 20 and at least one of time information, dimensional information, and / or other static information associated with the space ID to the moving body 20 whose movement is to be controlled.

[0059] For example, the spatial ID may be used to set a route from the departure point to the destination of the mobile object 20, time information such as weather information may be used to select a route for the mobile object 20, and dimensional information such as an SD map may be used to control the movement of a vehicle traveling on a road. The acquisition unit 113 may acquire traffic light information and the like included in dynamic information distributed via V2N (Vehicle to Network), and the association unit 114 may associate the acquired traffic light information and the like with the SD map via the spatial ID. This allows existing vehicles to use an SD map associated with traffic light information included in the dynamic information.

[0060] The above processing makes it possible to appropriately control the movement of mobility such as the mobile body 20 by using the space ID and the time information or dimension information linked to the space ID. Therefore, by linking information to the space ID, it becomes possible to improve the content of services or provide new services.

[0061] <Data Example> Fig. 10 is a diagram showing an example of data related to a space ID according to an embodiment of the present invention. In the example shown in Fig. 10, spatial position information, dynamic information, semi-dynamic information, an SD map, etc. are associated with the space ID.

[0062] The space ID may be generated as described above with reference to Figures 3 to 7, or may be generated by other methods. The space IDs generated by the information processing device 10 are assigned in order to each of the three-dimensional spaces into which the three-dimensional map data is divided.

[0063] The spatial position information includes information indicating a position in a three-dimensional space, such as information indicating the position of a representative point in the three-dimensional space (a point that specifies the three-dimensional space, such as a center point or a point that constitutes a corner of the three-dimensional space). The dynamic information includes dynamic information about vehicles, pedestrians, etc. contained in the three-dimensional space. The semi-dynamic information includes accident information, weather information, etc. that change over time. The SD map includes two-dimensional map data. The space ID may also be associated with the size of the three-dimensional space and other data.

[0064] 11 is a diagram showing an example of an information processing device 30 according to an embodiment of the present invention. For example, the information processing device 30 is a processing device provided in a mobile object 20. The information processing device 30 includes one or more processors (e.g., CPUs) 310, one or more network communication interfaces 320, a storage device (storage unit) 330, a user interface 350, and one or more communication buses 370 for interconnecting these components.

[0065] The user interface 350 includes a display 351 and an input device (such as a pointing device) 352 .

[0066] The storage device 330 may be, for example, a high-speed random access memory (primary storage device) such as a DRAM, an SRAM, or other random access solid-state storage device. Alternatively, the storage device 330 may be a non-volatile memory (secondary storage device) such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. Alternatively, the storage device 330 may be a non-transitory computer-readable recording medium. Alternatively, the storage device 330 may be either a primary storage device (memory) or a secondary storage device (storage), or may include both.

[0067] The storage device 330 stores data and programs used by the information processing system 1. For example, the storage device 330 stores application programs for the information processing device 30 in the information processing system 1.

[0068] The processor 310 executes a program stored in the storage device 330 to configure a control unit 312. The control unit 312 performs processing related to movement control, for example, by executing an installed application for the moving object 20. The control unit 312 has a communication control unit 313, a movement control unit 314, a display control unit 315, and an operation control unit 316 to perform processing related to movement control.

[0069] The communication control unit 313 transmits and receives data to and from the information processing device 10 via the network communication interface 320. For example, the communication control unit 313 acquires at least one piece of information, including a space ID and time information and / or dimensional information, transmitted from the information processing device 10. The communication control unit 313 transmits to the information processing device 10 destination information input by the input device 352 and acquired by the operation control unit 316, and departure point information identified by a GPS function or the like.

[0070] Furthermore, the communication control unit 313 outputs information selected and set using the screen displayed on the display 351, predetermined requests, work information related to movement control, and the like to the information processing device 10. Furthermore, the transmitted space ID is the space ID of the processing target space, and when the processing target space is made up of multiple three-dimensional spaces, it may be a representative value of the multiple three-dimensional spaces, for example, the space ID of a space in the center of the processing target space or a space including a predetermined corner (such as the upper left) of the processing target space.

[0071] The movement control unit 314 controls the movement of the mobile object 20. For example, the movement control unit 314 controls the movement of the mobile object 20 along a route (route from a departure point to a destination) combined with a spatial ID, and also selects a route or adjusts the movement speed of the mobile object 20 using time information (dynamic information or quasi-dynamic information) associated with the spatial ID, and controls the movement route of the vehicle using dimensional information.

[0072] The display control unit 315 controls the display 351 to display a routing screen relating to a travel route and the like based on the various pieces of information acquired by the communication control unit 313. The display control unit 315 also controls the display 351 to display a destination setting screen and a screen displaying time information and dimensional information.

[0073] The operation control unit 316 accepts user operations on UI components displayed on each screen, and transmits operation information to an application of the information processing device 30 or outputs the operation information to the information processing device 10. For example, the operation control unit 316 outputs to the information processing device 10 each piece of information related to the movement of the mobile object 20 that has been selected, set, or input by an employee or the like.

[0074] <Processing Procedure> Next, a description will be given of the processing procedure of the information processing device 10 of the information processing system 1. Fig. 12 is a flowchart showing an example of processing of the information processing device 10 according to an embodiment. Note that the processes may be parallelized or the order thereof may be changed within the scope of the present invention.

[0075] In step S102, the acquisition unit 113 acquires three-dimensional map data divided into predetermined three-dimensional spaces, in which identification information (space ID) is assigned to each three-dimensional space. For example, the acquisition unit 113 may acquire the three-dimensional map data assigned with the space ID from the storage device 130.

[0076] In step S104, the associating unit 114 associates, with each piece of identification information for each three-dimensional space, at least time information representing different times or dimension information representing different dimensions. The time information is, for example, at least one of the dynamic information and semi-dynamic information described above, and the dimension information is, for example, an SD map.

