WO2019131075A1 - Transmission device, point group data collection system, and computer program - Google Patents

Abstract

A transmission device comprising: a point group data acquisition unit for acquiring point group data that includes measurement data for a plurality of measurement points as measured by a sensor; a measurement data removal unit for removing, from the point group data acquired by the point group data acquisition unit, measurement data for measurement points included in a prescribed region; and a point group data transmission unit for transmitting to a server the point group data from which the measurement data has been removed by the measurement data removal unit.

Description

Transmitter, point cloud data acquisition system and computer program

The present disclosure relates to a transmitter, a point cloud data acquisition system, and a computer program.
This application claims priority based on Japanese Patent Application No. 2017-247288 filed on Dec. 25, 2017, and incorporates all the contents described in the aforementioned Japanese application.

Conventionally, there has been proposed a system that assists driving of a vehicle such as a car using measurement data measured by a sensor such as a camera (see, for example, Patent Document 1).

In such a system, in general, the transmission device transmits measurement data at a plurality of measurement points measured by sensors installed on a roadside or a vehicle to a server, and the server detects a vehicle or a pedestrian. , And update of dynamic information such as a moving object for driving assistance of the vehicle.

International Publication No. 2010/119496

(1) The transmission device of the present disclosure uses a sensor that measures the distance to a measurement point of a static object and the distance to a measurement point of a moving object in an area through which a vehicle or a pedestrian can pass. Measurement of measurement points included in a predetermined area from a point cloud data acquisition unit that acquires point cloud data including measurement data at a plurality of measured measurement points, and the point cloud data acquired by the point cloud data acquisition unit It has a measurement data removal unit that removes data, and a point cloud data transmission unit that sends the point cloud data after the measurement data has been removed by the measurement data removal unit to a server.

(17) The point cloud data collection system of the present disclosure includes the above-described transmission device, and a server that receives, from the transmission device, point cloud data including measurement data at a plurality of measurement points measured by sensors.

(18) The computer program of the present disclosure measures the distance to a measurement point of a static object, and the distance to a measurement point of a moving object in an area through which a vehicle or a pedestrian can pass. Measurement included in a predetermined area from a point cloud data acquisition unit that acquires point cloud data including measurement data at a plurality of measurement points measured by a plurality of sensors and the point cloud data acquired by the point cloud data acquisition unit A measurement data removal unit that removes measurement data of points and a point cloud data transmission unit that transmits the point cloud data after the measurement data is removed by the measurement data removal unit to a server.

In addition, the present disclosure can not only be realized as a transmission apparatus provided with such a characteristic processing unit, but also a point cloud data transmission method in which a process executed by a characteristic processing unit included in the transmission apparatus is a step. Can be realized as The present disclosure can also be implemented as a semiconductor integrated circuit that implements part or all of the transmission device.

1 is an overall configuration diagram of a wireless communication system according to an embodiment of the present disclosure. It is a figure which shows an example of the measurement area | region of LiDAR. It is a block diagram showing an example of composition of a server. It is a block diagram which shows an example of a structure of a vehicle-mounted apparatus. It is a block diagram which shows an example of the transmission apparatus installed in the roadside. It is a figure for demonstrating the restriction | limiting area | region for restrict | limiting transmission of the distance data which LiDAR installed in the roadside measured. It is a figure for demonstrating the restriction | limiting area | region for restrict | limiting transmission of the distance data which LiDAR installed in the vehicle measured. It is a figure for demonstrating static information. It is the figure which plotted the position coordinate of the measurement point calculated from the point cloud data which LiDAR measured on a two-dimensional plane. It is the figure which plotted the position coordinate of the measurement point calculated from the point cloud data which LiDAR measured on a two-dimensional plane. It is a sequence diagram which shows an example of the update process and distribution process of dynamic information performed by cooperation of LiDAR, a transmitter, an in-vehicle device, and a server. It is a detailed flowchart of the removal process (step S2 of FIG. 11) of measurement data.

Mode for carrying out the disclosure

[Problems to be solved by the present disclosure]
In the measurement area of the sensor, many measurement points of static objects such as fixed objects such as buildings and trees and the ground are included. Measurement data at such measurement points are transmitted from the transmitting device to the server although they do not contribute to the update of the dynamic information.

As a result, communication traffic from the transmitter to the server is increased, and the processing load on the server is increased.

Such a problem is particularly noticeable when a LiDAR (Laser Imaging Detection and Rang) radar sensor (hereinafter referred to as "LiDAR") is used as the sensor. That is, since LiDAR can irradiate a laser in a wide range in the left and right direction and the up and down direction, although a measurable range is wide, many lasers are irradiated to a building or the ground, and a laser irradiated to a vehicle or pedestrian is It is often small. Therefore, there is a lot of useless measurement data for updating the dynamic information, which causes an increase in the amount of communication traffic and an increase in the processing load on the server.

The object of the present disclosure is to provide a transmitter, a point cloud data collection system and a computer program capable of transmitting measurement data to a server for efficient dynamic information update while reducing the amount of communication traffic to the server. It is to provide.

[Effect of the present disclosure]
According to the present disclosure, measurement data for efficient dynamic information update can be transmitted to a server while reducing the amount of communication traffic to the server.

[Summary of Embodiments of the Present Disclosure]
First, the summary of the embodiment of the present disclosure will be listed and described.
(1) A transmission device according to an embodiment of the present disclosure is a distance to a measurement point of a static object, and a distance to a measurement point of a moving object in an area through which a vehicle or a pedestrian can pass. Included in a predetermined area from a point cloud data acquisition unit that acquires point cloud data including measurement data at a plurality of measurement points measured by a sensor that measures the point cloud data and the point cloud data acquired by the point cloud data acquisition unit And a point cloud data transmission unit for transmitting to the server the point cloud data after the measurement data is removed by the measurement data removal unit.

According to this configuration, it is possible not to transmit measurement data of measurement points included in a predetermined area in the point cloud data to the server. Therefore, by setting the predetermined area as an area of a stationary object such as a building or a static measurement point such as the ground, it is possible to prevent transmission of useless measurement data to the server. This makes it possible to transmit measurement data for efficient dynamic information update to the server while reducing the amount of communication traffic to the server.

(2) Preferably, the static object includes the ground, and the measurement data removal unit removes measurement data of measurement points on the ground from the point cloud data acquired by the point cloud data acquisition unit. .

When the sensor is attached to the roadside or the vehicle downward, most of the measurement points measured by the sensor are on the ground. Therefore, according to this configuration, it is possible to prevent the measurement data of the measurement points on the ground from being transmitted to the server, so that the communication traffic amount to the server can be effectively reduced.

(3) Further, the sensor is a radar sensor that measures the distance to each measurement point, and the point cloud data acquisition unit includes, as the measurement data, the distance to each measurement point in the plurality of measurement points. The point cloud data is acquired, and the measurement data removal unit calculates the height of each measurement point from the point cloud data acquired by the point cloud data acquisition unit, and the calculated height is a predetermined height threshold The following measurement data may be removed as measurement data of the measurement point on the ground.

