Information processing device, information processing method, and program

Abstract

To suppress, when a vehicle is reproduced in a three-dimensional virtual space, the vehicle being reproduced in an unnatural state.SOLUTION: An information processing device 1 includes: a first acquisition unit 133 that acquires three-dimensional position information indicating a vehicle two-dimensional position, which is the horizontal two-dimensional position at a vehicle reference point provided on a vehicle V, and the vehicle height position, which is the position of the vehicle V in the vertical direction; a second acquisition unit 134 that acquires road height information that indicates the road height position corresponding to the vehicle two-dimensional position; an identification unit 135 that identifies the vehicle object height position when placing a vehicle object corresponding to the vehicle V in a three-dimensional virtual space in which road objects corresponding to roads existing in the real space are placed, based on the difference between the vehicle height position indicated by the three-dimensional position information and the road height position; and a placement unit 136 that places the vehicle object in the three-dimensional virtual space at a three-dimensional position that corresponds to the vehicle two-dimensional position and the identified vehicle object height position.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] Digital twin is a known technology that constructs simulated data that simulates the real world and reproduces the same environment as the real world in a virtual space using the constructed simulated data. For example, Patent Document 1 discloses a technology that generates driving data of a traveling vehicle and reproduces the driving of the traveling vehicle in a virtual space based on the generated driving data. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-44080 A Summary of the Invention [Problem to be solved by the invention]

[0004] When the information indicating the travel data is the three-dimensional position information of the vehicle and the travel of the vehicle is reproduced based on the three-dimensional position information, the vehicle position indicated by the three-dimensional position information may differ from the actual vehicle position due to deterioration in the positioning accuracy of the three-dimensional position. In this case, the vehicle is reproduced in an unnatural state.

[0005] The present invention has been made in consideration of these points, and has an object to prevent a vehicle from being reproduced in an unnatural state when reproducing the vehicle in a three-dimensional virtual space. [Means for solving the problem]

[0006] An information processing device according to a first aspect of the present invention has a first acquisition unit that acquires three-dimensional position information indicating a vehicle two-dimensional position, which is a horizontal two-dimensional position at a vehicle reference point, which is a reference point provided on a vehicle, and a vehicle height position, which is the position of the vehicle in a vertical direction; a second acquisition unit that acquires road height information indicating a road height position, which is a vertical position of a road corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information; an identification unit that identifies a vehicle object height position, which is a vertical position of the vehicle object when placing a vehicle object corresponding to the vehicle excluding a plurality of tires provided on the vehicle in a three-dimensional virtual space in which road objects corresponding to roads existing in a real space are placed, based on a difference between the vehicle height position indicated by the three-dimensional position information and the road height position; and a placement unit that places the vehicle object in the three-dimensional virtual space at a three-dimensional position corresponding to the vehicle two-dimensional position and the identified vehicle object height position.

[0007] The identification unit may identify the vehicle height position as the vehicle object height position when a difference between the vehicle height position and a road height position is equal to or greater than a first threshold and is less than a second threshold that is greater than the first threshold.

[0008] The identification unit may identify the vehicle object height position based on the road height position when a difference between the vehicle height position and the road height position is less than the first threshold value or is equal to or greater than the second threshold value.

[0009] The identification unit may identify a tire object height position, which is a vertical position of a tire object representing multiple tires provided on the vehicle, based on the vehicle object height position, and the placement unit may place the tire object at a three-dimensional position corresponding to the vehicle two-dimensional position and the tire object height position.

[0010] When a difference between the vehicle height position and the road height position is less than the first threshold value or is equal to or greater than the second threshold value, the identification unit may identify the vehicle object height position based on the road height position and a range of possible vertical distances between the tire object and the vehicle object.

[0011] The information processing device may have a setting unit that sets the first threshold and the second threshold based on a difference between the vehicle height position, which is the vertical position of the vehicle at the vehicle reference point when the vehicle is stopped on a horizontal road, and the road height position at the stopped position of the vehicle, and a range of vertical distances that can be taken between the tire object and the vehicle object, and the identification unit may identify the vehicle object height position based on the difference between the vehicle height position and the road height position, and the first threshold and the second threshold set by the setting unit.

[0012] The identification unit may identify a height position of the tire object such that a lower end of the tire object is in contact with a road at the vehicle two-dimensional position indicated by the three-dimensional position information.