[0077] In step S106, the setting unit 115 sets each processing target space including one or more three-dimensional spaces. The setting unit 115 may set the size of the processing target space according to the type of the moving object 20, for example.

[0078] In step S108, the output unit 116 outputs to the moving body at least one of identification information (space ID) assigned to the three-dimensional space within each processing target space, and time information and / or dimensional information associated with the identification information, and other static information. The moving body 20 controls its movement using the space ID, time information and / or dimensional information associated with the space ID, and other static information.

[0079] As described above, according to this embodiment, it is possible to appropriately control the movement of mobility such as the moving body 20 using the space ID and the time information or dimension information linked to the space ID. Therefore, it is possible to improve the content of services or provide new services by linking information to the space ID. Application examples of this embodiment will be described below using each example.

[0080] Example 1 Example 1 shows a specific example of information associated with a space ID. In Example 1, for example, by associating information that can be changed in real time with a space ID, the information can be used to control the movement of a moving object 20, or a new use case can be provided using the information that can be changed in real time.

[0081] <Configuration> The configurations of the information processing device 10 and the information processing device 20 in the first embodiment are the same as those shown in Fig. 9 and Fig. 11, respectively. First, the dynamic information or semi-dynamic information described above can be associated with an HD map, but a means for this association has not been established.

[0082] Therefore, dynamic information or quasi-dynamic information of high-precision three-dimensional map data (HD map) is identified based on the objects and positions contained in the three-dimensional space, and the identified dynamic information or quasi-dynamic information is associated with a space ID of the three-dimensional space. For example, identification information or captured images of an autonomous vehicle traveling using the HD map may be used to obtain vehicle congestion information in a predetermined area in real time and associate the information with the space ID, or the density of pedestrians in a predetermined area obtained in real time from another server may be associated with the space ID.

[0083] Through the above process, the associating unit 114 can determine the quality and quantity of dynamic information held by various businesses and select appropriate dynamic information each time an association is made. The associating unit 114 may also associate only necessary information from the dynamic information or quasi-static information held by the HD map with the space ID. This makes it possible to associate various types of dynamic information or quasi-dynamic information with the HD map via the space ID, improving usability.

[0084] Next, an example in which accident information, etc. is associated with a space ID will be described. Currently, there is no system that can accurately grasp and provide location information of restricted areas at the site of an accident, falling objects, etc. on the road.

[0085] Therefore, a police officer, road administrator, or the like operates a tablet device at the scene of an accident or fallen object to set a restricted area in three-dimensional space. For example, the tablet device displays each three-dimensional section including the accident site, and the police officer, road administrator, or the like selects an area where restriction is in effect by tapping, for example. The associating unit 114 associates the selected area with the space ID of the three-dimensional space as restricted area information. This restricted area information may be associated with the space ID as dynamic information.

[0086] The output unit 116 may output the restricted area information associated with the space ID to the mobile body 20. This allows the mobile body 20 to properly grasp the restricted area information, thereby enabling safe control of autonomous mobility and smooth route changes.

[0087] Furthermore, in the case of a system that superimposes map data based on three-dimensional sections (narrow voxels) to which spatial IDs are assigned and general residential map data, etc., it is possible to realize a system in which the association unit 114 sets restricted area information such as traffic restricted sections in narrow voxel units, and the output unit 116 distributes the restricted area information to road users such as mobile bodies 20.

[0088] Next, an example in which weather information is associated with a space ID will be described. Currently, it is being considered to associate weather information with an HD map, but how to use this weather information is still under consideration.

[0089] Therefore, in Example 1, the association unit 114 associates, for example, clouds, fog, rain, snow, or volcanic smoke in the sky with the space ID of the three-dimensional space, thereby enabling the information processing device 10 to set a three-dimensional space that may cause problems in controlling the moving body 20.

[0090] For example, it will be possible to build a system that overlays three-dimensional map data based on spatial IDs with weather information associated with the spatial IDs, thereby visualizing information such as clouds, fog, rain, snow, or volcanic smoke in the sky in three dimensions.

[0091] As a specific example, the acquisition unit 113 acquires weather information from a database of the Japan Meteorological Agency to acquire information about the movement of clouds, and the association unit 114 associates information indicating the presence of clouds with the space ID of the three-dimensional space in which the clouds exist. The association unit 114 may distinguish and associate each piece of information, such as information indicating volcanic eruption smoke obtainable from a meteorological satellite center, information indicating rain included in the weather information, and information indicating fog, with the space ID.

[0092] This makes it possible to visualize the height of volcanic smoke in three dimensions using three-dimensional map data. Furthermore, the mobile body 20 may acquire information indicating these clouds, fog, rain, snow, or volcanic smoke along with a space ID and use this information for movement control. For example, the mobile body 20 can set a route while avoiding three-dimensional spaces where clouds, fog, rain, snow, volcanic smoke, or other obstacles to flight exist.

[0093] In the first embodiment, the unit of route setting when the mobile body 20 sets a route is preferably the processing target space, but route setting may be performed in the smallest unit of three-dimensional space. In the first embodiment, the space ID associated with the dynamic information or quasi-dynamic information, accident information, or weather information may be at least one space ID of the processing target space, or may be the space ID of the smallest unit of three-dimensional space.

[0094] As described above, according to Example 1, by linking information such as weather information to a space ID, it is possible to improve the content of services such as route setting, or to provide new services such as visualizing the conditions in the sky (clouds, fog, rain, snow, smoke, etc.).

[0095] Example 2 Example 2 shows a specific example of controlling an air vehicle using a space ID. The moving body 20 in Example 2 is an air vehicle 20B including a drone, and is associated with a space ID.

[0096] 13 is a diagram showing an example of the configuration of an information processing device 10a in Example 2. The configuration of the information processing device 20 is similar to the configuration shown in FIG.