According to this configuration, when the height of the measurement point measured by the radar sensor is equal to or less than the predetermined height threshold value, it can be determined that the measurement point is present on the ground. Thereby, the measurement data of the measurement point on the ground can be specified with high accuracy.

(4) Further, the sensor is a radar sensor that measures the distance to each measurement point, and the point cloud data acquisition unit includes, as the measurement data, the distance to each measurement point in the plurality of measurement points. The point data is acquired, and the measurement data removal unit determines that the height of the plane applied to the measurement point calculated based on the point cloud data acquired by the point cloud data acquisition unit is equal to or less than a predetermined height threshold. In this case, measurement data of measurement points constituting the plane may be removed as measurement data of measurement points on the ground.

According to this configuration, when the height of the plane applied to the measurement point measured by the radar sensor is equal to or less than the predetermined height threshold, it can be determined that the plane is the ground. Thereby, the measurement data of the measurement point on the ground can be specified with high accuracy.

(5) Further, the sensor is a radar sensor that measures a distance to each measurement point, and the point cloud data acquisition unit is a distance from each of the measurement points to each measurement point and a reflection from each measurement point. The point cloud data including the light intensity as the measurement data is acquired, and the measurement data removing unit measures the measurement points whose reflected light intensity satisfies a predetermined condition based on the reflected light intensities from the respective measurement points. Data may be removed as measurement data of the measurement point on the ground.

When the reflected light intensity of the laser reflected by the asphalt is known in advance, it can be determined from the reflected light intensity whether or not the measurement point is a road paved with asphalt. For this reason, according to this configuration, measurement data of measurement points included in a road paved with asphalt can be identified with high accuracy.

(6) Further, the sensor is a radar sensor that measures the distance to each measurement point, and the point cloud data acquisition unit includes, as the measurement data, the distance to each measurement point in the plurality of measurement points. The point cloud data is acquired, and the measurement data removing unit determines that the variation of the curvature of the locus of the measurement point calculated based on the point cloud data acquired by the point cloud data acquisition unit is within a predetermined range. When the length of the locus is equal to or greater than a predetermined length threshold, measurement data of measurement points constituting the locus may be removed as measurement data of measurement points on the ground.

The radar sensor can measure the distance to the object by scanning the object while moving the laser along the circumference around the rotation axis. Therefore, when the object is the ground, the locus of the measurement points calculated based on the point cloud data is along the circumference. For this reason, according to this configuration, when the locus along the circumference is specified, it can be determined that the measurement point constituting the locus is a measurement point on the ground. Thereby, the measurement data of the measurement point on the ground can be specified with high accuracy.

(7) Further, the sensor may be installed on the road side of the road on which the vehicle travels.

According to this configuration, when a moving object such as a vehicle or a pedestrian is detected by the sensor installed on the roadside, it is possible not to transmit useless measurement data to the server.

(8) Moreover, the said measurement data removal part may remove the measurement data of the measurement point contained in the predetermined angle range on the basis of the said sensor.

In the case where the sensor is installed on the roadside, the direction of a fixed object such as a building where a vehicle or a pedestrian can not pass may be known in advance. Therefore, according to this configuration, by defining the direction in which the vehicle or the pedestrian can not pass as the predetermined angle range, measurement data of the measurement points included in the predetermined angle range may not be transmitted to the server. Can be

(9) Further, the transmission device described above further includes an area information storage unit storing the predetermined angle range, and the measurement data removal unit further includes the predetermined information stored in the area information storage unit. The measurement data may be removed based on an angle range.

According to this configuration, it is possible to store in advance in the area information storage unit an angle range indicating a direction in which a vehicle or a pedestrian can not pass. Thus, even if the angle range can not be received from the external device, the measurement data for efficient dynamic information update is transmitted to the server while reducing the communication traffic amount to the server. Can.

(10) Further, the transmission device described above further includes an area information acquisition unit that acquires the predetermined angle range, and the measurement data removal unit is based on the predetermined angle range acquired by the area information acquisition unit. The measurement data may be removed.

According to this configuration, it is possible to acquire from the external device an angle range indicating a direction in which a vehicle or a pedestrian can not pass, and to remove measurement data based on the acquired angle range. Therefore, even if the direction in which the vehicle or pedestrian can not pass changes, the amount of communication traffic to the server can be reduced promptly in response to the change, and efficient dynamic information Measurement data for updating can be sent to the server.

(11) The sensor may be installed in a vehicle.

According to this configuration, when a moving object such as a vehicle or a pedestrian is detected by the sensor installed in the vehicle, it is possible to prevent transmission of useless measurement data to the server.

(12) Further, the measurement data removal unit may remove measurement data of measurement points existing at predetermined position coordinates.

The position of fixed objects such as buildings which vehicles and pedestrians can not pass may be known in advance. According to this configuration, by setting coordinates of a position at which a vehicle or a pedestrian can not pass as predetermined position coordinates, measurement data of measurement points present at the position coordinates can be prevented from being transmitted to the server. .

(13) Further, the measurement data removal unit may remove measurement data of measurement points included in a graphic area defined by predetermined position coordinates.

An area such as a fixed object such as a building where a vehicle or a pedestrian can not pass may be known in advance. According to this configuration, an area where vehicles and pedestrians can not pass is indicated by a graphic area defined by predetermined position coordinates, and measurement data of measurement points included in the graphic area is not transmitted to the server. be able to. The area which can not pass by a vehicle or a pedestrian can be defined by a graphic area, so that the area can be defined with a small amount of information.

(14) Further, the transmission device described above further includes an area information storage unit storing the predetermined position coordinates, and the measurement data removal unit further includes the predetermined information stored in the area information storage unit. The measurement data may be removed based on position coordinates.

According to this configuration, it is possible to store in advance in the area information storage unit position coordinates indicating a position or an area where a vehicle or a pedestrian can not pass. As a result, even if such position coordinates can not be received from an external device, measurement data for efficient dynamic information update is sent to the server while reducing the amount of communication traffic to the server. Can be sent.

(15) Further, the transmission device described above further includes an area information acquisition unit for acquiring the predetermined position coordinates from an external device, and the measurement data removal unit is configured to acquire the predetermined information acquired by the area information acquisition unit. The measurement data may be removed based on position coordinates.

According to this configuration, it is possible to acquire from the external device position coordinates indicating a position or an area where a vehicle or a pedestrian can not pass, and to remove measurement data based on the acquired position coordinates. For this reason, even if the area where vehicles and pedestrians can not pass changes, it is possible to respond to the change immediately and reduce the amount of communication traffic to the server, while efficiently performing dynamic information. Measurement data for updating of can be sent to the server.

(16) Further, the sensor may be a LiDAR radar sensor.

According to this configuration, when a LiDAR sensor is used as the sensor, it is possible to transmit measurement data for efficiently updating dynamic information to the server while reducing the amount of communication traffic to the server.

