Information processing device, information processing method, and program

Abstract

To reproduce the attitude of a vehicle when reproducing the vehicle in a three-dimensional virtual space.SOLUTION: An information processing device 1 includes: an acquisition unit 132 that acquires first position information indicating a first three-dimensional position, which is a three-dimensional position of a first reference point measured by a first positioning device provided at a first reference point of a vehicle V, and second position information indicating a second three-dimensional position, which is a three-dimensional position of a second reference point measured by a second positioning device provided at a second reference point of the vehicle V; and a direction identification unit 133 that identifies a direction in which the vehicle is facing based on a first angle that is an angle between a straight line connecting two projection points when a first three-dimensional position indicated by the first position information and a second three-dimensional position indicated by the second position information are projected onto a horizontal plane, and a first reference direction that is a reference direction in the horizontal plane.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 driving data is position information measured by a single positioning device installed in the vehicle, the position of the vehicle while driving can be reproduced based on the position information, but the vehicle's attitude, such as the direction and inclination of the vehicle while driving, cannot be expressed. As a result, the attitude of the vehicle reproduced in the virtual space becomes unnatural.

[0005] The present invention has been made in consideration of these points, and has an object to make it possible to reproduce the posture of a vehicle 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 includes an acquisition unit that acquires first position information indicating a first three-dimensional position that is a three-dimensional position of a first reference point positioned by a first positioning device provided at a first reference point of a vehicle, and second position information indicating a second three-dimensional position that is a three-dimensional position of the second reference point positioned by a second positioning device provided at a second reference point of the vehicle, and a direction identification unit that identifies a direction in which the vehicle is facing based on a first angle that is an angle between a straight line connecting two projection points when the first three-dimensional position indicated by the first position information and the second three-dimensional position indicated by the second position information are projected onto a horizontal plane, and a first reference direction that is a reference direction on the horizontal plane.

[0007] The information processing device may have an inclination angle identification unit that identifies an inclination angle of the vehicle based on a second angle that is an angle between a straight line connecting two projection points when a first three-dimensional position indicated by the first position information and a second three-dimensional position indicated by the second position information are projected onto a plane that is parallel to the direction in which the vehicle is facing identified by the direction identification unit and perpendicular to a horizontal plane, and a second reference direction that is a reference direction on the plane.

[0008] The inclination angle identification unit may identify a three-dimensional position of a road corresponding to the first three-dimensional position or the second three-dimensional position, and identify the inclination angle of the vehicle based on the distance between the first three-dimensional position or the second three-dimensional position and the three-dimensional position of the road, and the second angle.

[0009] The inclination angle identification unit may determine, when the vehicle is parked on a horizontal surface, the second reference direction to be the direction indicated by a straight line connecting two projection points when the first three-dimensional position and the second three-dimensional position are projected onto a plane that is parallel to the vehicle's traveling direction identified by the direction identification unit and perpendicular to the horizontal surface.

[0010] The acquisition unit acquires a first road position, which is a three-dimensional position of a road corresponding to the first three-dimensional position, and a second road position, which is a three-dimensional position of a road corresponding to the second three-dimensional position, and the inclination angle identification unit may determine, as the second reference direction, the direction indicated by a straight line connecting two projection points when the first road position and the second road position are projected onto a plane parallel to the vehicle's travel direction identified by the direction identification unit and perpendicular to a horizontal plane.

[0011] The acquisition unit may acquire first position information indicating the first three-dimensional position corresponding to the first reference point, and second position information indicating the second three-dimensional position corresponding to the second reference point that is away from the first reference point by a predetermined distance or more in the vehicle.

[0012] The acquisition unit may acquire first position information indicating the first three-dimensional position corresponding to the first reference point located on the right or left side of the front or rear of the vehicle, and second position information indicating the second three-dimensional position corresponding to the second reference point located at a position opposite the position of the first reference point with respect to the center of the vehicle.

[0013] The acquisition unit may acquire first position information indicating the first three-dimensional position corresponding to the first reference point, and second position information indicating the second three-dimensional position corresponding to the second reference point that is located at the same height as the first reference point when the vehicle is parked on a horizontal surface.