[0097] Here, when an aircraft 20B such as a drone or eVTOL is flown without direct visual line of sight (BVLOS) by a pilot, there is no means to meet the standards for BVLOS flight. For example, there is no means to ensure that the aircraft 20B is at least 30 meters away from surrounding objects as an appropriate clearance. Therefore, in Example 2, the aircraft 20B is enabled to appropriately fly BVLOS.

[0098] 13, the same reference numerals are used to denote units that perform the same processing as the units of the information processing device 10 shown in Fig. 9, and the following describes processing that differs from the above embodiment and example. The map control unit 112a, acquisition unit 113a, association unit 114a, output unit 116a, and aircraft control unit 301 shown in Fig. 13 are configured and executed by the processor 110a.

[0099] 13 selects each processing target space from the departure point to the destination, and outputs route information including each identification information (each space ID) of each selected processing target space to the flying object 20B. The route information includes information linking the space IDs from the departure point to the destination set by the flying object control unit 301.

[0100] The flying object control unit 301 selects a space to be processed based on the departure point information and destination information of the flying object 20B acquired by the acquisition unit 113a, and links and combines the space IDs of the selected spaces to be processed from the departure point to the destination so that each space ID can be distinguished. The flying object control unit 301 sets a route so as to satisfy the criteria for beyond visual line of sight flight.

[0101] For example, the aircraft control unit 301 holds reference information for BVLOS flight and sets a route to satisfy this reference information. As a specific example, the aircraft control unit 301 selects the skies above a location where a third party is unlikely to be present (mountains, ocean waters, rivers, forests, agricultural land, etc.). Locations where a third party is unlikely to be present can be identified by feature data on an HD map associated with a space ID, etc.

[0102] The flying object control unit 301 outputs the route information of the combined space ID to the output unit 116a. The route information may include not only the space ID but also information associated with the space ID, such as the dynamic information or quasi-dynamic information associated in Example 1, accident information, or weather information.

[0103] The associating unit 114a may also associate the space ID with various information, such as ground surface information (such as whether or not there is airspace), tide level information, communication strength, multipath information, surrounding obstacle information, emergency landing locations, base / training airspace, and airspace for dropping rockets, parts, etc. The aircraft control unit 301 sets a route based on the various information associated with the space ID in the three-dimensional space. This makes it possible to set a space that meets the criteria for BVLOS flight, thereby supporting BVLOS flight of the aircraft 20B. As a result, autonomous flight beyond visual line of sight is possible through aircraft control and an operation management system using the set route.

[0104] Furthermore, the flying object control unit 301 enables a pre-flight simulation that combines weather and air current forecast information associated with the space ID with the flight plan of the flying object 20B. The flying object control unit 301 also grasps the energy consumption status of the flying object 20B due to air currents, etc., and can use this information for en route energy replenishment planning, re-examination of the flight route, etc. Regarding the energy consumption of the flying object 20B, by having a learning model learn the relationship between air currents and consumed energy as learning data, the flying object control unit 301 can predict consumed energy by inputting the air current data into the learning model.

[0105] Furthermore, there has been no system for managing air rights in the airspace up until now. Therefore, public / private information indicating whether the land above is privately owned or not is managed in association with a space ID depending on whether the land on the ground is privately owned or not.

[0106] The associating unit 114a may also associate the space ID of each processing target space in the air up to a predetermined distance (e.g., 300 m) from the ground with whether the space is over private land. The map control unit 112a manages public / private information about the spaces on the ground associated by the associating unit 114a, indicating whether the space is private land. For example, if a predetermined area is changed from public land to private land, the map control unit 112a changes the public / private information based on setting change information from an administrator or the like.

[0107] In this case, when setting a route for the aircraft 20B, the aircraft control unit 301 selects a three-dimensional space other than the airspace above private property based on the public / private information associated with the space ID of the three-dimensional space. The output unit 116a may output the space ID selected based on whether the space is above private property to the aircraft 20B. The output unit 116a may also output the public / private information along with the space ID to the aircraft 20B.

[0108] By utilizing the above process, it is possible to provide a system that enables management of air rights (such as acquisition status) for, for example, 300 meters above privately owned land by utilizing the space ID. As a result, it becomes possible to visualize air rights, including transaction status, and to conduct appropriate transactions. It is also possible to provide a system that can visualize management of air rights (such as acquisition status) by overlaying 3D map data based on the space ID with information on air rights (such as 300 meters above privately owned land) associated with the space ID.

[0109] FIG. 14 is a diagram showing an example of a route of the flying object 20B according to Example 2. In the example shown in FIG. 14, the flying object control unit 301 sets a route for the flying object 20B based on weather information and the like associated with a space ID of the three-dimensional space. FIG. 14 displays a route C10 set by the flying object control unit 301. In the example shown in FIG. 14, the processing target space is a three-dimensional space of the smallest unit, but a processing target space such as 2×2×2 or 3×3×3 may be used depending on the size of the flying object 20B and the type of ground.

[0110] 14, for example, if area P10 on the ground is private property, public / private information indicating that the area is private property is associated with the space ID of the three-dimensional space above area P10. When setting the route of aircraft 20B, aircraft control unit 301 may refer to the public / private information associated with the space ID of the three-dimensional space and select the three-dimensional space with the public / private information indicating that the area is public property to set the route. This makes it possible to prevent aircraft 20B from flying over private property without permission, for example.

[0111] <Operation> Fig. 15 is a flowchart showing an example of processing by the information processing device 10a according to Example 2. The example shown in Fig. 15 shows processing for setting a route for the flying object 20B.

[0112] In step S202, the acquisition unit 113a acquires departure point information and destination information of the flying object 20B. The acquisition unit 113a may acquire the departure point information and destination information of the flying object 20B from a device that operates the flying object 20B.

[0113] In step S204, the aircraft control unit 301 selects a space ID of the processing target space or three-dimensional space from the departure point information to the destination information, and sets a route by combining the selected space IDs.