(17) The image processing apparatus further comprises an image sensor for capturing the images of the static object and the moving object, and the measurement data removal unit is removed by the measurement data removal unit from the image captured by the image sensor. The image data of the restricted area corresponding to the point cloud data may be removed.

According to this configuration, it is possible to remove extra image data as information corresponding to the restricted area from the image of the static object and the moving object.

(18) A point cloud data collection system according to another embodiment of the present disclosure receives point group data including measurement data at a plurality of measurement points measured by sensors from the above-described transmission device and the transmission device. And a server.

According to this configuration, the point cloud data collection system includes the transmitting device described above. Therefore, the same operation and effect as the above-described transmission apparatus can be achieved.

(19) A computer program according to another embodiment of the present disclosure relates to a computer, a distance to a measurement point of a static object, and a measurement point of a moving object in an area through which a vehicle or a pedestrian can pass. The point cloud data acquisition unit acquires point cloud data including measurement data at a plurality of measurement points measured by a sensor that measures the distance to the point, and the point cloud data acquired by the point cloud data acquisition unit is predetermined As a point cloud data transmission unit that transmits the point cloud data after the measurement data has been removed by the measurement data removal unit to the server, the measurement data removal unit removing measurement data of measurement points included in the area Make it work.

According to this configuration, the computer can function as the above-described transmission device. Therefore, the same operation and effect as the above-described transmission apparatus can be achieved.

[Details of the embodiment of the present disclosure]
Hereinafter, embodiments of the present disclosure will be described in detail using the drawings. The embodiments described below each show a preferable specific example of the present disclosure. Numerical values, shapes, components, arrangement positions and connection forms of components, steps, order of steps, and the like described in the following embodiments are merely examples, and are not intended to limit the present disclosure. The present disclosure is specified by the claims. Therefore, among the components in the following embodiments, components that are not described in the independent claim indicating the top concept of the present disclosure are not necessarily required to achieve the problems of the present disclosure, but are more preferable. It is described as constituting a form.

[1. Overall configuration of wireless communication system]
FIG. 1 is an overall configuration diagram of a wireless communication system according to an embodiment of the present disclosure.
As shown in FIG. 1, the wireless communication system according to the present embodiment is a point cloud data collection system for collecting point cloud data including measurement data at a plurality of measurement points measured by sensors installed on a roadside or a vehicle. And one or more base stations 4 for wireless communication with the plurality of transmitting devices 6 capable of wireless communication connected to the camera 1 C or LiDAR 1 L, the vehicles 2 capable of wireless communication, the transmitting devices 6 and the vehicles 2 And a server 5 that communicates with the base station 4 via a network in a wired or wireless manner.

The base station 4 comprises at least one of a macrocell base station, a microcell base station, and a picocell base station.

In the wireless communication system of the present embodiment, the server 5 is, for example, a general-purpose server capable of software-defined networking (SDN). The base station 4 and a relay device such as a repeater (not shown) are made of transport equipment capable of SDN.

The network virtualization technology represented by the above-mentioned SDN is a basic concept of the "fifth generation mobile communication system" (hereinafter abbreviated as "5G" (5th Generation)) whose standardization is currently underway. Therefore, the wireless communication system of the present embodiment is made of, for example, 5G.

The camera 1C is an image sensor that captures an image of a predetermined imaging area. The camera 1C may be either monocular or compound eye.

The LiDAR 1 L emits a laser to each measurement point while scanning multiple measurement points, and measures the distance to each measurement point based on the time from the emission of the laser to the reception of the reflected light. . In addition, various sensors, such as a millimeter wave radar, a laser radar, and an ultrasonic wave radar, can be used instead of LiDAR 1L or together with LiDAR 1L.

FIG. 2 is a diagram showing an example of a measurement region of LiDAR.
The LiDAR 1L irradiates the laser to each measurement point while rotating the laser irradiation unit 360 ° around the rotation axis (eg, vertical axis), and receives the reflected light of the laser from the measurement point. The LiDAR 1L measures the distance to each measurement point based on the time (reflection time) from the irradiation of the laser to the reception of the reflected light. Thereby, for example, as shown in FIG. 2, the LiDAR 1L can measure the distances to a plurality of measurement points included in the measurement region 11 of 360 ° around the LiDAR 1L.

The transmitting device 6 has a wireless communication function, and transmits sensor information including measurement data measured by various sensors such as the camera 1C or LiDAR 1L installed on a road.

The vehicle 2 includes an on-vehicle device 3 having a wireless communication function. The in-vehicle device 3 functions as a transmission device, and is configured to include various sensors such as a camera and a LiDAR.

The vehicles 2 include not only ordinary passenger cars but also public vehicles such as route buses and emergency vehicles. The vehicle 2 may be not only a four-wheeled vehicle but also a two-wheeled vehicle (bike).

The drive system of the vehicle 2 may be any of an engine drive, an electric motor drive, and a hybrid system. The driving method of the vehicle 2 may be either normal driving in which the passenger performs operations such as acceleration / deceleration or steering wheel steering, and automatic driving in which the software executes the operation.

[2. Server configuration]
FIG. 3 is a block diagram showing an example of the configuration of the server 5.

As shown in FIG. 3, the server 5 includes a control unit 51 including a central processing unit (CPU), a read only memory (ROM) 53, a random access memory (RAM) 54, a storage unit 55, and a communication unit. And 56.

The control unit 51 reads out and executes one or a plurality of programs stored in advance in the ROM 53 to the RAM 54 to control the operation of each hardware, and causes the computer device to function as the server 5 capable of communicating with the base station 4. . That is, the control unit 51 includes the information generation unit 52 as a functional processing unit realized by executing a program.

The RAM 54 is composed of volatile memory elements such as SRAM (Static RAM) or DRAM (Dynamic RAM), and temporarily stores programs executed by the control unit 51 and data necessary for the execution.

The storage unit 55 is configured by a non-volatile memory element such as a flash memory or an EEPROM (Electrically Erasable Programmable Read Only Memory) or a magnetic storage device such as a hard disk.

The communication unit 56 is a communication device that executes communication processing compatible with 5G, and communicates with the base station 4 via the network. The communication unit 56 transmits the information provided from the control unit 51 to an external device via the network, and gives the information received via the network to the control unit 51.

As shown in FIG. 3, the storage unit 55 of the server 5 stores a dynamic information map (hereinafter, also simply referred to as “map”) M.

The map M is a collection (virtual database) of data in which dynamic information that changes from moment to moment is superimposed on a high-definition digital map that is static information. The digital information constituting the map M includes the following "dynamic information", "semi-dynamic information", "semi-static information", and "static information".

“Dynamic information” (̃1 second) refers to dynamic data that requires a delay time of less than 1 second. For example, position information of moving objects (such as vehicles and pedestrians) and signal information, which are used as ITS (Intelligent Transport Systems) prefetch information, correspond to dynamic information.