[0013] The identification unit may identify the accuracy of the three-dimensional position indicated by the three-dimensional position information, and if the identified accuracy is less than a predetermined accuracy, identify the vehicle object height position based on the road height position, and if the identified accuracy is equal to or greater than the predetermined accuracy, identify the vehicle height position as the vehicle object height position.

[0014] The vehicle may be provided with two reference points, the first acquisition unit may acquire three-dimensional position information of each of the two reference points, and if an inclination of the two reference points with respect to a horizontal plane based on the three-dimensional position information of each of the two reference points is within a predetermined range, the identification unit may identify the inclination of the two reference points with respect to a horizontal plane as an inclination of the vehicle object, and the placement unit may place the vehicle object with the inclination of the vehicle object identified by the identification unit.

[0015] An information processing method according to a second aspect of the present invention includes the steps of: acquiring three-dimensional position information, executed by a computer, indicating a vehicle two-dimensional position, which is a horizontal two-dimensional position at a vehicle reference point, which is a reference point provided on a vehicle, and a vehicle height position, which is the position of the vehicle in the vertical direction; acquiring road height information indicating a road height position, which is the vertical position of the road corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information; specifying a vehicle object height position, which is the vertical position of the vehicle object when placing a vehicle object corresponding to the vehicle excluding a plurality of tires provided on the vehicle, in a three-dimensional virtual space in which road objects corresponding to roads existing in real space are placed, based on a difference between the vehicle height position indicated by the three-dimensional position information and the road height position; and placing the vehicle object in the three-dimensional virtual space at a three-dimensional position corresponding to the vehicle two-dimensional position and the specified vehicle object height position.

[0016] A program according to a third aspect of the present invention causes a computer to function as a first acquisition unit that acquires three-dimensional position information indicating a vehicle two-dimensional position, which is a horizontal two-dimensional position at a vehicle reference point, which is a reference point provided on the vehicle, and a vehicle height position, which is the position of the vehicle in the vertical direction; a second acquisition unit that acquires road height information that indicates a road height position, which is the vertical position of the road corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information; an identification unit that identifies a vehicle object height position, which is the vertical position of the vehicle object when placing a vehicle object corresponding to the vehicle excluding a plurality of tires provided on the vehicle in a three-dimensional virtual space in which road objects corresponding to roads existing in real space are placed, based on the difference between the vehicle height position indicated by the three-dimensional position information and the road height position; and a placement unit that places the vehicle object in the three-dimensional virtual space at a three-dimensional position corresponding to the vehicle two-dimensional position and the identified vehicle object height position. Effect of the Invention

[0017] According to the present invention, it is possible to suppress the vehicle from being reproduced in an unnatural state when reproducing the vehicle in a three-dimensional virtual space. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram illustrating an overview of an information processing device. [Diagram 2] FIG. 2 is a diagram illustrating a functional configuration of an information processing device. [Diagram 3] FIG. 4 is a diagram showing an example of driving history information. [Figure 4] FIG. 4 is a diagram illustrating a first threshold value and a second threshold value. [Diagram 5] 10 is a flowchart showing a process flow relating to placement of a vehicle object and a tire object in an information processing device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] [Overview of information processing device 1] 1 is a diagram illustrating an overview of an information processing device 1. The information processing device 1 is a device that reproduces the traveling of a vehicle V in a virtual space based on traveling history information of the vehicle V.

[0020] First, when the information processing device 1 reproduces the driving of the vehicle V in a virtual space, the driving history information of the vehicle V is stored in a memory unit, and a three-dimensional virtual space that reproduces the real space including the roads that exist in the real space on which the vehicle V has traveled is provided in advance.

[0021] The driving history information is, for example, information that associates the elapsed time since the vehicle V started driving with three-dimensional position information that indicates the three-dimensional position of the vehicle V at the elapsed time. The three-dimensional position information is information that indicates a three-dimensional position measured by a positioning device that is provided at a vehicle reference point that is a reference point provided on the vehicle V and is capable of positioning using a Global Navigation Satellite System (GNSS). The three-dimensional position information indicates a three-dimensional position that indicates the vehicle two-dimensional position, which is the horizontal two-dimensional position at the vehicle reference point, and the vehicle height position, which is the vehicle position in the vertical direction.

[0022] When reproducing the vehicle V in a virtual space corresponding to a certain elapsed time, the information processing device 1 acquires three-dimensional position information of the vehicle V corresponding to the elapsed time ((1) in FIG. 1). The information processing device 1 acquires road height information indicating the road height position, which is the vertical position of the road corresponding to the vehicle's two-dimensional position included in the acquired three-dimensional position information ((2) in FIG. 1).