[0014] The acquisition unit may acquire first position information indicating the first three-dimensional position corresponding to the first reference point located on a center line in the longitudinal direction of the vehicle, and second position information indicating the second three-dimensional position corresponding to the second reference point located on the center line.

[0015] An information processing method according to a second aspect of the present invention includes the steps of acquiring, executed by a computer, first position information indicating a first three-dimensional position, which is a three-dimensional position of a first reference point positioned by a first positioning device provided at a first reference point of the vehicle, and second position information indicating a second three-dimensional position, which is a three-dimensional position of the second reference point positioned by a second positioning device provided at a second reference point of the vehicle, and identifying the direction in which the vehicle is facing based on a first angle, which is the angle between a straight line connecting two projection points when the first three-dimensional position indicated by the first position information and the second three-dimensional position indicated by the second position information are projected onto a horizontal plane, and a first reference direction, which is a reference direction on the horizontal plane.

[0016] A program according to a third aspect of the present invention may cause a computer to function as an acquisition unit that acquires first position information indicating a first three-dimensional position that is a three-dimensional position of a first reference point measured by a first positioning device provided at a first reference point of a vehicle, and second position information indicating a second three-dimensional position that is a three-dimensional position of the second reference point measured by a second positioning device provided at a second reference point of the vehicle, and a direction identification unit that identifies a direction in which the vehicle is facing based on a first angle that is an angle between a straight line connecting two projection points when the first three-dimensional position indicated by the first position information and the second three-dimensional position indicated by the second position information are projected onto a horizontal plane, and a first reference direction that is a reference direction on the horizontal plane. Effect of the Invention

[0017] According to the present invention, it is possible to effectively reproduce the posture of a vehicle when the vehicle is reproduced 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] 1 is an example of a side view and a top view of a vehicle. [Diagram 5] FIG. 4 is a diagram illustrating calculation of a first angle. [Figure 6] FIG. 11 is a diagram illustrating calculation of a second angle. [Figure 7] FIG. 2 is a diagram showing an example of a rotation state that a vehicle can take. [Figure 8] 10 is a flowchart showing a process flow relating to placement of a vehicle object in the 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 vehicle V started driving, first position information indicating the three-dimensional position of a first reference point of vehicle V at that elapsed time, and second position information indicating the three-dimensional position of a second reference point of vehicle V at that elapsed time.

[0022] The first position information is information indicating a first three-dimensional position that is a three-dimensional position measured by a positioning device capable of measuring using a Global Navigation Satellite System (GNSS) that is provided at a first reference point of the vehicle V. The second position information is information indicating a second three-dimensional position that is a three-dimensional position measured by a positioning device capable of measuring using a GNSS that is provided at a second reference point of the vehicle V. Each of the first position information and the second position information indicates a three-dimensional position that indicates a vehicle two-dimensional position that is a horizontal two-dimensional position at the reference point and a vehicle height position that is a vehicle position in a vertical direction.

[0023] When reproducing the vehicle V in a virtual space corresponding to a certain elapsed time, the information processing device 1 acquires first position information and second position information of the vehicle V corresponding to the elapsed time ((1) in FIG. 1). The information processing device 1 identifies two projection points when a first three-dimensional position indicated by the acquired first position information and a second three-dimensional position indicated by the acquired second position information are projected onto a horizontal plane. Then, the information processing device 1 calculates an angle between a straight line connecting the two identified projection points and a first reference direction, which is a reference direction on the horizontal plane, and identifies the direction in which the vehicle V is facing based on the angle ((2) in FIG. 1).

[0024] Furthermore, the information processing device 1 identifies two projection points when the first three-dimensional position indicated by the first position information and the second three-dimensional position indicated by the second position information are projected onto a plane that is parallel to the direction in which the vehicle V is facing and perpendicular to the horizontal plane. Then, the information processing device 1 calculates the angle between a line connecting the two identified projection points and a second reference direction that is a reference direction on the plane, and identifies the inclination angle of the vehicle V based on the angle ((3) in FIG. 1).

[0025] Then, the information processing device 1 places a vehicle object representing the vehicle V in the three-dimensional virtual space with the vehicle two-dimensional position of the first reference point or the second reference point as the reference position ((4) in FIG. 1). The information processing device 1 places the vehicle object such that the facing direction and inclination angle of the vehicle object become the facing direction and inclination angle of the specified vehicle V.

