Information processing device, system, information processing method, and control program

Abstract

To highly accurately estimate an installation position of a sensor used for a digital twin system with relatively reduced cost and man-hours.SOLUTION: An information processing device comprises: an acquisition section (11) for acquiring a vehicle position of a vehicle detected by a sensor (20) provided at a predetermined position, the vehicle position being indicated by a sensor coordinate system that is a coordinate system used by the sensor (20); a conversion section (12) for converting the vehicle position from the sensor coordinate system into a server coordinate system that is a coordinate system used by a server (1); and a calculation section (13) which refers to the vehicle position converted into the server coordinate system and a lane position in the server coordinate system, thereby calculating an installation position of the sensor (20) in the server coordinate system.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] A system that reflects vehicle information detected by sensors on a digital twin is known as prior art.

[0003] Patent Document 1 discloses a digital twin system that reduces the amount of communication between a vehicle and a server without reducing the accuracy of the digital twin. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-145176 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned system, calibration is performed by converting the coordinate system used by the sensor into the coordinate system of the digital twin. To perform the calibration with high accuracy, the installation position of the sensor must be estimated with high accuracy, but this poses the problem of increased cost and labor. Another factor is that the installation position of the sensor may change over time due to the influence of wind, heat, etc.

[0006] One aspect of the present invention has been made in consideration of the above-mentioned problems, and aims to enable the installation locations of sensors used in digital twin systems to be estimated with high accuracy at relatively low cost and with relatively little labor. [Means for solving the problem]

[0007] In order to solve the above problem, an information processing device according to one aspect of the present invention includes an acquisition unit that acquires the vehicle position of a vehicle detected by a sensor installed at a predetermined position, the vehicle position being indicated in a sensor coordinate system that is a coordinate system used by the sensor, a conversion unit that converts the vehicle position from the sensor coordinate system to a server coordinate system that is a coordinate system used by a server, and a calculation unit that calculates the installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and the lane position in the server coordinate system.

[0008] A system according to another aspect of the present invention is a system comprising one or more sensors and a server, wherein the sensor is provided at a predetermined position and detects the vehicle position of a vehicle traveling on a lane, and the server comprises an acquisition unit that acquires from the sensor the vehicle position indicated by a sensor coordinate system, which is a coordinate system used by the sensor, a conversion unit that converts the vehicle position from the sensor coordinate system to a server coordinate system, which is a coordinate system used by the server, and a calculation unit that calculates the installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and the lane position in the server coordinate system.

[0009] An information processing method according to another aspect of the present invention is an information processing method executed by an apparatus, and includes an acquisition step of acquiring the vehicle position of a vehicle detected by a sensor installed at a predetermined position, the vehicle position being indicated in a sensor coordinate system, which is a coordinate system used by the sensor; a conversion step of converting the vehicle position from the sensor coordinate system to a server coordinate system, which is a coordinate system used by a server; and a calculation step of calculating the installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and the lane position in the server coordinate system.

[0010] An information processing device according to another aspect of the present invention includes an acquisition unit that acquires an object position of an object detected by a sensor installed at a predetermined position, the object position being indicated in a sensor coordinate system that is a coordinate system used by the sensor; a conversion unit that converts the object position from the sensor coordinate system to a server coordinate system that is a coordinate system used by a server; and a calculation unit that calculates the installation position of the sensor in the server coordinate system by referring to the object position converted into the server coordinate system and route information in the server coordinate system.

[0011] A control program that causes a computer to operate as each part (software element) of an information processing device according to each aspect of the present invention, thereby realizing the information processing device on the computer, and a computer-readable recording medium on which the control program is recorded, also fall within the scope of the present invention.

[0012] The control program may use various machine learning techniques in the process of causing a computer to operate as each of the units or in other processes. In this case, the program using the machine learning technique may run on an information processing device or on another device (for example, an edge computer or a cloud server). [Effects of the Invention]

[0013] According to one aspect of the present invention, it is possible to estimate the installation positions of sensors used in a digital twin system with high accuracy and at relatively low cost and labor. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a block diagram illustrating an example of a functional configuration of a system. [Figure 2] FIG. 2 is a diagram illustrating an example of the installation position of a sensor. [Figure 3] 10 is a flowchart illustrating an example of a flow of processing executed by the system. [Figure 4] FIG. 10 is a diagram illustrating an example of a calibration process. [Figure 5] FIG. 10 is an example diagram for explaining vehicle position correction; [Figure 6] FIG. 2 is a diagram illustrating an example of the positions of vehicles traveling on a lane. [Figure 7] FIG. 4 is a diagram illustrating an example of a detection range of a sensor. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, one embodiment of the present invention will be described in detail.