[0023] Here, due to deterioration in the positioning accuracy of the three-dimensional position of the vehicle V, the position of the vehicle V indicated by the three-dimensional position information may differ from the actual position of the vehicle V. In this case, the vehicle object indicating the vehicle V is placed in a position in the virtual space different from the actual position of the vehicle V, and is reproduced in the three-dimensional virtual space in an unnatural state.

[0024] In response to this, the information processing device 1 specifies a vehicle object height position, which is the vertical position of the vehicle object when placing the vehicle object corresponding to the vehicle V excluding the multiple tires provided on the vehicle V in the three-dimensional virtual space, based on the difference between the vehicle height position indicated by the three-dimensional position information and the road height position ((3) in FIG. 1). For example, when the difference between the vehicle height position indicated by the three-dimensional position information and the road height position is less than a first threshold value, or is equal to or greater than a second threshold value that is greater than the first threshold value, the information processing device 1 specifies the vehicle object height position based on the road height position so that the vehicle object runs on a road.

[0025] Then, the information processing device 1 places the vehicle object in a three-dimensional position in the three-dimensional virtual space that corresponds to the vehicle two-dimensional position and the identified vehicle object height position ((4) in FIG. 1). The information processing device 1 places a virtual camera in the three-dimensional virtual space in which the vehicle object is placed, generates video data when the vehicle object is photographed by the virtual camera ((5) in FIG. 1), and outputs the video data to the terminal 2 of the user who views the video represented by the video data ((6) in FIG. 1).

[0026] By doing this, the information processing device 1 can prevent the vehicle from being reproduced in an unnatural state when reproducing the vehicle in a three-dimensional virtual space, and allows the user to view video data corresponding to the three-dimensional virtual space.

[0027] [Functional configuration of information processing device 1] Next, a description will be given of the configuration of the information processing device 1. Fig. 2 is a diagram showing the functional configuration of the information processing device 1. The information processing device 1 has a communication unit 11, a storage unit 12, and a control unit 13.

[0028] The communication unit 11 is a communication interface for transmitting and receiving data to and from an external device such as the terminal 2 via a communication network such as a mobile phone line, the Internet, or a wireless LAN.

[0029] The storage unit 12 is a storage medium that stores various data, and includes a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, etc. The storage unit 12 stores a program executed by the control unit 13. The storage unit 12 stores a program that causes the control unit 13 to function as a setting unit 131, a timing unit 132, a first acquisition unit 133, a second acquisition unit 134, an identification unit 135, a placement unit 136, and a display control unit 137.

[0030] The storage unit 12 also stores driving history information indicating the driving history of the vehicle V. Fig. 3 is a diagram showing an example of the driving history information. As shown in Fig. 3, the driving history information is information that associates, for example, the elapsed time from the time when the vehicle V started driving, three-dimensional position information indicating the three-dimensional position of the vehicle V at the elapsed time, and an azimuth angle indicating the angle at which the vehicle V faces with respect to a reference direction at the elapsed time.

[0031] The three-dimensional position information is composed of two-dimensional position information indicating the vehicle two-dimensional position, which is the horizontal two-dimensional position at the vehicle reference point, and height position information indicating the vehicle height position, which is the vehicle position in the vertical direction.

[0032] The storage unit 12 also stores real space information indicating the real space in which the vehicle V has traveled. The real space information is, for example, point cloud data generated by surveying the real space using a surveying instrument. The point cloud data is information that associates three-dimensional position information at each of a plurality of feature points indicating the real space with the color of an object indicating the real space at the feature point. The information processing device 1 can reproduce the real space by generating a three-dimensional virtual space in which various objects such as road objects are arranged based on the real space information.

[0033] The control unit 13 is, for example, a CPU (Central Processing Unit). The control unit 13 executes a program stored in the storage unit 12 to function as a setting unit 131, a timer unit 132, a first acquisition unit 133, a second acquisition unit 134, an identification unit 135, a placement unit 136, and a display control unit 137.

[0034] The setting unit 131 sets a first threshold and a second threshold used by the information processing device 1 to identify the height position of the vehicle object based on the difference between the vehicle height position, which is the vertical position of the vehicle V at the vehicle reference point when the vehicle V is stopped on a horizontal road, and the road height position at the stopped position of the vehicle V, and the range of vertical distances that can be taken between the tire object and the vehicle object.

