Information processing device, control method, program, and storage medium including acquiring point cloud map data

A control method executed by a computer, the control method comprising:

• acquiring point cloud map data which includes:
• high reflection intensity map data that is point cloud data including points, on a reference plane, whose reflection intensity is equal to or lamer than a first threshold value and which represents road marking paint;
• and
• three-dimensional space map data that is point cloud data of features existing in a three-dimensional space,
• acquiring scan data that is point cloud data measured by a lidar of a vehicle which receives reflected light of emitted light;
• generating, from the scan data, high reflection intensity scan data including points, on the reference plane, whose reflection intensity is equal to or larger than a second threshold value and which represents the road marking paint, wherein the acquiring scan data includes identifying a peak reflection intensity from a histogram of the scan data and set the second threshold value based on the identified peak reflection intensity for each frame of the scan data;
• generating the scan data or data obtained by filtering the scan data as three-dimensional space scan data;
• and
• performing:
• a first matching between the three-dimensional space map data and the three-dimensional space scan data;
• and
• a second matching between the high reflection intensity map data and the high reflection intensity scan,
• wherein the first threshold value is different from the second threshold value;
• and
• estimating a position of the vehicle based on results of the first matching and the second matching;
• and
• controlling the vehicle based on the estimated position.

A non-transitory computer readable medium storing a program executed by a computer, the program causing the computer to:

• acquire point cloud map data which includes:
• high reflection intensity map data that is point cloud data including points, on a reference plane, whose reflection intensity is equal to or lamer than a first threshold value and which represents road marking paint;
• an
• three-dimensional space map data that is point cloud data of features existing in a three-dimensional space,
• acquire scan data that is point cloud data measured by a lidar of a vehicle which receives reflected light of emitted light;
• generate, from the scan data, high reflection intensity scan data including points, on the reference plane, whose reflection intensity is equal to or larger than a second threshold value and which represents the road marking paint, wherein the acquiring scan data includes identifying a peak reflection intensity from a histogram of the scan data and set the second threshold value based on the identified peak reflection intensity for each frame of the scan data;
• generate the scan data or data obtained by filtering the scan data as three-dimensional space scan data;
• and
• perform:
• a first matching between the three-dimensional space map data and the three-dimensional space scan data;
• and
• a second matching between the high reflection intensity map data and the high reflection intensity scan,
• wherein the first threshold value is different from the second threshold value;
• and
• estimating a position of the vehicle based on results of the first matching and the second matching;
• and
• controlling the vehicle based on the estimated position.