“Quasi-dynamic information” (̃1 minute) is quasi-dynamic data for which a delay time of less than 1 minute is required. For example, accident information, congestion information, and short-range weather information correspond to quasi-dynamic information.

“Quasi-static information” (̃1 hour) refers to quasi-static data that allows a delay time of less than 1 hour. For example, traffic regulation information, road construction information, and wide area weather information correspond to quasi-static information.

“Static information” (̃1 month) is static data that allows a delay time of 1 month or less. For example, road surface information, lane information, and three-dimensional structure data correspond to static information.

The control unit 51 updates the dynamic information of the map M stored in the storage unit 55 every predetermined update cycle (dynamic information update process).

Specifically, the information generation unit 52 of the control unit 51 detects sensor information including various measurement data measured by the vehicle 2, the camera 1C, the LiDAR 1L, and the like in the service area of the server 5 at predetermined update cycles. They are collected from the vehicle 2 and the transmitting device 6 or the like. The information generation unit 52 updates the dynamic information of the map M based on the collected sensor information.

When the control unit 51 receives a request message for dynamic information from the on-vehicle apparatus 3 of the vehicle 2 or a communication terminal possessed by a user, the control unit 51 receives the latest dynamic information from the on-vehicle transmission source of the request message for each predetermined distribution cycle. It distributes to the device 3 or the communication terminal (distribution process of dynamic information).

The information generation unit 52 of the control unit 51 collects traffic information and weather information of each place in the service area from the traffic control center, the private meteorological service support center, etc., and based on the collected information, the semi dynamic information of the map M And update semi-static information.

[3. Configuration of in-vehicle device]
FIG. 4 is a block diagram showing an example of the configuration of the in-vehicle apparatus 3.

As shown in FIG. 4, the on-vehicle device 3 of the vehicle 2 includes a control unit (ECU: Electronic Control Unit) 31, a GPS receiver 32, a vehicle speed sensor 33, a gyro sensor 34, a storage unit 35, and a display 36. , A speaker 37, an input device 38, a camera 39, a LiDAR 40, and a communication unit 41.

The communication unit 41 functions as a point cloud data transmission unit that transmits point cloud data after measurement data has been removed by the measurement data removal unit 31b of the control unit 31 described later, and for example, wireless communication processing compatible with 5G is possible It consists of a communicator. The communication unit 41 may be a wireless communication device installed in the vehicle 2 or a portable terminal carried by the passenger into the vehicle 2.

The portable terminal of the passenger temporarily becomes an on-vehicle wireless communication device by being connected to the in-vehicle LAN (Local Area Network) of the vehicle 2.

The control unit 31 includes a computer device that performs route search of the vehicle 2 and controls the other electronic devices 32 to 41. The control unit 31 obtains the vehicle position of the own vehicle from the GPS signal periodically acquired by the GPS receiver 32. The control unit 31 complements the GPS signal by using together the GPS complementary signal or the GPS reinforcement signal received by the receiver that receives the signal transmitted from the quasi-zenith satellite (not shown), or the vehicle of the own vehicle The position may be corrected.

The control unit 31 complements the vehicle position and orientation based on the input signals of the vehicle speed sensor 33 and the gyro sensor 34, and grasps the accurate current position and orientation of the vehicle 2.

The GPS receiver 32, the vehicle speed sensor 33, and the gyro sensor 34 are sensors that measure the current position, speed, and direction of the vehicle 2.

The storage unit 35 includes a map database. The map database provides the control unit 31 with road map data. The road map data includes link data and node data, and is stored in a recording medium such as a DVD, a CD-ROM, a memory card, or an HDD. The storage unit 35 reads necessary road map data from the recording medium and provides the control unit 31 with the road map data.

The display 36 and the speaker 37 are output devices for notifying the user who is a passenger of the vehicle 2 of various information generated by the control unit 31.

Specifically, the display 36 displays an input screen for route search, a map image around the vehicle, route information to a destination, and the like. The speaker 37 voice-outputs an announcement or the like for guiding the vehicle 2 to a destination. These output devices can also notify the passenger of the provided information received by the communication unit 41.

The input device 38 is a device for the passenger of the vehicle 2 to perform various input operations. The input device 38 includes a combination of an operation switch provided on the handle, a joystick, and a touch panel provided on the display 36.

A voice recognition device that receives input by voice recognition of a passenger may be used as the input device 38. The input signal generated by the input device 38 is transmitted to the control unit 31.

The camera 39 is an image sensor that captures an image in front of the vehicle 2. The camera 39 may be either monocular or compound eye. The LiDAR 40 comprises a sensor that detects an object present around the vehicle 2. The LiDAR 40 emits a laser to each measurement point while scanning a plurality of measurement points, and measures the distance to each measurement point based on the reflection time of the laser. In addition, various sensors, such as a millimeter wave radar, a laser radar, and an ultrasonic wave radar, can be used instead of the LiDAR 40 or together with the LiDAR 40.

The control unit 31 can execute driving support control for causing the display 36 to output a warning for a passenger while driving or performing forced braking intervention based on measurement data by the camera 39 and the LiDAR 40. .

The control unit 31 is configured by an arithmetic processing unit such as a microcomputer that executes various control programs stored in the storage unit 35.

The control unit 31 executes the control program to display a map image on the display 36, and calculates a route from the departure point to the destination (including the position of the relay point, if any). Various navigation functions such as a function of guiding the vehicle 2 to a destination according to the calculated route can be performed.

Further, the control unit 31 includes a point cloud data acquisition unit 31a, a measurement data removal unit 31b, and an area information acquisition unit 31c as functional processing units realized by executing various control programs.

The point cloud data acquisition unit 31 a acquires point cloud data including measurement data of a plurality of measurement points by the camera 39 or the LiDAR 40 from the camera 39 or the LiDAR 40.

The measurement data removal unit 31b removes measurement data of measurement points included in a predetermined area from the point cloud data acquired by the point cloud data acquisition unit 31a. The removal method of the measurement data by the measurement data removal part 31b is mentioned later.

The area information acquisition unit 31 c acquires, from the server 5 via the communication unit 41, information on the area that is the target of measurement data removal by the measurement data removal unit 31 b. The acquired area information is stored in the storage unit 35, and is used for measurement data removal by the measurement data removal unit 31b.

The control unit 31 can execute the following processes in communication with the server 5.
1) Request message transmission processing 2) Dynamic information reception processing 3) Communication packet transmission processing

The transmission process of the request message is a process of transmitting to the server 5 a control packet that requests distribution of dynamic information of the map M, which the server 5 sequentially updates. The control packet includes the vehicle ID of the own vehicle.

When the server 5 receives the request message including the predetermined vehicle ID, the server 5 distributes the dynamic information at a predetermined distribution cycle to the communication unit 41 of the vehicle 2 having the vehicle ID of the transmission source.

The process of receiving dynamic information is a process of receiving dynamic information distributed to the server 5 by the server 5.