[0026] 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). In this way, the information processing device 1 can reproduce the attitude of the vehicle V when reproducing the vehicle V in 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 programs executed by the control unit 13. The storage unit 12 stores programs that cause the control unit 13 to function as a clock unit 131, an acquisition unit 132, a direction identification unit 133, a tilt angle identification unit 134, a placement unit 135, and a display control unit 136.

[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, for example, information in which the elapsed time from the time when the vehicle V started driving, first position information indicating the three-dimensional position of the first reference point of the vehicle V at the elapsed time, and second position information indicating the three-dimensional position of the second reference point of the vehicle V at the elapsed time are associated with each other. Here, in the three-dimensional position (x, y, z), x indicates the absolute position (e.g., latitude) of the first reference direction, y indicates the absolute position (e.g., longitude) of the second reference direction perpendicular to the first reference direction, and z indicates the absolute position (e.g., altitude) of the third reference direction perpendicular to the first reference direction and the second reference direction. Note that a sound collecting device such as a microphone may be provided near the engine of the vehicle V, and sound information indicating the sound collected by the sound collecting device may be associated with the driving history information.

[0031] 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. Note that the point cloud data may include information indicating the type of road surface such as asphalt, gravel, sand, and frozen road surface.

[0032] The control unit 13 is, for example, a CPU (Central Processing Unit). The control unit 13 executes the programs stored in the storage unit 12 to function as a timekeeping unit 131, an acquisition unit 132, a direction identification unit 133, a tilt angle identification unit 134, a placement unit 135, and a display control unit 136.

[0033] [Explanation of the first and second reference points] Before describing each function of the control unit 13, the relationship between the first and second reference points of the vehicle V will be described. Fig. 4 is an example of a side view and a top view of the vehicle V. Fig. 4(a) shows a side view of the vehicle V, and Fig. 4(b) shows a top view of the vehicle V. As shown in Fig. 4(a), the first reference point BP1 and the second reference point BP2 are provided on the vehicle V so as to be at the same height when the vehicle V is parked on a horizontal surface.

[0034] 4(b), the first reference point BP1 is provided on the front right side of the vehicle V, and the second reference point BP2 is provided on the opposite side of the first reference point BP1 with respect to the center position Pc when the vehicle V is viewed from above, that is, on the rear left side of the vehicle V. The first reference point BP1 and the second reference point BP2 are provided at a distance greater than a predetermined distance that is greater than the error range of the positioning device (e.g., several centimeters to several tens of centimeters). This can improve the accuracy of the orientation and tilt angle of the vehicle V determined based on the two reference points.

[0035] The first reference point BP1 may be provided on the front left side of the vehicle V, and the second reference point BP2 may be provided on the rear right side of the vehicle V. The first reference point BP1 and the second reference point BP2 may be provided on a center line CL in the fore-and-aft direction of the vehicle V. In this way, the direction indicated by a straight line passing through the two reference points can be calculated as the direction of the vehicle V.

[0036] [Determining the direction vehicle V is facing and the inclination angle of vehicle V] Next, the process for identifying the direction in which the vehicle V is facing and the inclination angle of the vehicle V will be described. The timing unit 131 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 131 may receive an arbitrary time from the terminal 2 and perform timing from the received time.

[0037] The acquisition unit 132 acquires first position information indicating a first three-dimensional position that is a three-dimensional position of a first reference point BP measured by a first positioning device provided at a first reference point BP1 of the vehicle V, and second position information indicating a second three-dimensional position that is a three-dimensional position of a second reference point BP measured by a second positioning device provided at a second reference point BP of the vehicle. For example, the acquisition unit 132 refers to the driving history information stored in the storage unit 12 at predetermined time intervals, and acquires the first position information and the second position information associated with the time counted since the timing unit 131 started timing. The predetermined time is set based on a screen rewriting interval based on a frame rate (e.g., 60 Hz) of a general display device, for example.