[0114] In step S206, the output unit 116a outputs the selected space ID as route information, which enables the flying object 20B to arrive at the destination by acquiring the route information from the information processing device 10 and sequentially tracing the target space or the three-dimensional space indicated by the space ID included in the route information.

[0115] As described above, according to the second embodiment, the route of the flying object can be set using the space ID, and further, by using information associated with the space ID, such as public or private information, it becomes possible to set a more appropriate route. Furthermore, according to the second embodiment, it becomes possible to provide new services such as visualizing information on whether the sky is private property or not.

[0116] Example 3 Example 3 shows a specific example of generating a separate map using a space ID. In Example 3, map data is generated or customized for a specific company. The mobile body 20 in Example 3 is a mobile body 20C such as a remotely controlled AGV (Automatic Guided Vehicle) or a robot, or an air vehicle 20B. Note that the mobile body 20 also includes a smartphone capable of communicating location information.

[0117] 16 is a diagram showing an example of the configuration of an information processing device 10b in Example 3. The configuration of the information processing device 20 is similar to the configuration shown in FIG.

[0118] 16, the units that perform the same processes as the units of the information processing device 10 shown in Fig. 9 are denoted by the same reference numerals, and the following describes processes that differ from those in the above embodiment and example. The map control unit 112b, acquisition unit 113b, association unit 114b, setting unit 115b, output unit 116b, and generation unit 401 shown in Fig. 16 are configured and executed by the processor 110b.

[0119] 16 acquires information regarding the possibility of activity in a predetermined space (also referred to as "activity possibility information") from the moving object 20. For example, the acquiring unit 113b acquires the movement history of the moving object 20C or captured images captured by the moving object 20C. The fact that the moving object 20C was able to move indicates that activity is possible in that area.

[0120] The associating unit 114b may associate activity availability information indicating whether or not an area is available for activity with a space ID by analyzing an image captured by the mobile object 20C. Furthermore, the associating unit 114b may associate activity availability information that enables an area in which the mobile object 20C can move to be available for activity with the space ID of the area based on the movement history of the mobile object 20C.

[0121] The generation unit 401 selects a three-dimensional space based on the activity possibility information and generates first three-dimensional map data. For example, in the event of an earthquake or fire, the generation unit 401 selects space IDs of three-dimensional spaces in which activity is possible based on the activity possibility information indicating places in a building where activity is possible, and combines the space IDs to generate first three-dimensional map data.

[0122] The setting unit 115b may set each processing target space based on the first three-dimensional map data, thereby making it possible to set an appropriate processing target space within a range in which activity is possible.

[0123] Regarding Example 3, for example, when a fire breaks out in a building with multiple floors or during a battle in an urban area, it is difficult to grasp the building structure in three dimensions at the scene, making it difficult to carry out firefighting and rescue operations.

[0124] Therefore, as in the processing in Example 3, by obtaining information (activity feasibility information) regarding whether or not an activity is possible from an unmanned, remotely controlled robot or the like, and associating the activity feasibility information with a space ID, it is possible to easily generate three-dimensional map data (first three-dimensional map data) of a building structure in which activity is possible.

[0125] As a result, information about the inside of a building that is difficult to understand from a detailed building structure diagram or floor plan can be associated with a spatial ID using driving information and sensor information from preceding robots, etc., and a simple building structure map can be generated in real time for areas where activity is possible, making it possible to visualize areas where activity can be done safely.

[0126] While the above example has been given of a mobile object 20C that travels on the ground, it can also be applied to an air vehicle 20B that flies in the sky, such as a drone. For example, if the topography changes significantly due to an earthquake or other disaster, it is not appropriate to use conventional map data.

[0127] Therefore, for example, the acquisition unit 113b acquires the movement history (flight track history) of the air vehicle 20B or sensor information (such as captured images) from the air vehicle 20B. The association unit 114b analyzes this movement history or sensor information to identify information indicating whether or not activity is possible in the area where the terrain has been deformed (activity possibility information), and associates this activity possibility information with the space ID of the terrain.

[0128] The generation unit 401 selects a three-dimensional space based on the activity possibility information and generates first three-dimensional map data. For example, the generation unit 401 selects space IDs of three-dimensional spaces where activity is possible based on the activity possibility information that indicates places where activity is possible in areas where the topography has changed in the event of an earthquake or the like, and combines the space IDs to generate first three-dimensional map data.

[0129] Through the above processing, the information from the aircraft 20B can be associated with the space ID to generate simple three-dimensional topographical map data. As a result, in a situation where the terrain has changed significantly due to an earthquake or the like, by associating activity feasibility information based on reconnaissance information from the aircraft 20B with the space ID, simple three-dimensional topographical map data can be generated in real time, making it possible to visualize areas where activity can be carried out safely. Note that if the mobile unit 20 is a smartphone or the like, the acquisition unit 113b may acquire a movement history of location information (such as GPS location information) from the smartphone or the like, and the association unit 114b may determine whether activity is possible or not based on this movement history.

[0130] Furthermore, there is a problem with the map generation in Example 3 in that there is no electronic map data that allows logistics companies and the like to arbitrarily rewrite information (such as residents) that they hold. Therefore, in Example 3, a blank map is generated in which user-rewritable information is associated with a space ID, and is provided to users who need it.

[0131] In this case, the associating unit 114b associates arbitrarily rewritable information with the space ID. As described above, for example, a logistics company or the like can write address information or the like in this information.

[0132] The generating unit 401 generates second three-dimensional map data including rewritable information. The second three-dimensional map data corresponds to a blank map.

[0133] The output unit 116b outputs the second 3D map data to a processing device used by the organization that manages the mobile object 20. This makes it possible to provide 3D map data corresponding to the blank map to a third party. The organization that manages the mobile object 20, which corresponds to a third party, can write information of its own use for various purposes into arbitrarily rewritable information associated with the space ID included in the acquired 3D map data, thereby making it possible to generate user-friendly 3D map data.