[0035] 4 is a diagram illustrating the first threshold and the second threshold. For example, when the vehicle V is stopped on a horizontal road, the setting unit 131 sets the difference D obtained by subtracting the road height position Hr at the stopping position of the vehicle V from the vehicle height position Hv, which is the position of the vehicle V in the vertical direction at the vehicle reference point P, as the vehicle reference height, which is the height of the vehicle reference point when the vehicle V is stopped.

[0036] Furthermore, the setting unit 131 specifies as the first threshold value Th1 the vehicle height position at the vehicle reference point P of the vehicle V when the body of the vehicle V sinks the most compared to the vehicle reference height due to deformation of the suspension provided on the vehicle V. Similarly, the setting unit 131 specifies as the second threshold value Th2 the vehicle height position at the vehicle reference point P of the vehicle V when the body of the vehicle V rises the most compared to the vehicle reference height due to deformation of the suspension provided on the vehicle V. For example, the setting unit 131 may specify the first threshold value Th1 and the second threshold value Th2 by receiving them from a management terminal (not shown) used by an administrator of the information processing device 1.

[0037] The timing unit 132 performs timing by, for example, receiving a request to reproduce the running of the vehicle V in a three-dimensional virtual space that reproduces a real space from the terminal 2 via the communication unit 11. The timing unit 132 may receive an arbitrary time from the terminal 2 and perform timing from the received time.

[0038] The first acquisition unit 133 acquires three-dimensional position information indicating a vehicle two-dimensional position, which is a two-dimensional position in the horizontal direction at a vehicle reference point, which is a reference point provided on the vehicle V, and a vehicle height position, which is a position of the vehicle in the vertical direction. For example, the first acquisition unit 133 refers to the driving history information stored in the storage unit 12 at predetermined time intervals, and acquires three-dimensional position information associated with the measured time since the timing unit 132 started measuring time. The predetermined time is set based on a screen rewriting interval based on a frame rate (e.g., 60 Hz) of a typical display device, for example.

[0039] Note that the first acquisition unit 133 refers to the driving history information stored in the storage unit 12 at predetermined time intervals and acquires three-dimensional position information associated with the time counted since the timing unit 132 started timing, but is not limited to this. The first acquisition unit 133 may refer to the driving history information stored in the storage unit 12 and acquire three-dimensional position information associated with the time immediately following the time associated with the three-dimensional position information acquired immediately before at predetermined time intervals. In this case, the information processing device 1 may not have the timing unit 132.

[0040] The second acquisition unit 134 acquires road height information indicating a road height position that is a vertical position of the road corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information acquired by the first acquisition unit 133. For example, the second acquisition unit 134 refers to real space information (point cloud data) stored in the storage unit 12, and identifies a feature point indicating a real space having a two-dimensional position closest to the vehicle two-dimensional position indicated by the three-dimensional position information acquired by the first acquisition unit 133. Then, the second acquisition unit 134 acquires, as road height information, position information in the height direction included in the three-dimensional position information corresponding to the identified feature point.

[0041] The identification unit 135 identifies a vehicle object height position, which is a vertical position of a vehicle object corresponding to the vehicle V when the vehicle object is placed in a three-dimensional virtual space in which road objects corresponding to roads existing in the real space are placed. The identification unit 135 calculates a difference D between the vehicle height position indicated by the three-dimensional position information acquired by the first acquisition unit 133 and the road height position indicated by the road height information acquired by the second acquisition unit 134, and identifies the vehicle object height position based on the calculated difference D.

[0042] Specifically, the identification unit 135 identifies the vehicle object height position based on a difference D between the vehicle height position of the vehicle V and the road height position indicated by the road height information, and a first threshold value Th1 and a second threshold value Th2 set by the setting unit 131. For example, when the difference D between the vehicle height position indicated by the three-dimensional position information acquired by the first acquisition unit 133 and the road height position acquired by the second acquisition unit 134 is equal to or greater than the first threshold value Th1 and is less than a second threshold value Th2 greater than the first threshold value Th1, the identification unit 135 identifies the vehicle height position indicated by the three-dimensional position information acquired by the first acquisition unit 133 as the vehicle object height position.