[0016] [1. System configuration example] FIG. 1 is an example block diagram showing the functional configuration of a system 100 according to the present disclosure.

[0017] System 100 is a system for reflecting information about an object detected by a sensor on a digital twin. The reflection is not limited to reproducing the object on the digital twin, but also includes, for example, plotting the position of the object on the digital twin.

[0018] The following description will be given using an example in which the object is a vehicle traveling on a lane of a road, but this is not limited to this, and the present disclosure also includes situations in which the object is a product moving on a production line.

[0019] The system 100 includes one or more sensors 20 and a server 1 .

[0020] The sensor 20 is installed at a predetermined position, such as on a building or the side of a road, facing the lane and detects the position of a vehicle traveling on the lane. The sensor 20 may detect, for example, the axis of the vehicle's center position in the left-right direction as the vehicle position, or the point at the center position when viewed from above as the vehicle position. The vehicle position is an example of an object position in the present disclosure. The present disclosure also includes a configuration in which the sensor 20 detects a predetermined position other than the center position of the vehicle as the vehicle position. The sensor 20 may include at least one of a 2D-LiDAR (Light Detection and Ranging), a 3D-LiDAR, an RGB camera, an RGBD camera, etc. FIG. 2 is a diagram showing an example of the installation position of the sensor 20. As shown in FIG. 2, the detection ranges of the sensors 20 may overlap. Because vehicles travel on lanes, the sensor 20's detection of vehicles at multiple positions can be said to be the sensor 20's detection of the vehicle's trajectory.

[0021] The sensor 20 also stores information indicating the installation position of the sensor 20 using the coordinate position and azimuth angle of the sensor 20. In one aspect, the coordinate position and azimuth angle are expressed by coordinates (X, Y, Z) and angles (θ, Φ, ψ) relative to the coordinate axes. Note that, for example, an aspect in which the sensor 20 is installed on a flat surface and only the coordinate position is used as the installation position of the sensor 20 is also included in the present disclosure, and the same applies to the following description. The sensor 20 associates the detected vehicle position with a position in a coordinate system used by the sensor 20 by referring to the information indicating the installation position. Hereinafter, the coordinate system used by the sensor 20 will also be referred to as a sensor coordinate system. The information indicating the installation position will also be simply referred to as the installation position, and the same applies to other information.

[0022] In the present disclosure, it is assumed that the vehicle travels in the center of the lane or a position equivalent thereto. In addition, in the case of a multi-lane road, the sensor 20 detects the position of the vehicle for each lane. For example, the sensor 20 acquires information about the detected vehicle as point cloud data and transmits the data to the server 1.

[0023] The server 1 is a device that functions as a server for the sensor 20, and is a device that realizes a digital twin. The server 1 includes a control unit 10, a storage unit 19, and a communication unit 18.

[0024] The control unit 10 is a control device that controls the entire server 1, and includes an acquisition unit 11, a conversion unit 12, and a calculation unit 13.

[0025] The acquisition unit 11 acquires, from the sensor 20, the vehicle position indicated by the sensor coordinate system.

[0026] The conversion unit 12 converts the vehicle position indicated by the information acquired by the acquisition unit 11 from the sensor coordinate system to the coordinate system used by the server 1. Hereinafter, the coordinate system used by the server 1 is also referred to as the server coordinate system.

[0027] The calculation unit 13 calculates the installation position of the sensor 20 in the server coordinate system by referring to the vehicle position converted into the server coordinate system and the lane position in the server coordinate system. The lane position is an example of route information in the present disclosure.

[0028] In addition, the control unit 10 performs the process of reproducing the real world including lanes using a digital twin, and the process of reflecting information about vehicles detected by the sensor 20 and traveling on the lanes on the digital twin.