[0134] For example, logistics companies will be able to store freely rewritable 3D map data and combine different layers of map data as they like. This will enable open / closed management of data, such as whether it can be shared or not, for each layer, leading to expanded data distribution.

[0135] <Data Example> Fig. 17 is a diagram showing an example of data related to a space ID in Example 3. In the example shown in Fig. 17, spatial position information, activity possibility information, optional information 1, etc. are associated with a space ID. Note that it is sufficient that at least one of the activity possibility information and optional information is associated with the space ID.

[0136] The activity possibility information is information identified from the travel history or sensor information of the mobile body 20, and indicates whether or not the mobile body 20 is capable of activity. For example, when the activity possibility information is "1", it indicates that the mobile body 20 is capable of activity, and when the activity possibility information is "0", it indicates that the mobile body 20 is not capable of activity.

[0137] The optional information 1 is information that can be rewritten by the user. For example, address information or representative coordinates are written in the optional information 1. In addition, multiple pieces of optional information may be associated with each other, such as optional information 1 and optional information 2. This allows the administrator of the 3D map data to decide whether to share or not share each piece of optional information.

[0138] 18 is a flowchart illustrating an example of a process of the information processing device 10b according to Example 3. In the example illustrated in Fig. 18, new three-dimensional map data is generated from a three-dimensional space selected based on information related to activity possibility.

[0139] In step S302, the acquisition unit 113b acquires information on the possibility of activity (activity feasibility information) including travel history or sensor information from the moving body 20 (aircraft body 20B or moving body 20C).

[0140] In step S304, the associating unit 114b associates the acquired activity possibility information with the space ID of the corresponding three-dimensional space.

[0141] In step S306, the generation unit 401 identifies a three-dimensional space in which the activity is possible based on the activity possibility information and the space ID, and generates three-dimensional map data (first three-dimensional map data). The three-dimensional map data is three-dimensional map data that includes a space ID associated with basic information such as address information and representative point coordinates.

[0142] In step S308, the output unit 116b outputs the generated three-dimensional map data to an external device. The three-dimensional map data indicating the area where activities are possible is output to, for example, a terminal of a user who is carrying out rescue activities.

[0143] Fig. 19 is a flowchart illustrating another example of the process of the information processing device 10b according to Example 3. In the example illustrated in Fig. 19, new three-dimensional map data is generated in which arbitrarily rewritable information is associated with a space ID.

[0144] In step S402, the associating unit 114b associates arbitrarily rewritable information (arbitrary information) with the space ID.

[0145] In step S404, the generation unit 401 generates three-dimensional map data (second three-dimensional map data) corresponding to the blank map, including the space ID associated with the arbitrary information.

[0146] In step S406, the output unit 116b outputs the generated 3D map data to an external device. The 3D map data including the space ID associated with the arbitrary information is output to, for example, a processing device of a distributor to which address information or the like is to be written.

[0147] As described above, according to Example 3, by associating activity availability information with a space ID, new three-dimensional map data can be generated, and by associating arbitrarily rewritable information with a space ID, three-dimensional map data corresponding to a blank map can be generated, thereby providing new services related to space IDs.

[0148] Example 4 shows a specific example of indoor route control using indoor structural information and a space ID. In Example 4, three-dimensional map data is used for route control when a moving object 20 or a pedestrian is indoors.

[0149] 20 is a diagram showing an example of the configuration of an information processing device 10c in Example 4. The configuration of the information processing device 20 is similar to the configuration shown in FIG.

[0150] 20, the same reference numerals are used to denote units that perform the same processing as the units of the information processing device 10 shown in Fig. 9, and the following describes processing that differs from the above embodiment and example. The map control unit 112c, acquisition unit 113c, association unit 114c, output unit 116c, and route control unit 501 shown in Fig. 20 are configured and executed by the processor 110c.

[0151] 20 acquires structural information about a building or an underground space (such as an underground shopping mall) in the three-dimensional space. For example, the acquisition unit 113c acquires structural information about the building or the underground space, including the layout and floor information of the building or the underground space, from a management company of the building or the underground space.

[0152] When the three-dimensional space includes a building or an underground space, the associating unit 114c associates structural information of the building or underground space with the space ID of the three-dimensional space. For example, the associating unit 114c associates the layout and floor information of the building or underground space with the space ID of the three-dimensional space related to the building or underground space.

[0153] The route control unit 501 selects each processing target space in the building or underground space from the starting point to the destination based on structural information of the building or underground space, and sets a route by combining each space ID of each selected processing target space.

[0154] The output unit 116c outputs route information including the space ID of the processing target space combined by the route control unit 501. The indoor route information is output to, for example, a processing device used by the mobile body 20 or a pedestrian. This allows, for example, the mobile body 20 or a pedestrian moving indoors or in an underground mall to move based on the set safe route information.

[0155] This enables route search and guidance indoors, such as in buildings and underground malls. That is, it is possible to search for passable routes using the space ID of the three-dimensional space within a building or underground mall, and notify the mobile body 20 of a selected route selected from the passable routes. The mobile body 20 can also display the selected route, corners, remaining distance, etc. on a display unit installed therein. Furthermore, it can also be used to display emergency evacuation routes on digital signage in buildings and underground malls. It also becomes possible to guide pedestrians moving within an underground mall or building on a route to their destination.

[0156] <Data Example> Fig. 21 is a diagram showing an example of data related to a space ID in Example 4. In the example shown in Fig. 21, spatial position information, building, underground data, etc. are associated with the space ID.

[0157] The building and underground data includes structural information related to the building or underground space. The structural information includes layout information and floor information of the building or underground. The structural information may be divided into spaces corresponding to the three-dimensional space of the associated space ID, and each structural information corresponding to each space ID may be associated. Furthermore, position information corresponding to the spatial position information of each space ID may be associated with the structural information.