[0043] In this case, based on the identified vehicle object height position, the identification unit 135 identifies a tire object height position, which is a vertical position of a tire object indicating multiple tires provided on the vehicle V. For example, the identification unit 135 identifies a position that is a predetermined distance vertically below the identified vehicle object height position as the tire object height position. The predetermined distance is the distance between the vehicle object height position and the tire object height position when the vehicle V is not moving and is parked on a horizontal surface.

[0044] Here, if the tire object height position is specified as a position that is a predetermined distance vertically below the specified vehicle object height position, when the tire object is placed, the bottom end of the tire object may not contact the road object, or part of the tire object may be buried in the road object.

[0045] For example, if the difference D between the vehicle height position and the road height position is smaller than the vehicle reference height, the lower part of the tire object will be buried in the road object. Also, if the difference D between the vehicle height position and the road height position is larger than the vehicle reference height, the lower end of the tire object will not contact the road object. Therefore, if the difference D between the vehicle height position and the road height position is equal to or larger than the first threshold value Th1 and smaller than a second threshold value Th2 larger than the first threshold value Th1, the specification unit 135 may specify the tire object height position such that the lower end of the tire object contacts the road object.

[0046] When the difference D between the vehicle height position indicated by the three-dimensional position information acquired by the first acquisition unit 133 and the road height position acquired by the second acquisition unit 134 is less than the first threshold value Th1 or is equal to or greater than the second threshold value Th2, the identification unit 135 identifies the vehicle object height position based on the road height position.

[0047] In this case, the specification unit 135 first specifies the tire object height position based on the road height position. The specification unit 135 specifies the tire object height position so that the bottom end of the tire object contacts the road object. The specification unit 135 then specifies a position a predetermined distance above the specified tire object height position in the vertical direction as the vehicle object height position.

[0048] Here, when the difference D between the vehicle height position and the road height position is less than a first threshold value or is equal to or greater than a second threshold value, the identification unit 135 may identify the vehicle object height position based on the road height position and the range of vertical distances that can be taken between the tire object and the vehicle object, i.e., the movable range of the suspension.

[0049] For example, when the vehicle V travels through a position where the slope changes from downhill to uphill, a force is generated for the vehicle V that presses the vehicle V against the road. For this reason, the identification unit 135 determines whether or not a force that presses the vehicle V against the road has been generated for the vehicle V, based on a change in the road height position corresponding to the two-dimensional position information indicated by the three-dimensional position information acquired a predetermined period before the acquired three-dimensional position information. When the identification unit 135 determines that a force that presses the vehicle V against the road has been generated for the vehicle V, it identifies the vehicle object height position as a height position that is equal to or greater than the first threshold value Th1 and lower than the vehicle reference height.

[0050] Furthermore, when the vehicle V travels through a position where the slope changes from uphill to downhill, a force that causes the vehicle V to lift up from the road is generated on the vehicle V. For this reason, the identification unit 135 determines whether or not a force that causes the vehicle V to lift up from the road has been generated on the vehicle V, based on a change in the road height position corresponding to the two-dimensional position information indicated by the three-dimensional position information acquired a predetermined period before the acquired three-dimensional position information. When the identification unit 135 determines that a force that causes the vehicle V to lift up from the road has been generated on the vehicle V, it identifies the vehicle object height position as a height position that is higher than the vehicle reference height and less than the second threshold value Th2.

[0051] Furthermore, if the vehicle V is a rally car or the like, the vehicle V may jump and rise up from the road depending on the shape of the road. In contrast, if the vehicle object height position and tire object height position are specified by the above-mentioned process so that the vehicle V does not rise up, the vehicle V will be reproduced in the virtual space in an unnatural state.

[0052] In response to this, the identification unit 135 may identify the accuracy of the three-dimensional position indicated by the three-dimensional position information. In this case, accuracy information indicating the positioning accuracy when the positioning device provided in the vehicle V measured the three-dimensional position is included in the traveling history information stored in the storage unit 12. Then, the identification unit 135 identifies the accuracy of the three-dimensional position by referring to the positioning accuracy indicated by the accuracy information associated with the three-dimensional position information.

[0053] Then, when the specified accuracy is less than the predetermined accuracy, the specifying unit 135 specifies the vehicle object height position based on the road height position. That is, when the specified accuracy is less than the predetermined accuracy, the specifying unit 135 specifies the tire object height position based on the road height position so that the bottom end of the tire object contacts the road object, and specifies a position a predetermined distance above the specified tire object height position in the vertical direction as the vehicle object height position.