The transmission process of the communication packet in the vehicle 2 is a process of transmitting a communication packet of sensor information including the measurement data measured by the camera 39 or the LiDAR 40 to the server 5. The transmission process of the communication packet is performed within the distribution cycle of the dynamic information by the server 5.

The sensor information includes point cloud data including measurement data of a plurality of measurement points by the camera 39 or LiDAR 40, position information of the vehicle 2 (latitude information and longitude information of the vehicle 2), speed information of the vehicle 2, azimuth information of the vehicle 2 And so on.

The point cloud data includes image data including luminance values at a plurality of measurement points captured by the camera 39, distance data to each of a plurality of measurement points measured by the LiDAR 40, and emitted from the LiDAR 40 to each measurement point The irradiation direction information of the laser (horizontal angle and vertical angle of the irradiation direction of the laser), reflected light intensity information from each measurement point of the laser, and the like are included. In addition, measurement data at some measurement points in the point cloud data are removed by the measurement data removal unit 31 b.

The control unit 31 transmits the communication packet including the vehicle ID of the own vehicle to the server 5.

The control unit 31 executes driving support control for causing the display 36 to output a warning for a passenger in operation or performing forced braking intervention based on dynamic information received from the server 5 or the like. You can also.

The storage unit 35 includes the above-described map database and also functions as an area information storage unit, and stores area information used for removing measurement data by the measurement data removing unit 31b. The area information may be acquired by the area information acquisition unit 31 c or may be stored in advance in the storage unit 35.

[4. Roadside sensor configuration]
FIG. 5 is a block diagram showing an example of the transmission device 6 installed on the roadside.

As shown in FIG. 5, the transmission device 6 includes a control unit 61, a storage unit 62, and a communication unit 63.

Control unit 61 includes a CPU, a ROM, a RAM, and the like. The control unit 61 reads out and executes the program stored in the storage unit 62 and controls the overall operation of the transmission device 6.

The control unit 61 includes a point cloud data acquisition unit 61a, a measurement data removal unit 61b, and an area information acquisition unit 61c as functional processing units realized by executing a program.

The point cloud data acquisition unit 61a acquires point cloud data including measurement data of a plurality of measurement points by the camera 1C or LiDAR 1L from the camera 1C or LiDAR 1L.

The measurement data removal unit 61b removes measurement data of measurement points included in a predetermined area from the point cloud data acquired by the point cloud data acquisition unit 61a. A method of removing measurement data by the measurement data removing unit 61b will be described later.

The area information acquisition unit 61 c acquires, from the server 5 via the communication unit 63, information on the area that is the target of measurement data removal by the measurement data removal unit 61 b. The acquired area information is stored in the storage unit 62, and is used for measurement data removal by the measurement data removal unit 61b.

The storage unit 62 includes a hard disk, a non-volatile memory, and the like, and stores various computer programs and data. The storage unit 62 stores a sensor ID which is identification information of the transmission device 6. The sensor ID is made of, for example, a user ID unique to the owner of the transmission device 6 or a MAC address.

Further, the storage unit 62 functions as an area information storage unit, and stores area information used for removing measurement data by the measurement data removing unit 61b. The area information may be acquired by the area information acquisition unit 61c, or may be stored in advance in the storage unit 62.

The communication unit 63 functions as a point cloud data transmission unit that transmits point cloud data after measurement data has been removed by the measurement data removal unit 61b of the control unit 61, and for example, a wireless communication device capable of 5G communication processing It consists of.

Therefore, the transmitting device 6 can communicate with the server 5.

The control unit 61 can execute transmission processing of a communication packet in communication with the server 5.

The transmission process of the communication packet by the transmission device 6 is a process of transmitting a communication packet including the sensor information measured by the camera 1 C or the LiDAR 1 L to the server 5. The transmission process of the communication packet is performed within the distribution cycle of the dynamic information by the server 5.

The sensor information includes point cloud data including measurement data of a plurality of measurement points by the camera 1C or LiDAR 1L, positional information of the camera 1C or LiDAR 1L (latitude information and longitude information of the camera 1C or LiDAR 1L), and the like. When the server 5 knows the position of the camera 1C or the LiDAR 1L in advance, the position information may not be transmitted to the server 5.

The point cloud data includes image data including luminance values at a plurality of measurement points captured by a camera 1C, distance data to each of a plurality of measurement points measured by LiDAR 1L, and emitted from LiDAR 1L to each measurement point The irradiation direction information of the laser (horizontal angle and vertical angle of the irradiation direction of the laser), reflected light intensity information from each measurement point of the laser, and the like are included.
The control unit 61 transmits the communication packet including the sensor ID to the server 5.

[5. About removal processing of measurement data]
Next, the process of removing measurement data by the on-vehicle apparatus 3 or the transmitting apparatus 6 will be described in detail.

[5-1. About Removal Processing of Measurement Data by Transmission Device 6]
As described with reference to FIG. 2, the LiDAR 1L can measure the distance from the LiDAR 1L to a plurality of measurement points included in the measurement area 11. However, the measurement area 11 includes fixed objects such as a building 9 and a tree 10 in addition to the vehicle 2 and the pedestrian 7 to be measured. The distance data to the fixed object is static information that does not change with the passage of time, and thus is unnecessary information for the update processing of the dynamic information in the server 5. Therefore, the transmission device 6 does not transmit the distance data to these fixed objects to the server 5.

FIG. 6 is a diagram for describing a limited area for limiting transmission of distance data measured by LiDAR installed on the roadside.

As shown in FIG. 2, a fixed object such as a building 9 is present in the upper right direction of the LiDAR 1L. Therefore, as shown in FIG. 6, the restricted area 12 indicated by the solid line is provided in the measurement area 11 indicated by the broken line, and the transmitting device 6 does not transmit to the server 5 the distance data measured at the measurement points in the restricted area 12 Let's do it. That is, the measurement data removal unit 61b of the transmission device 6 removes the distance data measured at the measurement points in the restricted area 12 from the point cloud data measured by the LiDAR 1L. The transmitting device 6 transmits point cloud data to the server 5 after the distance data of the measurement points in the restricted area 12 is removed.

The restricted area 12 is area information used for removing measurement data from the measurement data stored in the storage unit 62 by the measurement data removing unit 61b, and is defined by an angle. For example, when the right direction of LiDAR 1L is 0 °, the restricted area 12 can be defined as the range of 0 ° to 90 °. The information of the restricted area 12 may be stored in advance in the storage unit 62 (functioning as an area information storage unit) of the transmission device 6. The information of the restricted area 12 may be acquired by the area information acquisition unit 61 c and stored in the storage unit 62.

In addition, as shown in FIG. 2, fixed objects such as trees 10 exist in the left direction and the lower direction of LiDAR 1L. Therefore, as shown in FIG. 6, the restricted area 13 indicated by a solid line is provided in the measurement area 11 indicated by a broken line, and the transmitting device 6 does not transmit to the server 5 distance data measured at measurement points in the restricted area 13 Let's do it. That is, the measurement data removal unit 61b of the transmission device 6 removes the distance data measured at the measurement point in the restricted area 13 from the point cloud data measured by the LiDAR 1L. The transmitting device 6 transmits point cloud data to the server 5 after the distance data of the measurement points in the restricted area 13 is removed.