[0038] Note that the acquisition unit 132 refers to the driving history information stored in the storage unit 12 at predetermined time intervals and acquires the first position information and the second position information associated with the time measured since the timing unit 131 started timing, but is not limited to this. The acquisition unit 132 may refer to the driving history information stored in the storage unit 12 and acquire, at predetermined time intervals, the first position information and the second position information associated with the time immediately following the time associated with the three-dimensional position information acquired immediately before. In this case, the information processing device 1 may not have the timing unit 131.

[0039] The direction identification unit 133 identifies two projection points when a first three-dimensional position indicated by the first position information acquired by the acquisition unit 132 and a second three-dimensional position indicated by the second position information acquired by the acquisition unit 132 are projected onto a horizontal plane. The direction identification unit 133 identifies the direction in which the vehicle V is facing based on a first angle that is an angle between a straight line connecting the two identified projection points and a first reference direction that is a reference direction on the horizontal plane.

[0040] FIG. 5 is a diagram for explaining the calculation of the first angle. For example, it is assumed that the first three-dimensional position indicated by the first position information is P1, the second three-dimensional position indicated by the second position information is P2, and the reference direction in the horizontal plane is the north direction N. For example, the direction identification unit 133 specifies two projection points P11 and P21 by setting the z-axis direction values ​​of these two three-dimensional positions P1 and P2 to 0, and calculates the inclination of a line passing through the two projection points P11 and P21. The direction identification unit 133 calculates the angle with respect to the east direction by calculating the arc tangent of the calculated inclination. Then, the direction identification unit 133 calculates the azimuth angle with the north direction set to 0° as the first angle θ1 based on the calculated angle. Here, the direction identification unit 133 determines that the first angle θ1 is an acute angle when the y-axis value of the first position information is greater than the y-axis value of the second position information, and determines that the first angle θ1 is an obtuse angle when the y-axis value of the first position information is smaller than the y-axis value of the second position information.

[0041] Then, the direction identification unit 133 identifies the azimuth angle of the vehicle V, which indicates the direction in which the vehicle V is facing, based on the deviation angle θs between the center line in the longitudinal direction of the vehicle V and a line connecting the first reference point and the second reference point, and the first angle θ1. Here, the deviation angle θs is defined as the angle between the center line in the longitudinal direction of the vehicle V and a line connecting two projection points obtained by projecting the first reference point and the second reference point onto a horizontal plane when the vehicle V is stopped.

[0042] The inclination angle identification unit 134 identifies two projection points when the first three-dimensional position P1 indicated by the first position information acquired by the acquisition unit 132 and the second three-dimensional position P2 indicated by the second position information acquired by the acquisition unit 132 are projected onto a plane that is parallel to the direction in which the vehicle V is facing identified by the direction identification unit 133 and perpendicular to the horizontal plane. Then, the inclination angle identification unit 134 identifies the inclination angle of the vehicle V based on a second angle that is an angle between a straight line connecting the two identified projection points and a second reference direction that is a reference direction on the plane.

[0043] Fig. 6 is a diagram for explaining the calculation of the second angle. The plane α shown in Fig. 6 is a plane parallel to the direction in which the vehicle V faces and perpendicular to the horizontal plane. The reference direction in the plane α, i.e., the second reference direction, is a direction H parallel to the horizontal plane.

[0044] The inclination angle identification unit 134, for example, identifies two projection points P12 and P22 when these two three-dimensional positions P1 and P2 are projected onto a plane α, and calculates the inclination of a line passing through the two projection points P12 and P22 with respect to the direction H. Then, the inclination angle identification unit 134 calculates the arc tangent of the calculated inclination, thereby identifying the inclination angle of the vehicle V.

[0045] In the above embodiment, the second reference direction is the direction H parallel to the horizontal plane, but is not limited thereto. For example, when the vehicle V is parked on a horizontal plane, the inclination angle identification unit 134 may set the second reference direction to the direction indicated by a straight line connecting two projection points when the first three-dimensional position P1 indicated by the first position information and the second three-dimensional position P2 indicated by the second position information are projected onto a plane that is parallel to the traveling direction (the orientation of the vehicle V) of the vehicle V identified by the direction identification unit 133 when the vehicle V is parked on the horizontal plane and perpendicular to the horizontal plane. In this way, the information processing device 1 can identify the inclination angle of the vehicle V based on the state when the vehicle V is parked.