[0029] The memory unit 19 is a storage device that stores various types of information, such as digital twin data that reproduces the real world including lanes. For example, the memory unit 19 stores information indicating the direction of travel of lanes, information indicating the lane positions by straight lines or curves at the center of the lanes, information indicating the installation positions of the sensors 20 by the coordinate positions and azimuth angles of the sensors 20, and information regarding intersections and road signs.

[0030] However, the actual installation position of the sensor 20 changes over time due to the influence of wind, heat, and the like. Here, the change in the actual installation position of the sensor 20 over time means that a deviation occurs between the sensor coordinate system and the server coordinate system. From another perspective, the deviation of the sensor coordinate system based on the server coordinate system occurs due to a deviation between the actual installation position of the sensor 20 and the installation position stored by the sensor 20 itself. As a result of the above-mentioned change over time, the value of the information indicating the installation position of the sensor 20 stored in the memory unit 19 is updated each time by processing by the control unit 10, which will be described later.

[0031] The communication unit 18 performs communication processing with external devices such as a sensor 20 under the control of the control unit 10.

[0032] Note that some or all of the functions of the server 1 may be realized by cloud computing or edge computing. In the latter configuration, some or all of the functions of the server 1 may be realized by a device integrated with the sensor 20. In other words, one of the sensor 20 and the server 1 may be configured to include the other. Furthermore, the sensor 20 may transmit and receive information to and share information with each other. The sensor 20 and the server 1 are examples of information processing devices in the present disclosure. Furthermore, it is not a requirement that the system 100 realizes a digital twin.

[0033] Additionally, each component included in the system 100 is also capable of executing the processes described below.

[0034] [2. System processing example] Next, the flow of processing of the information processing method executed by the system 100 will be described. Fig. 3 is an example of a flowchart showing the flow of the processing. At the start of the processing shown in the flowchart of Fig. 3, the storage unit 19 of the server 1 stores the initial values ​​of the installation positions of each sensor 20 in the server coordinate system. The processing executed by the sensor 20 and the processing executed for the sensor 20 are executed for each sensor 20.

[0035] In S101 (step S101), the sensor 20 detects the position of a vehicle traveling on a lane. In addition, the acquisition unit 11 of the server 1 acquires information indicating the vehicle position in the sensor coordinate system from the sensor 20 via the communication unit 18.

[0036] In S102, the conversion unit 12 converts the vehicle position indicated by the information acquired by the acquisition unit 11 into the server coordinate system by referring to information indicating the installation position of the sensor 20 stored in the storage unit 19, and stores the converted position in the storage unit 19. In other words, as part of the calibration process, the conversion unit 12 performs a process of calibrating the vehicle position and saving the calibrated vehicle position.

[0037] Fig. 4 is an example diagram for explaining the calibration process for calibrating the deviation of the sensor coordinate system based on the server coordinate system. Fig. 4 shows an aerial map including lanes, and curve 31 in Fig. 4 shows the vehicle position in the sensor coordinate system detected by sensor 20 converted into the server coordinate system. The reason why curve 31 deviates from the lane center, assuming that each vehicle runs in the center of the lane, is because there is a deviation in the position of the sensor coordinate system based on the server coordinate system.

[0038] A curve 32 in FIG. 4 indicates the position in the server coordinate system obtained by correcting the vehicle position converted into the server coordinate system so that it corresponds to the center of the lane in the digital twin.

[0039] The deviation increases as the actual installation position of the sensor 20 changes over time. From another perspective, the calibration process can be said to be a process for correcting the deviation between the actual installation position of the sensor 20 and the installation position of the sensor 20 in the sensor coordinate system.

[0040] Note that the control unit 10 may perform a process of reflecting the vehicle position information in the server coordinate system on the digital twin, separately from the subsequent processes from S103 onwards.

[0041] In S103, the control unit 10 determines whether or not a predetermined condition is satisfied for the information stored in the storage unit 19. Here, the predetermined condition is a condition that is satisfied, for example, when a certain amount or number of pieces of information have been stored, when a predetermined period of time has elapsed since the processing in Fig. 3 was started, or when a predetermined period of time has elapsed since the processing from S104 onward was most recently executed.