The restricted area 13 is area information used for removing measured data by the measured data removing unit 61b from the measured data stored in the storage unit 62, and the coordinates (latitude of each position included in the restricted area 13) Information and longitude information). The information of the restricted area 13 may be stored in advance in the storage unit 62 (functioning as an area information storage unit) of the transmission device 6. Further, the information of the restricted area 13 may be acquired by the area information acquisition unit 61 c and stored in the storage unit 62.

The restricted area 12 or 13 may be used to remove an image captured by the camera 1C. That is, the measurement data removal unit 61b may remove the image data of the restricted area 12 or 13 in the video.

5-2. About Removal Processing of Measurement Data by On-vehicle Device 3]
The transmitting device 6 also does not transmit distance data to fixed objects such as the building 9 and the tree 10 as the on-vehicle device 3 does.

FIG. 7 is a diagram for describing a limited area for limiting transmission of distance data measured by LiDAR installed in a vehicle.

The LiDAR 40 mounted on the vehicle 2 can measure the distance from the LiDAR 40 to a plurality of measurement points included in the measurement area 11. However, fixed objects such as a building 9 and a tree 10 exist on the roadside of the road on which the vehicle 2 travels. For this reason, as shown in FIG. 7, the restriction area 13 indicated by a solid line is provided, and the on-vehicle apparatus 3 does not transmit the distance data measured at the measurement point in the restriction area 13 to the server 5. That is, the measurement data removal unit 31b of the in-vehicle device 3 removes the distance data measured at the measurement point in the restricted area 13 from the point cloud data measured by the LiDAR 40. The in-vehicle device 3 transmits point cloud data to the server 5 after the distance data of the measurement point in the restricted area 13 is removed.

The restricted area 13 is area information used for removing measurement data stored in the storage unit 35 by the measurement data removing unit 31 b, and is defined by the coordinates (latitude information and longitude information) of each position included in the restricted area 13 Be done. The information of the restricted area 13 may be stored in advance in the storage unit 35 (functioning as an area information storage unit) of the in-vehicle device 3. In addition, the information of the restricted area 13 may be acquired by the area information acquisition unit 31 c and stored in the storage unit 35.

When the restricted area 13 is indicated by a predetermined figure, the restricted area 13 may be defined by predetermined position coordinates. For example, in the case where the restricted area 13 is a polygon, the restricted area 13 may be defined by position coordinates of vertexes of the polygon. When the restricted area 13 is circular, the restricted area 13 may be defined by the center coordinates and the radius of the circle. Furthermore, when the restricted area 13 is elliptical, the restricted area 13 may be defined by the central coordinates of the ellipse, the major and minor axes, and a vector indicating the major axis direction of the ellipse. Such definition of the restricted area 13 using predetermined position coordinates can also be used for the definition of the restricted area 13 in the transmission device 6.

The restricted area 13 may be used to remove an image captured by the camera 39. That is, the measurement data removal unit 31b may remove the image data of the restricted area 13 in the video.

[5-3. About removal processing of measurement data of measurement points on the ground]
FIG. 8 is a diagram for explaining static information.
As shown in FIG. 8, most of the distance data is distance data to measurement points on the ground such as the road 8. The distance data to the measurement point on the ground is also static information which does not change with the passage of time, like the distance data to the fixed object. For this reason, the transmitting device 6 does not transmit the distance data to the measurement point on the ground to the server 5. Similarly, the in-vehicle device 3 of the vehicle 2 does not transmit the distance data to the measurement point on the ground to the server 5.
Hereinafter, detection methods 1 to 4 will be described as processing for detecting measurement points on the ground.

<Detection method 1>
The measurement data removal unit 61b or 31b calculates the height of each measurement point from the point cloud data measured by the LiDAR 1L or 40. Since the position of LiDAR 1L or 40, the distance to the measurement point, and the direction of the measurement point are known, the measurement data removal unit 61b or 31b can calculate the height of the measurement point.

The measurement data removal unit 61b or 31b removes measurement data whose calculated height is less than or equal to a predetermined height threshold as measurement data of measurement points on the ground.

<Detection method 2>
The measurement data removal unit 61b or 31b calculates position coordinates of each measurement point from the point cloud data measured by the LiDAR 1L or 40. Since the position of LiDAR 1L or 40, the distance to the measurement point, and the direction of the measurement point are known, the measurement data removal unit 61b or 31b can calculate the position coordinates of the measurement point.

The measurement data removal unit 61b or 31b detects a plane by fitting a plane to position coordinates of a plurality of measurement points calculated from point cloud data, using a RANSAC (Random Sampling Consensus) algorithm. This makes it possible to detect a plane such as the ground or a wall of a building. When the height of the detected plane is equal to or less than a predetermined height threshold, the measurement data removing unit 61b or 31b measures the measurement data of the measurement points that constitute the plane (measurement of the measurement point that is the source of the plane Data) is removed as measurement data of measurement points on the ground.

<Detection method 3>
The measurement data removal unit 61 b or 31 b determines, for each measurement point, whether or not the reflected light intensity of the measurement point is included in a predetermined range of the reflected light intensity of asphalt. The measurement data removal unit 61b or 31b removes measurement data of measurement points having reflected light intensity included in the range of reflected light intensity of asphalt as measurement data of measurement points on the ground.

<Detection method 4>
The measurement data removal unit 61b or 31b calculates position coordinates of each measurement point from the point cloud data measured by the LiDAR 1L or 40. Since the position of LiDAR 1L or 40, the distance to the measurement point, and the direction of the measurement point are known, the measurement data removal unit 61b or 31b can calculate the position coordinates of the measurement point.

FIGS. 9 and 10 are diagrams in which position coordinates of measurement points calculated from point cloud data measured by LiDAR 1L or 40 are plotted on a two-dimensional plane. That is, FIG. 9 and FIG. 10 are the figures which looked at each measurement point from the predetermined viewpoint. In FIG. 9 and FIG. 10, measurement points are indicated by black points. The LiDAR 1L or 40 irradiates while moving the laser in the circumferential direction, and detects the distance to each measurement point. For this reason, when the plane is scanned by a laser, the locus of the measurement point has an arc shape.

Therefore, the measurement data removal unit 61b or 31b has the variation of the curvature of the locus of the measurement point calculated based on the point cloud data within a predetermined range, and the length of the locus is equal to or more than a predetermined length threshold When the above condition is satisfied, the measurement data of the measurement points constituting the trajectory is removed as the measurement data of the measurement points on the ground. Here, the variation of curvature within a predetermined range means that, for example, the ratio or difference between the maximum value and the minimum value of the curvature in the locus is included within a predetermined threshold range.