[0046] The inclination angle identification unit 134 may also identify the inclination angle of the vehicle V with respect to the road at the position of the vehicle V. In this case, the acquisition unit 132 may refer to the real space information stored in the storage unit 12 and acquire information indicating a first road position, which is a three-dimensional position of a road corresponding to the first three-dimensional position indicated by the first position information, and a second road position, which is a three-dimensional position of a road corresponding to the second three-dimensional position indicated by the second position information. Then, the inclination angle identification unit 134 sets the direction indicated by a straight line connecting two projection points when the first road position and the second road position indicated by the acquired information are projected onto a plane parallel to the traveling direction of the vehicle V identified by the direction identification unit 133 and perpendicular to the horizontal plane, as the second reference direction. In this way, the information processing device 1 can identify the inclination of the vehicle V with respect to the road surface of the road on which the vehicle V is located.

[0047] In addition, since only two reference points, the first reference point and the second reference point, are provided in the vehicle V, there is a problem that the rotational state (roll state) of the vehicle V when a straight line passing through the two reference points is used as an axis is not determined. FIG. 7 is a diagram showing an example of a rotational state that the vehicle V can take. When the vehicle V is running normally, the tires of the vehicle V are in contact with the ground as shown in FIG. 7(a). If the inclination angle of the vehicle V is θt as shown in FIG. 7, the inclination angle θt is an acute angle. On the other hand, when the vehicle V has an accident or the like, the tires of the vehicle V may not be in contact with the ground as shown in FIG. 7(b), and in this case the inclination angle θt of the vehicle V is an obtuse angle.

[0048] In response to this, the inclination angle identification unit 134 may identify a three-dimensional position of the road corresponding to the first three-dimensional position or the second three-dimensional position. Then, the inclination angle identification unit 134 may identify the inclination angle of the vehicle V based on the distance between the first three-dimensional position or the second three-dimensional position and the three-dimensional position of the road, and the calculated second angle.

[0049] In this case, for example, the distance between the height position indicated by the first three-dimensional position P1 or the second three-dimensional position P2 when the tires of the vehicle V are in contact with the ground and the height position indicated by the three-dimensional position of the road is calculated in advance as a reference distance. As shown in FIG. 7, the inclination angle identification unit 134 calculates the distance D between the height position indicated by the first three-dimensional position P1 or the second three-dimensional position P2 and the height position indicated by the three-dimensional position of the road corresponding to the three-dimensional position. When the difference between the calculated distance D and the reference distance is less than a predetermined threshold, the inclination angle identification unit 134 identifies the inclination angle θt of the vehicle V so that the inclination angle θt of the vehicle V is an acute angle. When the difference between the calculated distance D and the reference distance exceeds a predetermined threshold, the inclination angle identification unit 134 identifies the inclination angle θt of the vehicle V so that the inclination angle θt of the vehicle V is an obtuse angle. In this way, the inclination angle identification unit 134 can identify the inclination angle θt in accordance with the state of the vehicle V.

[0050] The placement unit 135 places the vehicle object in the three-dimensional virtual space at a two-dimensional position indicated by the first position information corresponding to the first reference point acquired by the acquisition unit 132. Specifically, the placement unit 135 places the vehicle object in the three-dimensional virtual space so that the three-dimensional position of the first reference point set for the vehicle object coincides with the first three-dimensional position indicated by the first position information acquired by the acquisition unit 132. Then, the placement unit 135 adjusts the direction in which the vehicle object faces to the direction in which the vehicle V faces identified by the direction identification unit 133, and the tilt angle of the vehicle object to the tilt angle identified by the tilt angle identification unit 134.

[0051] The display control unit 136 places one or more virtual cameras in the three-dimensional virtual space in which the vehicle object is 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 136 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 136 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.

[0052] Furthermore, when the point cloud data includes information indicating the type of road surface, the display control unit 136 may generate video data to which a video expression is added based on the type of road surface. For example, when the type of road surface is gravel or sand, the display control unit 136 may generate video data that expresses dust or the like in accordance with the traveling of the vehicle V. Furthermore, when the display control unit 136 determines that the vehicle V is drifting based on a change in the three-dimensional position of the vehicle V and the type of the road surface is asphalt, it may generate video data that expresses smoke being generated from the tires.