[0158] 22 is a diagram illustrating an example of each three-dimensional space of a building or an underground space in Example 4. In the example illustrated in Fig. 22, an underground mall AR1 exists beneath the ground surface GR, and a three-dimensional space AR2 exists within a building.

[0159] In the example shown in Figure 22, an underground mall AR1 is divided into three-dimensional spaces of a predetermined size, and a space ID is assigned to each three-dimensional space. Each space ID is associated with structural information indicating the layout of the underground mall. Similarly, a space AR2 within a building is divided into three-dimensional spaces of a predetermined size, and a space ID is assigned to each three-dimensional space. Each space ID is associated with structural information indicating the building layout and floor structure.

[0160] <Operation> Fig. 23 is a flowchart illustrating an example of a process performed by the information processing device 10c according to Example 4. The example illustrated in Fig. 23 illustrates a process for setting a route for appropriately controlling indoor movement.

[0161] In step S502, the associating unit 114c associates the structural information of the building or underground space with the space ID.

[0162] In step S504, the acquisition unit 113c acquires departure point information and destination information from the processing device used by the moving body 20 or the pedestrian.

[0163] In step S506, the route control unit 501 selects a space ID of a processing target space from the departure point to the destination based on structural information of the building or underground space. The processing target space may be a three-dimensional space of the smallest unit.

[0164] In step S508, the output unit 116c combines the space IDs of the route set by the route control unit 501 and outputs route information in which, for example, the space IDs from the departure point to the destination are linked in order. The output destination includes, for example, the mobile object 20 and a processing device used by a pedestrian.

[0165] As described above, according to Example 4, by associating structural information of a building or underground space with a space ID, it is possible to provide new services related to space IDs by appropriately guiding or setting indoor routes.

[0166] Example 5 shows a specific example of displaying or expressing an obstacle or a moving object using a space ID associated with information about the obstacle or the moving object. In Example 5, the space ID is specified and the obstacle or the moving object is expressed using a three-dimensional space.

[0167] 24 is a diagram showing an example of the configuration of an information processing device 10d in Example 5. The configuration of the information processing device 20 is similar to the configuration shown in FIG.

[0168] 24, the same reference numerals are used to denote units that perform the same processes as the units of the information processing device 10 shown in FIG. 9, and the following describes processes that differ from those in the above embodiment and example. The map control unit 112d, acquisition unit 113d, association unit 114d, and output unit 116d shown in FIG. 24 are configured and executed by the processor 110d.

[0169] 24 acquires information about moving objects or information about ground obstacles. Information about moving objects includes, for example, information indicating obstacles such as passenger boarding bridges (PBBs), the sea surface, parked vehicles on the road, or clumps of living organisms such as schools of fish. Information about ground obstacles includes, for example, information indicating high-voltage power line towers and power lines, or the height of lightning rods expected on buildings, or information indicating mountain surfaces, trees, or digital elevation models (DEMs).

[0170] The associating unit 114d associates information about the moving object with a space ID of a three-dimensional space including the current position of the moving object, and also associates information about the ground obstacle with a space ID of a three-dimensional space including the ground obstacle.

[0171] The output unit 116d outputs the space ID associated with the information on the moving object or the information on the ground obstacle in a manner that makes it distinguishable from other space IDs. This makes it possible to display or express a three-dimensional space in which the moving object or the ground obstacle exists when displaying a three-dimensional space based on the space ID, for example, by making the space ID associated with the information on the moving object or the information on the ground obstacle distinguishable from other space IDs.

[0172] In the fifth embodiment, information about ground obstacles such as high-voltage pylons, power lines, and the height of lightning rods expected on buildings is associated with the space ID of the three-dimensional space in which the ground obstacle exists. This processing makes it possible to display and express the three-dimensional space in which the ground obstacle exists, without having to take the trouble of measuring the ground obstacle to create a model.

[0173] In addition, in Example 5, information about moving objects that do not exist fixedly and that change position, which is difficult to represent on a map, is associated with the space ID of the three-dimensional space that the moving object exists in. By this process, the correspondence between the information about the moving object and the space ID can be changed, making it possible to represent a three-dimensional space in which moving objects exist dynamically.

[0174] Regarding the location information of the moving object, for example, the acquisition unit 113d acquires location information from a moving object having a GPS function, acquires fish school information from a ship having a fish finder, acquires location information of a vehicle that has reported the presence of an obstacle, etc. In this way, the association unit 114d can associate the location information of the moving object acquired by the acquisition unit 113d with the space ID.

[0175] <Data Example> Fig. 25 is a diagram illustrating an example of data related to a space ID in Example 5. In the example illustrated in Fig. 25, spatial position information, moving object information, ground obstacle information, etc. are associated with the space ID. Note that it is sufficient that at least one of the moving object information and the ground obstacle information is associated.

[0176] The moving object information includes, for example, information indicating obstacles such as PBBs, the sea surface, parked vehicles on the road, or clumps of living organisms such as schools of fish, and includes information that can identify each type of moving object so that the type of moving object can be identified.

[0177] The ground obstacle information includes, for example, information indicating high-voltage power line towers and power lines, and the expected height of lightning rods on buildings, and includes information that can identify each type of ground obstacle so that the type of ground obstacle can be identified.

[0178] <Operation> Fig. 26 is a flowchart illustrating an example of processing of the information processing device 10d according to Example 5. The example illustrated in Fig. 26 illustrates processing for identifying moving objects and ground obstacles by space IDs and making them displayable or expressible in a three-dimensional space.

[0179] In step S602, the acquisition unit 113d acquires information about a moving object (moving object information) or information about a ground obstacle (ground obstacle information).

[0180] In step S604, the associating unit 114d associates the moving object information or the ground obstacle information with the space ID.