[0054] Furthermore, when the identification accuracy is equal to or higher than a predetermined accuracy, the identification unit 135 identifies the vehicle object height position indicated by the three-dimensional position information as the vehicle height position. Then, the identification unit 135 identifies a position that is a predetermined distance vertically below the identified vehicle object height position as the tire object height position.

[0055] The placement unit 136 places, in the three-dimensional virtual space, the vehicle object and the tire object at the vehicle two-dimensional position indicated by the three-dimensional position information acquired by the first acquisition unit 133. Specifically, the placement unit 136 places, in the three-dimensional virtual space, the vehicle object at a three-dimensional position corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information acquired by the first acquisition unit 133 and the vehicle object height position identified by the identification unit 135, at an azimuth angle associated with the three-dimensional position information in the traveling history information.

[0056] In addition, the placement unit 136 places the tire object in the three-dimensional virtual space at a three-dimensional position corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information acquired by the first acquisition unit 133 and the tire object height position identified by the identification unit 135, at an azimuth angle associated with the three-dimensional position information in the driving history information.

[0057] The display control unit 137 places one or more virtual cameras in the three-dimensional virtual space in which the vehicle object and the tire object are placed, and generates video data when the three-dimensional virtual space is photographed by each of the one or more virtual cameras. Then, the display control unit 137 outputs at least one of the generated video data to the terminal 2 of the user who watches the video. Note that the display control unit 137 may receive the placement position of the virtual camera from the terminal 2, and generate video data when the three-dimensional virtual space is photographed from the received placement position.

[0058] [Operation flow] Next, a description will be given of a process flow relating to the placement of vehicle objects and tire objects in the information processing device 1. Fig. 5 is a flowchart showing a process flow relating to the placement of vehicle objects and tire objects in the information processing device 1. The flowchart shown in Fig. 5 is executed at predetermined time intervals in response to the timing unit 132 starting timing.

[0059] First, the first acquisition unit 133 refers to the driving history information and acquires three-dimensional position information at a vehicle reference point provided on the vehicle V that is associated with the time measured by the timing unit 132 (S1). Next, the second acquisition unit 134 acquires road height information indicating a road height position, which is a vertical position of the road corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information acquired by the first acquisition unit 133 (S2).

[0060] Next, the identification unit 135 calculates the difference between the vehicle height position indicated by the three-dimensional position information acquired by the first acquisition unit 133 and the road height position acquired by the second acquisition unit 134 (S3). Next, the determination unit 135 determines whether the calculated difference is equal to or greater than the first threshold and less than the second threshold (S4). If the determination unit 135 determines that the calculated difference is equal to or greater than the first threshold and less than the second threshold (YES in S4), the process proceeds to S5. If the determination unit 135 determines that the calculated difference is less than the first threshold or equal to or greater than the second threshold (NO in S4), the process proceeds to S7.

[0061] In S5, the identification unit 135 identifies the vehicle height position indicated by the three-dimensional position information acquired by the first acquisition unit 133 as the vehicle object height position. Next, the identification unit 135 identifies a tire object height position based on the identified vehicle object height position (S6). Specifically, the identification unit 135 identifies a position that is a predetermined distance below the identified vehicle object height position in the vertical direction as the tire object height position.

[0062] In S7, the identification unit 135 identifies a tire object height position based on the road height position. Then, the identification unit 135 identifies a vehicle object height position based on the identified tire object height position (S8). Specifically, the identification unit 135 identifies a position that is a predetermined distance above the identified tire object height position in the vertical direction as the vehicle object height position.

[0063] In S9, the placement unit 136 places the vehicle object and the tire object in the three-dimensional virtual space based on the identified vehicle object height position and tire object height position with respect to the vehicle two-dimensional position indicated by the three-dimensional position information acquired by the first acquisition unit 133.

[0064] [Variation 1] In the above embodiment, the vehicle V is provided with one positioning device, but this is not limited thereto. For example, the vehicle V may be provided with multiple positioning devices, and the installation positions of each of the multiple positioning devices may be set as vehicle reference points. The travel history information stored in the storage unit 12 may include three-dimensional position information at each of the multiple vehicle reference points. Here, when two positioning devices are provided corresponding to two vehicle reference points of the vehicle V, the vehicle reference points are set so that the longitudinal tilt of the vehicle V can be detected based on the three-dimensional positions of the two vehicle reference points measured by the positioning devices.