For example, in FIG. 9, the trajectories 101 and 102 are removed as measurement data of measurement points on the ground because the above conditions are satisfied. Although the measurement point 103 which comprises the vehicle 2 is shown by FIG. 9, since the measurement point 103 does not satisfy the said conditions, it is not removed.

Further, in FIG. 10, the trajectories 104 and 105 are removed as measurement data of measurement points on the ground because the above conditions are satisfied. In addition, although the measurement point 106 which comprises the pedestrian 7 is shown by FIG. 10, since the measurement point 106 does not satisfy the said conditions, it is not removed.

The on-vehicle apparatus 3 or the transmission apparatus 6 removes measurement data of measurement points on the ground using at least one of the detection methods 1 to 4 described above.

[6. Dynamic Information Update Processing and Delivery Processing]
FIG. 11 is a sequence diagram showing an example of dynamic information update processing and distribution processing executed by the cooperation of the LiDAR 1L, the transmission device 6, the in-vehicle apparatus 3 and the server 5. The dynamic information is updated at predetermined intervals by repeating the sequence shown in FIG. 11 at predetermined intervals (for example, at intervals of 100 msec).

The LiDAR 40 measures distances to a plurality of measurement points around the LiDAR 40, transmits point cloud data including measurement data of the plurality of measurement points in a communication packet, and transmits it to the transmission device 6 (S1). The transmitter 6 receives the communication packet from the LiDAR 40.

The transmission device 6 removes measurement data of measurement points included in the predetermined area from the point cloud data included in the received communication packet (S2).

FIG. 12 is a detailed flowchart of the measurement data removal process (step S2 in FIG. 11).

The transmission device 6 calculates the position coordinates of the measurement point based on the distance to the measurement point indicated by the measurement data of each measurement point (S11).

The transmitting device 6 determines whether or not there are measurement points on the ground among the plurality of measurement points (S12). If there are measurement points on the ground (YES in S12), the transmitting device 6 removes the measurement points on the ground (S13).

The transmitting device 6 determines whether or not there are measurement points in the restricted area 12 indicated by the predetermined angle range as shown in FIG. 6 among the plurality of measurement points (S14). If there are measurement points in the restricted area 12 (YES in S14), the transmitting device 6 removes the measurement points in the restricted area 12 (S15). The processes of steps S14 and S15 may not be performed in the on-vehicle apparatus 3.

The transmission device 6 determines whether or not the measurement points in the restricted area 13 defined by the predetermined coordinates as shown in FIG. 6 or 7 exist among the plurality of measurement points (S16). If there are measurement points in the restricted area 13 (YES in S16), the transmitting device 6 removes the measurement points in the restricted area 13 (S17).

Referring again to FIG. 11, the transmission device 6 transmits point cloud data after the measurement data of the measurement points included in the predetermined area is removed, to the server 5 (S3).

The server 5 updates the dynamic information of the map M based on the point cloud data received from the transmitting device 6 (S4). For example, the server 5 detects a moving object such as the vehicle 2 or the pedestrian 7 existing on the map based on the point cloud data. The server 5 updates the dynamic information of the map M by updating the position of the moving object on the map M or superimposing the newly appearing moving object on the map M based on the detection result.

The on-vehicle apparatus 3 of the vehicle 2 transmits a control packet requesting distribution of dynamic information of the map M to the server 5 as a request message (S5).

The server 5 receives the request message from the in-vehicle apparatus 3 of the vehicle 2, and transmits the dynamic information of the map M to the in-vehicle apparatus 3 of the vehicle 2 that is the transmission source of the request message (S6). The in-vehicle device 3 of the vehicle 2 receives the dynamic information.

In the above description of the dynamic information update process and the distribution process, the process by cooperation of LiDAR 1L, transmitting device 6, in-vehicle device 3 and server 5 has been described, but instead of LiDAR 1L and transmitting device 6, LiDAR 40 and The in-vehicle devices 3 may be used respectively.

As described above, according to the embodiment of the present disclosure, it is possible to prevent the measurement data of the measurement points included in the predetermined area in the point cloud data from being transmitted to the server 5. Therefore, by setting the predetermined area as the area of the measurement point of a stationary object such as a fixed object such as a building or the ground, it is possible to prevent transmission of useless measurement data to the server 5 . Thereby, the amount of communication traffic from the on-vehicle apparatus 3 or the transmitting apparatus 6 to the server 5 can be reduced. The server 5 can also receive point cloud data from which measurement data of static information has been removed. Therefore, the server 5 can efficiently update the dynamic information.

When LiDAR 1L or LiDAR 40 is attached downward, most of the measurement points measured by LiDAR are the ground. The in-vehicle device 3 or the transmitting device 6 transmits point cloud data from which measurement data of measurement points on the ground has been removed to the server 5. Therefore, the amount of communication traffic from the in-vehicle apparatus 3 or the transmitting apparatus 6 to the server 5 can be effectively reduced.

In addition, the in-vehicle device 3 transmits, to the server 5, point cloud data from which measurement data of measurement points included in a predetermined angle range which a vehicle or a pedestrian can not pass is removed. As a result, when the distance to a moving object such as the vehicle 2 or the pedestrian 7 is detected by the LiDAR 1L installed on the roadside, it is possible to prevent transmission of useless measurement data to the server 5.

Further, the in-vehicle apparatus 3 or the transmission apparatus 6 transmits point cloud data to the server 5 by removing measurement data of measurement points existing at predetermined position coordinates. As described above, by setting the coordinates of a position at which a vehicle or a pedestrian can not pass as predetermined position coordinates, it is possible to prevent the measurement data of measurement points present at the position coordinates from being transmitted to the server.

Moreover, the area | region can be defined with little information content by showing the area | region which the vehicle 2 and the pedestrian 7 can not pass by the figure area | region defined by the predetermined | prescribed position coordinate.

Moreover, the on-vehicle device 3 or the transmitting device 6 may store in advance the above-described predetermined angle range or predetermined position coordinates. Thereby, measurement data can be removed even when such data can not be received from an external device.

In addition, the on-vehicle device 3 or the transmitting device 6 may receive the predetermined angle range or the predetermined position coordinates described above from an external device such as the server 5 or the like. As a result, even when the area where the vehicle 2 or the pedestrian 7 can not pass changes, the measurement data can be removed immediately in response to the change.

Although the wireless communication system according to the embodiment of the present disclosure has been described above, the present disclosure is not limited to this embodiment.

For example, although point cloud data is transmitted from the in-vehicle device 3 or the transmission device 6 to the server 5 in the above-described embodiment, the device to which the point cloud data is transmitted is not limited to the server 5. For example, when the on-vehicle apparatus 3 has a function of updating the dynamic information of the map M, point cloud data is wirelessly transmitted from one on-vehicle apparatus 3 to another on-vehicle apparatus 3 having the function. You may The point cloud data may be transmitted wirelessly from the transmitting device 6 to the on-vehicle device 3 having the function.