[0053] Furthermore, if the travel history information includes sound information indicating the sound of the engine of the vehicle V, video data may be generated and output to the terminal 2, and sound data corresponding to the time measured by the timing unit 131 may be output to the terminal 2. In this way, the information processing device 1 can also reproduce the engine sound of the vehicle V to create a sense of realism.

[0054] [Operation flow] Next, a description will be given of a process flow related to the placement of a vehicle object in the information processing device 1. Fig. 8 is a flowchart showing a process flow related to the placement of a vehicle object in the information processing device 1. The flowchart shown in Fig. 8 is executed at predetermined time intervals in response to the timing unit 131 starting timing.

[0055] First, the acquisition unit 132 refers to the driving history information and acquires the first location information and the second location information associated with the time measured by the timing unit 131 (S1). Next, the direction identifying unit 133 identifies the projection points onto the horizontal plane of the first three-dimensional position indicated by the first position information acquired in S1 and the second three-dimensional position indicated by the second position information (S2).

[0056] Next, the direction identification unit 133 identifies a first angle, which is the angle between a straight line connecting the two identified projection points and a first reference direction, which is a reference direction in a horizontal plane (S3), and identifies the azimuth angle of the vehicle V based on the deviation angle between the longitudinal center line of the vehicle V and the straight line connecting the first reference point and the second reference point, and the identified first angle (S4).

[0057] Next, the inclination angle identification unit 134 sets a plane that is parallel to the orientation of the vehicle V indicated by the azimuth of the vehicle V and perpendicular to the horizontal plane (S5). Then, the inclination angle identification unit 134 identifies projection points onto the set plane of the first three-dimensional position indicated by the first position information acquired in S1 and the second three-dimensional position indicated by the second position information (S6). Then, the inclination angle identification unit 134 identifies the inclination angle of the vehicle V based on a second angle that is an angle between a straight line passing through the two identified projection points and a second reference direction that is a reference direction on the set plane (S7).

[0058] Next, the placement unit 135 places a vehicle object in a three-dimensional virtual space based on the azimuth angle of the vehicle V identified in S4 and the inclination angle of the vehicle V identified in S7 relative to the two-dimensional vehicle position indicated by the first position information acquired by the acquisition unit 132 (S8).

[0059] [Variations] In the above embodiment, the driving history information is stored in the storage unit 12, and the acquisition unit 132 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 since the timing unit 131 started 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 acquisition unit 132 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 a vehicle object of the vehicle V in a 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 131.

[0060] [Effects of information processing device 1] As described above, the information processing device 1 according to the present embodiment acquires first position information indicating a first three-dimensional position that is a three-dimensional position of a first reference point measured by a first positioning device provided at a first reference point of the vehicle V, and second position information indicating a second three-dimensional position that is a three-dimensional position of a second reference point measured by a second positioning device provided at a second reference point of the vehicle V. Then, the information processing device 1 specifies the direction in which the vehicle V is facing based on a first angle that is an angle between a straight line connecting two projection points when the first three-dimensional position indicated by the first position information and the second three-dimensional position indicated by the second position information are projected onto a horizontal plane, and a first reference direction that is a reference direction on the horizontal plane. In this way, the information processing device 1 can reproduce the attitude of the vehicle V when reproducing the vehicle V in a three-dimensional virtual space.

[0061] 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."

[0062] 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]

[0063] 1. Information processing device 11 Communications Department 12 Storage section 13 Control section 131 Timing section 132 Acquisition Department 133 Direction identification part 134 Tilt angle identification part 135 Placement section 136 Display control section 2. Terminal V Vehicle

Claims

1. an acquisition unit that acquires first position information indicating a first three-dimensional position that is a three-dimensional position of a first reference point measured by a first positioning device provided at a first reference point of a vehicle, and second position information indicating a second three-dimensional position that is a three-dimensional position of the second reference point measured by a second positioning device provided at a second reference point of the vehicle; a direction identification unit that identifies a direction in which the vehicle is facing based on a first angle that is an angle between a straight line connecting two projection points, when a first three-dimensional position indicated by the first position information and a second three-dimensional position indicated by the second position information, are projected onto a horizontal plane, and a first reference direction that is a reference direction on the horizontal plane; An information processing device having the above configuration.