[0065] In this case, the first acquisition unit 133 refers to the travel history information and acquires three-dimensional position information for each of at least two vehicle reference points. The identification unit 135 identifies the inclination of the vehicle object as the inclination of the two reference points with respect to a horizontal plane based on the three-dimensional position information of each of the two vehicle reference points and based on the front-rear direction of the vehicle. The placement unit 136 places the vehicle object in the three-dimensional virtual space with the inclination of the vehicle object identified by the identification unit 135.

[0066] Here, the identification unit 135 may determine whether or not the inclination of the two reference points with respect to the horizontal plane based on the three-dimensional position information of each of the two vehicle reference points is within a predetermined range. Then, when the identification unit 135 determines that the inclination of the two reference points with respect to the horizontal plane is within the predetermined range, the identification unit 135 may identify the inclination as the inclination of the vehicle object, and when the identification unit 135 determines that the inclination of the two reference points with respect to the horizontal plane is not within the predetermined range, the identification unit 135 may identify the predetermined inclination as the inclination of the vehicle object. The predetermined inclination is, for example, the inclination of the vehicle V when the vehicle V is stopped. In this way, the information processing device 1 can reproduce the vehicle V in the three-dimensional virtual space in consideration of the inclination of the vehicle V when it is traveling.

[0067] [Variation 2] In the above embodiment, the driving history information is stored in the storage unit 12, and the first acquisition unit 133 refers to the driving history information stored in the storage unit 12 at predetermined time intervals to acquire the three-dimensional position information associated with the time measured by the timing unit 132 after the timing unit 132 starts timing, but this is not limited to the above. The driving history information does not need to be stored in the storage unit 12, and the first acquisition unit 133 may acquire three-dimensional position information indicating a three-dimensional position measured by a positioning device provided in the vehicle V in real time via the communication unit 11. In this way, the information processing device 1 can reproduce the vehicle object of the vehicle V in the three-dimensional virtual space in real time based on the three-dimensional position information of the vehicle V when the vehicle V is actually traveling. In this case, the information processing device 1 does not need to have the timing unit 132.

[0068] [Effects of information processing device 1] As described above, the information processing device 1 according to the present embodiment acquires three-dimensional position information indicating the vehicle two-dimensional position, which is the horizontal two-dimensional position at the vehicle reference point, which is the reference point provided on the vehicle V, and the vehicle height position, which is the position of the vehicle in the vertical direction, and acquires road height information indicating the road height position, which is the vertical position of the road corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information. Then, the information processing device 1 specifies the vehicle object height position, which is the vertical position of the vehicle object when placing a vehicle object corresponding to the vehicle excluding a plurality of tires provided on the vehicle in a three-dimensional virtual space in which a road object corresponding to a road existing in the real space is placed, based on the difference between the vehicle height position indicated by the three-dimensional position information and the road height position, and places the vehicle object in the three-dimensional virtual space at a three-dimensional position corresponding to the vehicle two-dimensional position and the specified vehicle object height position. In this way, the information processing device 1 can suppress the vehicle V from being reproduced in an unnatural state when reproducing the vehicle V in the three-dimensional virtual space.

[0069] Furthermore, this invention will make it possible to contribute to Goal 9 of the United Nations' Sustainable Development Goals (SDGs), which is to "build resilient infrastructure, promote industry, innovation and infrastructure."

[0070] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination combines the effect of the original embodiment. [Explanation of symbols]

[0071] 1. Information processing device 11 Communications Department 12 Storage section 13 Control section 131 Setting section 132 Timing section 133 First acquisition part 134 Second Acquisition Department 135 Specific part 136 Placement section 137 Display control section 2. Terminal V Vehicle

Claims

1. a first acquisition unit that acquires three-dimensional position information indicating a vehicle two-dimensional position, which is a two-dimensional position in a horizontal direction at a vehicle reference point, which is a reference point provided on the vehicle, and a vehicle height position, which is a position of the vehicle in a vertical direction; a second acquisition unit that acquires road height information indicating a road height position that is a vertical position of a road corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information; an identification unit that identifies a vehicle object height position, which is a vertical position of a vehicle object corresponding to a vehicle excluding a plurality of tires provided on the vehicle when the vehicle object is placed in a three-dimensional virtual space in which a road object corresponding to a road existing in a real space is placed, based on a difference between the vehicle height position indicated by the three-dimensional position information and the road height position; a placement unit that places the vehicle object at a three-dimensional position corresponding to the two-dimensional vehicle position and the specified vehicle object height position in the three-dimensional virtual space; An information processing device having the above configuration.