Some or all of the components constituting each of the above-described devices may be configured as one system LSI. The system LSI is a super-multifunctional LSI manufactured by integrating a plurality of components on one chip, and more specifically, a computer system including a microprocessor, a ROM, a RAM, and the like. . A computer program is stored in the RAM. The system LSI achieves its functions by the microprocessor operating according to the computer program.

Also, the present disclosure may be the method described above. In addition, the present disclosure may be a computer program that implements these methods by a computer.

Furthermore, in the present disclosure, the computer program may be recorded in a computer readable non-transitory recording medium, such as an HDD, a CD-ROM, a semiconductor memory, and the like.

Furthermore, the present disclosure may transmit the computer program via a telecommunication line, a wireless or wired communication line, a network represented by the Internet, data broadcasting, and the like.

It should be understood that the embodiments disclosed herein are illustrative and non-restrictive in every respect. The scope of the present disclosure is indicated not by the meaning described above but by the scope of the claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of the claims.

1C Camera 1L LiDAR
Reference Signs List 2 vehicle 3 in-vehicle apparatus 4 base station 5 server 6 transmission apparatus 11 measurement area 12 restriction area 13 restriction area 31 control unit 31 a point group data acquisition unit 31 b measurement data removal unit 31 c area information acquisition unit 32 GPS receiver 33 vehicle speed sensor 34 gyro Sensor 35 Memory unit 36 Display 37 Speaker 38 Input device 39 Camera 40 LiDAR
41 communication unit 51 control unit 52 information generation unit 53 ROM
54 RAM
55 storage unit 56 communication unit 61 control unit 61a point cloud data acquisition unit 61b measurement data removal unit 61c area information acquisition unit 62 storage unit 63 communication unit 101 locus 103 measurement point 104 locus 106 measurement point

Claims (19)

1. Measurement data at multiple measurement points measured by sensors that measure the distance to the measurement point of the static object and the distance to the measurement point of the moving object within the area where the vehicle or pedestrian can pass A point cloud data acquisition unit that acquires point cloud data including
   A measurement data removal unit that removes measurement data of measurement points included in a predetermined area from the point cloud data acquired by the point cloud data acquisition unit;
   And a point cloud data transmission unit that transmits the point cloud data after the measurement data is removed by the measurement data removal unit to a server.
2. The static object comprises the ground,
   The transmission device according to claim 1, wherein the measurement data removal unit removes measurement data of measurement points on the ground from the point cloud data acquired by the point cloud data acquisition unit.
3. The sensor is a radar sensor that measures the distance to each measurement point,
   The point cloud data acquisition unit acquires the point cloud data including, as the measurement data, the distances to the respective measurement points in the plurality of measurement points,
   The measurement data removal unit calculates the height of each measurement point from the point cloud data acquired by the point cloud data acquisition unit, and the calculated height is less than or equal to a predetermined height threshold. The transmitter according to claim 2, wherein the transmitter is removed as measurement data of a measurement point on the ground.
4. The sensor is a radar sensor that measures the distance to each measurement point,
   The point cloud data acquisition unit acquires the point cloud data including, as the measurement data, the distances to the respective measurement points in the plurality of measurement points,
   The measurement data removal unit configures the plane when the height of the plane applied to the measurement point calculated based on the point cloud data acquired by the point cloud data acquisition unit is equal to or less than a predetermined height threshold. The transmission device according to claim 2, wherein measurement data of a measurement point to be measured is removed as measurement data of a measurement point on the ground.
5. The sensor is a radar sensor that measures the distance to each measurement point,
   The point cloud data acquisition unit acquires the point cloud data including the distance to each measurement point at the plurality of measurement points and the reflected light intensity from each measurement point as the measurement data,
   The measurement data removal unit removes measurement data of a measurement point whose reflected light intensity satisfies a predetermined condition as measurement data of the measurement point on the ground based on the reflected light intensity from each measurement point. The transmitter according to Item 2.
6. The sensor is a radar sensor that measures the distance to each measurement point,
   The point cloud data acquisition unit acquires the point cloud data including, as the measurement data, the distances to the respective measurement points in the plurality of measurement points,
   The measurement data removal unit has a variation in curvature of a locus of the measurement point calculated based on the point cloud data acquired by the point cloud data acquisition unit within a predetermined range, and the length of the locus is predetermined. The transmission device according to claim 2, wherein when the length threshold is exceeded, the measurement data of the measurement points constituting the trajectory is removed as the measurement data of the measurement points on the ground.
7. The transmitting device according to any one of claims 1 to 6, wherein the sensor is installed on a roadside of a road on which the vehicle travels.
8. The transmission device according to claim 7, wherein the measurement data removal unit removes measurement data of measurement points included in a predetermined angle range based on the sensor.
9. further,
   An area information storage unit storing the predetermined angle range;
   The transmission device according to claim 8, wherein the measurement data removal unit removes the measurement data based on the predetermined angle range stored in the area information storage unit.
10. further,
    An area information acquisition unit for acquiring the predetermined angle range from an external device;
    The transmission device according to claim 8, wherein the measurement data removal unit removes the measurement data based on the predetermined angle range acquired by the area information acquisition unit.
11. The transmitter according to any one of claims 1 to 6, wherein the sensor is installed in the vehicle.
12. The transmission device according to claim 7, wherein the measurement data removal unit removes measurement data of measurement points existing at predetermined position coordinates.
13. The transmission device according to claim 7, wherein the measurement data removal unit removes measurement data of measurement points included in a graphic area defined by predetermined position coordinates.
14. further,
    An area information storage unit storing the predetermined position coordinates;
    The transmission device according to claim 12, wherein the measurement data removal unit removes the measurement data based on the predetermined position coordinate stored in the area information storage unit.
15. further,
    An area information acquisition unit for acquiring the predetermined position coordinates from an external device;
    The transmission device according to claim 12, wherein the measurement data removal unit removes the measurement data based on the predetermined position coordinate acquired by the area information acquisition unit.
16. The transmitter according to any one of claims 1 to 15, wherein the sensor is a LiDAR radar sensor.
17. The image processing apparatus further comprises an image sensor for capturing an image of the static object and the moving object,
    The measurement data removal unit
    The image data of the restricted area corresponding to the point cloud data to be removed by the measurement data removing unit is removed from the image captured by the image sensor.
    The transmitter according to any one of claims 8 to 10 and claims 12 to 15.
18. The transmitter according to any one of claims 1 to 17;
    A point cloud data collection system, comprising: a server that receives point cloud data including measurement data at a plurality of measurement points measured by sensors from the transmission device.
19. Computer,
    Measurement data at multiple measurement points measured by sensors that measure the distance to the measurement point of the static object and the distance to the measurement point of the moving object within the area where the vehicle or pedestrian can pass A point cloud data acquisition unit that acquires point cloud data including
    A measurement data removal unit that removes measurement data of measurement points included in a predetermined area from the point cloud data acquired by the point cloud data acquisition unit;
    A computer program for causing the point cloud data, from which the measurement data has been removed by the measurement data removing unit, to be transmitted to a server as a point cloud data transmitting unit.
    

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