2. a tilt angle identification unit that identifies a tilt angle of the vehicle based on a second angle that is an angle between a straight line connecting two projection points when the first three-dimensional position indicated by the first position information and the second three-dimensional position indicated by the second position information are projected onto a plane that is parallel to the direction in which the vehicle is facing identified by the direction identification unit and perpendicular to a horizontal plane, and a second reference direction that is a reference direction on the plane; The information processing device according to claim 1 .

3. the inclination angle identification unit identifies a three-dimensional position of a road corresponding to the first three-dimensional position or the second three-dimensional position, and identifies an inclination angle of the vehicle based on a distance between the first three-dimensional position or the second three-dimensional position and the three-dimensional position of the road, and based on the second angle; The information processing device according to claim 2 .

4. the inclination angle identification unit determines, when the vehicle is parked on a horizontal surface, a direction indicated by a straight line connecting two projection points when the first three-dimensional position and the second three-dimensional position are projected onto a plane that is parallel to the traveling direction of the vehicle identified by the direction identification unit and perpendicular to the horizontal surface, as the second reference direction; The information processing device according to claim 2 .

5. the acquisition unit acquires a first road position which is a three-dimensional position of a road corresponding to the first three-dimensional position, and a second road position which is a three-dimensional position of a road corresponding to the second three-dimensional position, the inclination angle identification unit determines, as the second reference direction, a direction indicated by a straight line connecting two projection points when the first road position and the second road position are projected onto a plane that is parallel to the traveling direction of the vehicle identified by the direction identification unit and perpendicular to a horizontal plane; The information processing device according to claim 2 .

6. The acquisition unit acquires first position information indicating the first three-dimensional position corresponding to the first reference point, and the second position information indicating the second three-dimensional position corresponding to the second reference point that is a predetermined distance or more away from the first reference point in the vehicle. The information processing device according to claim 1 .

7. the acquisition unit acquires first position information indicating the first three-dimensional position corresponding to the first reference point provided on the right or left side of the front or rear of the vehicle, and the second position information indicating the second three-dimensional position corresponding to the second reference point provided on a position opposite to the position of the first reference point with respect to a center of the vehicle; The information processing device according to claim 1 .

8. the acquisition unit acquires first position information indicating the first three-dimensional position corresponding to the first reference point, and the second position information indicating the second three-dimensional position corresponding to the second reference point provided at the same height as the first reference point when the vehicle is parked on a horizontal surface; The information processing device according to claim 1 .

9. The acquisition unit acquires first position information indicating the first three-dimensional position corresponding to the first reference point provided on a center line in a front-rear direction of the vehicle, and the second position information indicating the second three-dimensional position corresponding to the second reference point provided on the center line. The information processing device according to claim 1 .

10. The computer executes acquiring first position information indicating a first three-dimensional position, which is a three-dimensional position of a first reference point measured by a first positioning device provided at a first reference point of the vehicle, and second position information indicating a second three-dimensional position, which is a three-dimensional position of the second reference point measured by a second positioning device provided at a second reference point of the vehicle; specifying a direction in which the vehicle is facing based on a first angle, which is an angle between a straight line connecting two projection points, when a first three-dimensional position indicated by the first position information and a second three-dimensional position indicated by the second position information, are projected onto a horizontal plane, and a first reference direction, which is a reference direction on the horizontal plane; An information processing method comprising the steps of:

11. Computer, an acquisition unit that acquires first position information indicating a first three-dimensional position that is a three-dimensional position of a first reference point measured by a first positioning device provided at a first reference point of a vehicle, and second position information indicating a second three-dimensional position that is a three-dimensional position of the second reference point measured by a second positioning device provided at a second reference point of the vehicle; and a direction identification unit that identifies a direction in which the vehicle is facing based on a first angle that is an angle between a straight line connecting two projection points, when a first three-dimensional position indicated by the first position information and a second three-dimensional position indicated by the second position information, are projected onto a horizontal plane, and a first reference direction that is a reference direction on the horizontal plane; A program that functions as a

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