[0181] In step S606, the output unit 116d outputs the space ID associated with the moving object information or the ground obstacle information in a manner that makes it distinguishable from other space IDs. The output destination is, for example, the moving body 20.

[0182] As described above, according to Example 5, by associating moving object information or ground obstacle information with a space ID, this information can be displayed or represented as a three-dimensional space ID, thereby providing new services related to space IDs.

[0183] Example 6 shows a specific example of processing information associated with a space ID in a three-dimensional space or in units of a space ID. For example, in Example 6, arithmetic operations are performed or a three-dimensional distribution display is performed using information associated with a space ID in units of a space ID.

[0184] 27 is a diagram showing an example of the configuration of an information processing device 10e in Example 6. The configuration of the information processing device 20 is similar to the configuration shown in FIG.

[0185] 27, the same reference numerals are used to denote units that perform the same processing as the units of the information processing device 10 shown in Fig. 9, and the following describes processing that differs from the above embodiment and example. The map control unit 112e, acquisition unit 113e, output unit 116e, and calculation unit 701 shown in Fig. 27 are configured and executed by the processor 110e.

[0186] The calculation unit 701 shown in FIG. 27 performs calculation processing on information associated with space IDs in units of space IDs of three-dimensional spaces. The calculation unit 701 may also perform calculation processing in units of space IDs of the processing target space. For example, since each piece of position information within a three-dimensional space or a processing target space may have different granularity, the calculation unit 701 performs calculation processing on position information associated with space IDs, thereby not being affected by information of different granularity within the space. This can be achieved by keeping the information associated with space IDs in a unified format.

[0187] It is also possible that the processing target sections are different. For example, when a minimum three-dimensional space and a 2x2x2 processing target space are processed, the size of each voxel is different, and therefore the granularity of the information is also different. Therefore, the calculation unit 701 performs calculations for a representative space ID of the processing target space using a representative value of information associated with each space ID of multiple three-dimensional spaces within the processing target space. The representative value of information associated with each space ID of a three-dimensional space includes, for example, a median, an average, or a sum. Furthermore, information on the number of passengers in MaaS (Mobility as a Service) or information on the storage of items in a specific indoor space may be associated with a space ID. In this case, the calculation unit 701 may analyze past changes and future predictions for the number of passengers and the storage information for items for each space ID. Furthermore, the calculation unit 701 may perform data analysis using a machine learning model. The machine learning model may be selected from a group including neural network models such as a convolutional neural network model and a recurrent neural network. Furthermore, there is no limit to the number of layers of the machine learning model, no limit to the type of activation function, and no limit to the type of model, and any known or commonly used method may be adopted as appropriate. Note that the use of the machine learning model is not limited to the processing by the calculation unit 701, and any machine learning model may be used as long as it is usable for the processing in the disclosed technology.

[0188] Furthermore, if the communication destination device has 3D map data including a space ID stored in the information processing device 10, the output unit 116d may output the space ID instead of outputting information associated with the space ID, thereby reducing communication capacity and avoiding a load on the communication bandwidth.

[0189] Furthermore, the calculation unit 701 calculates the distribution of each three-dimensional space or each processing target space based on the number of objects included in the three-dimensional space. For example, if the acquisition unit 113e acquires the distribution of people in a predetermined area, the calculation unit 701 overlays the three-dimensional map data corresponding to the predetermined area with the distribution of people to calculate the distribution of people in each three-dimensional space. For example, by overlaying the predetermined area on the three-dimensional map data, the calculation unit 701 can perform object recognition for each three-dimensional space and identify the number of people in each three-dimensional space.

[0190] In this case, the output unit 116e outputs three-dimensional map data including each three-dimensional space representing the distribution of people. For example, it is advisable to divide the distribution of people into multiple stages and use colors, patterns, etc. to distinguish differences in the number of people. This makes it possible to visualize the number of people, etc., in three dimensions. For example, the output unit 116e outputs distribution information associated with the space ID of each three-dimensional space to an external device that has requested distribution display. The distribution information includes information indicating colors, patterns, etc. for distinguishing differences in the number of people.

[0191] FIG. 28 is a diagram showing an example of a distribution of people in a three-dimensional space in Example 6. In the example shown in FIG. 28, differences in the number of people are expressed using patterns. The darker the pattern in the three-dimensional space, the greater the number of people. This allows the user to grasp the distribution in three dimensions by viewing the three-dimensional map data including the three-dimensional space with the distribution pattern.

[0192] Regarding the distribution display, in addition to people in the above example, it is also possible to display the distribution of animals, plants, etc. Furthermore, the distribution may be distribution above ground, underground, or by floor.

[0193] <Operation> Fig. 29 is a flowchart illustrating an example of a process of the information processing device 10e according to Example 6. The example illustrated in Fig. 29 illustrates a process of setting a route for appropriately controlling indoor movement.

[0194] In step S702, the calculation unit 701 acquires a space ID of the processing target space. At this time, the processing target space may be a three-dimensional space of the smallest unit, or may be a processing target space of a different size.

[0195] In step S704, the calculation unit 701 acquires information associated with the acquired space ID.

[0196] In step S706, the calculation unit 701 performs calculations on the acquired information for each space ID, thereby absorbing differences in the number of pieces of information and granularity within the processing target space, and performing calculations using representative values ​​associated with the space IDs.

[0197] As described above, according to Example 6, by performing calculations on information on a space ID basis, it is possible to provide new use cases related to space IDs, and by associating distribution information with space IDs, it is possible to provide new services related to space IDs, such as three-dimensional distribution display.

[0198] Although one embodiment of the present invention has been described above in detail, it is not limited to the above embodiment, and various modifications and changes are possible within the scope of the claims. For example, in the present invention, some of the processes executed by the information processing device 10 may be transferred to another information processing device, or multiple information processing devices may be integrated as appropriate.