2. the identification unit identifies the vehicle height position as the vehicle object height position when a difference between the vehicle height position and a road height position is equal to or greater than a first threshold and is smaller than a second threshold that is greater than the first threshold. The information processing device according to claim 1 .

3. the identification unit identifies the vehicle object height position based on the road height position when a difference between the vehicle height position and the road height position is less than the first threshold value or is equal to or greater than the second threshold value. The information processing device according to claim 2 .

4. the identification unit identifies a tire object height position, which is a vertical position of a tire object indicating a plurality of tires provided on the vehicle, based on the vehicle object height position; the placement unit places the tire object at a three-dimensional position corresponding to the vehicle two-dimensional position and the tire object height position.

4. The information processing device according to claim 2 or 3.

5. when a difference between the vehicle height position and the road height position is less than the first threshold value or is equal to or greater than the second threshold value, the identification unit identifies the vehicle object height position based on the road height position and a possible range of a vertical distance between the tire object and the vehicle object. The information processing device according to claim 4.

6. a setting unit that sets the first threshold value and the second threshold value based on a difference between the vehicle height position, which is a position of the vehicle in a vertical direction at the vehicle reference point, and the road height position at a stopping position of the vehicle when the vehicle is stopped on a horizontal road, and a range of a vertical distance that can be taken between the tire object and the vehicle object, the identification unit identifies the vehicle object height position based on a difference between the vehicle height position and a road height position, and the first threshold value and the second threshold value set by the setting unit. The information processing device according to claim 5 .

7. the identification unit identifies a height position of the tire object such that a lower end of the tire object is in contact with a road at the vehicle two-dimensional position indicated by the three-dimensional position information. The information processing device according to claim 4.

8. the identification unit identifies an accuracy of the three-dimensional position indicated by the three-dimensional position information, and if the identified accuracy is less than a predetermined accuracy, identifies the vehicle object height position based on the road height position, and if the identified accuracy is equal to or greater than the predetermined accuracy, identifies the vehicle height position as the vehicle object height position. The information processing device according to claim 1 .

9. The vehicle is provided with two reference points, The first acquisition unit acquires three-dimensional position information of each of two reference points, the identification unit identifies, when a tilt of the two reference points with respect to a horizontal plane based on the three-dimensional position information of each of the two reference points is within a predetermined range, the tilt of the two reference points with respect to the horizontal plane as a tilt of the vehicle object; the placement unit places the vehicle object at the inclination of the vehicle object identified by the identification unit. The information processing device according to claim 1 .

10. The computer executes acquiring three-dimensional position information indicating a vehicle two-dimensional position, which is a two-dimensional position in the horizontal direction at a vehicle reference point, which is a reference point provided on the vehicle, and a vehicle height position, which is a position of the vehicle in the vertical direction; acquiring road height information indicating a road height position, which is a vertical position of a road corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information; specifying a vehicle object height position, which is a vertical position of a vehicle object corresponding to a vehicle excluding a plurality of tires provided on the vehicle when the vehicle object is placed in a three-dimensional virtual space in which a road object corresponding to a road existing in a real space is placed, based on a difference between the vehicle height position indicated by the three-dimensional position information and the road height position; placing the vehicle object in the three-dimensional virtual space at a three-dimensional position corresponding to the vehicle two-dimensional position and the identified vehicle object height position; An information processing method comprising the steps of:

11. Computer, a first acquisition unit that acquires three-dimensional position information indicating a vehicle two-dimensional position, which is a two-dimensional position in a horizontal direction at a vehicle reference point, which is a reference point provided on the vehicle, and a vehicle height position, which is a position of the vehicle in a vertical direction; a second acquisition unit that acquires road height information indicating a road height position that is a vertical position of a road corresponding to the vehicle two-dimensional position indicated by the three-dimensional position information; an identification unit that identifies a vehicle object height position, which is a vertical position of a vehicle object corresponding to a vehicle excluding a plurality of tires provided on the vehicle when the vehicle object is placed in a three-dimensional virtual space in which a road object corresponding to a road existing in a real space is placed, based on a difference between the vehicle height position indicated by the three-dimensional position information and the road height position; and a placement unit that places the vehicle object at a three-dimensional position corresponding to the two-dimensional vehicle position and the specified vehicle object height position in the three-dimensional virtual space; A program that functions as a

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