[0199] Note that for the three-dimensional space, at least the height unit may be changed based on the altitude. For example, the higher one goes in the sky, the larger the height unit for dividing the three-dimensional space may be. This is because it is considered that the higher one goes in the sky, the less need there is for subdivision. Furthermore, not only may the height unit of the three-dimensional space change depending on the altitude, but the horizontal size may also be changed.

[0200] This makes it possible to respond to the need for aggregation and subdivision of divisions in the height direction by at least changing the unit of height in the three-dimensional space according to altitude. For example, by making the unit of height larger the higher you go in the sky, it is possible to reduce the burden of division processing and identification information assignment processing, and to perform processing efficiently.

[0201] Furthermore, at least the horizontal unit of a predetermined three-dimensional space may be changed based on feature data or area information included in the three-dimensional map data. For example, at least the horizontal unit of the three-dimensional space may be changed depending on whether the area to be divided is a mountainous area or an urban area. More specifically, if the area to be divided is a mountainous area, the horizontal unit of the three-dimensional space may be larger than the urban area unit. Furthermore, if the area to be divided is a mountainous area, the height unit of the three-dimensional space may be larger than the urban area unit.

[0202] Furthermore, the data structure of the map data including the above-described space IDs and information associated with the space IDs enables the processing device to process the space IDs or the information associated with the space IDs one after another, thereby achieving the above-described effects. For example, the processing device of a vehicle or an aircraft may control the direction of movement or set a route while referring to the space IDs or the information associated with the space IDs.

[0203] REFERENCE SIGNS LIST 1 Information processing system 10 Information processing device 20 Mobile body 20 Information processing device 30 Information processing device 110 Processor 112 Map control unit 113 Acquisition unit 114 Association unit 115 Setting unit 116 Output unit 117 Association unit 120 Network communication interface 130 Storage device 150 User interface 212 Map control unit 301 Aircraft control unit 310 Processor 312 Control unit 313 Communication control unit 314 Movement control unit 315 Display control unit 316 Operation control unit 320 Network communication interface 330 Storage device 350 User interface 401 Generation unit 501 Route control unit 701 Calculation unit

Claims

1. An information processing method executed by an information processing device including one or more processors, wherein the one or more processors execute the following steps: acquire three-dimensional map data divided into predetermined three-dimensional spaces, with each three-dimensional space being assigned an identification information; associate at least temporal information having a different time or dimensional information having a different dimension with each identification information of each of the three-dimensional spaces; set each processing target space including one or more three-dimensional spaces; and output to a moving body at least one of the identification information assigned to the three-dimensional space in each processing target space and the temporal information and / or the dimensional information associated with the identification information.

2. The information processing method according to claim 1, wherein the time information includes dynamic information or semi-dynamic information in high-precision three-dimensional map data.

3. The information processing method according to claim 1, wherein the dimensional information includes two-dimensional map data or base registry data.

4. The information processing method of claim 1, wherein the outputting step includes selecting each processing target space from the departure point to the destination, and outputting route information including each identification information of the selected processing target space to an air vehicle included in the moving body.

5. The information processing method of claim 1, wherein the one or more processors execute management of identification information of each processing target space in the air above a predetermined distance from the ground to determine whether or not the space is above private ground, and the outputting includes outputting identification information selected based on whether or not the space is above private ground.

6. The information processing method of claim 1, wherein the one or more processors execute the steps of: acquiring information from the moving body regarding the possibility of activity in a specified space; selecting a three-dimensional space based on the information acquired from the moving body; and generating first three-dimensional map data; and the setting includes setting each processing target space based on the first three-dimensional map data.

7. The information processing method of claim 1, wherein the associating step is executed by the one or more processors to associate arbitrarily rewritable information with the identification information and generate second three-dimensional map data including the rewritable information, and the outputting step includes outputting the second three-dimensional map data to a processing device used by an organization that manages the mobile object.

8. The information processing method of claim 1, wherein the associating step includes, when the three-dimensional space includes a building or an underground space, associating structural information of the building or the underground space with identification information of the three-dimensional space, and the outputting step includes, based on the structural information of the building or the underground space, selecting each processing target space in the building or the underground space from the starting point to the destination, and outputting route information including identification information of each of the selected processing target spaces.

9. The information processing method of claim 1, wherein the associating step includes associating information about the moving object with identification information of a three-dimensional space including a current position of the moving object, or associating information about the ground obstacle with identification information of a three-dimensional space including the ground obstacle, and the outputting step includes outputting the identification information associated with the information about the moving object or the information about the ground obstacle in a manner distinguishable from other identification information.

10. The information processing method according to claim 1, wherein the one or more processors execute arithmetic processing of information associated with the identification information in units of the processing target space.

11. The information processing method according to claim 1, wherein the one or more processors execute the step of determining a distribution of each of the processing target spaces based on the number of objects contained in the three-dimensional space.

12. A program to be executed by an information processing device including one or more processors, causing the one or more processors to execute the following: acquire three-dimensional map data divided into predetermined three-dimensional spaces, with each three-dimensional space being assigned an identification information; associate at least temporal information having a different time or dimensional information having a different dimension with each identification information of each of the three-dimensional spaces; set each processing target space including one or more three-dimensional spaces; and output to a moving body at least one of the identification information assigned to the three-dimensional space in each processing target space and the temporal information or dimensional information associated with the identification information.

13. An information processing device including one or more processors, wherein the one or more processors perform the following operations: acquiring three-dimensional map data divided into predetermined three-dimensional spaces, with each three-dimensional space being assigned an identification information; associating at least time information having a different time or dimensional information having a different dimension with each identification information of each of the three-dimensional spaces; setting each processing target space including one or more three-dimensional spaces; and outputting to a moving body at least one of the identification information assigned to the three-dimensional space in each processing target space and the time information or the dimensional information associated with the identification information.

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