[0042] If the control unit 10 determines that the predetermined condition is satisfied (S103: YES), it then executes the processing of S104, and if it determines that the predetermined condition is not satisfied (S103: NO), it repeats the processing from S101.

[0043] In S104, the calculation unit 13 refers to multiple pieces of information indicating vehicle positions stored in the storage unit 19, and calculates the installation position of the sensor 20 in the server coordinate system such that the sum of the squares of the distances between the following (1) and (2) is the smallest value. In other words, the control unit 10 calculates the value obtained by squaring the distances for each vehicle position, and calculates the installation position of the sensor 20 in the server coordinate system such that the sum of the values ​​corresponding to each position is the smallest value. Furthermore, the following (1) corresponds to curve 31 in FIG. 4, and (2) corresponds to curve 32.

[0044] (1) The vehicle position detected by the sensor 20 and converted into the server coordinate system, i.e., the vehicle position stored in the memory unit 19 in S102. (2) The position of the vehicle position in (1) in the server coordinate system corrected by associating it with the center of the lane in the digital twin. In a broader sense, the calculation unit 13 may be configured to calculate the installation position of the sensor 20 so that the value obtained based on each distance between (1) and (2) calculated for each vehicle position is maximized or minimized. The value of the sum of squares is an example of a value obtained based on each distance. The control unit 10 may also calculate the position in the server coordinate system in (2) using a method using Mahalanobis distance, which will be described later. The multiple pieces of information indicating the vehicle position may include information indicating each position of the same vehicle at different times. The control unit 10 may also find the minimum value of the sum of squares of the distance between (1) and (2) using a method such as Procrustes analysis.

[0045] Here, Procrustes analysis is a method for minimizing the Euclidean distance between points that correspond to each other in point groups. In Procrustes analysis, a process for aligning the centers of gravity of the first point group and the second point group by translation and a process for finding a rotation matrix that minimizes the Euclidean distance (singular value decomposition) are performed. In addition, in Procrustes analysis, a server coordinate system in which the position of the sensor 20 is set as the origin may be used.

[0046] In S105, the control unit 10 updates the information indicating the installation position of the sensor 20 in the server coordinate system, which is stored in the storage unit 19, with the value calculated in S104. The updated information indicating the installation position of the sensor 20 is referred to the next time the process of S102 is performed.

[0047] From another perspective, this means that the values ​​used in the calibration process are updated in S105. Curve 33 in Fig. 4 shows the vehicle position when control unit 10 performs the calibration process by referring to the updated information indicating the installation position of sensor 20.

[0048] Furthermore, the configuration may be such that information indicating the updated installation position of the sensor 20 is shared and used by the sensor 20. Specifically, in the above configuration, in response to the calculation unit 13 calculating the installation position of the sensor 20 in the server coordinate system, the control unit 10 transmits information indicating the updated installation position of the sensor 20 to the sensor 20 via the communication unit 18. Subsequently, the sensor 20 updates the information stored in itself and indicating its installation position with the value received from the server 1.

[0049] After the process of S105 is completed, the processes from S101 are repeated. That is, the information indicating the installation position of the sensor 20 in the server coordinate system is automatically updated at regular intervals or at regular intervals. More specifically, the server 1 includes a storage unit 19 that stores the installation position of the sensor 20 in the server coordinate system, and automatically executes a process of updating the installation position of the sensor 20 stored in the storage unit 19 with the installation position of the sensor 20 newly calculated by the calculation unit 13 every time a predetermined condition is satisfied.

[0050] This makes it possible to estimate the installation positions of sensors 20 used in digital twin systems with high accuracy and uniformity, at relatively low cost and with relatively little man-hours, and regardless of the skill of the worker. In addition, there is an effect that the work of workers measuring the installation positions of sensors 20 on-site and calibration devices with GPS or the like are no longer necessary.

[0051] The above description has been given using an example in which the object is a vehicle traveling on a road lane. Conventionally, when the object is a product moving on a production line, calibration has been performed using a fiducial marker installed in a factory or the like. However, applying the configuration of the present disclosure has the advantage of reducing costs because it does not require installations such as the fiducial markers. Additionally, even when the configuration of the present disclosure and the configuration using the above-described installations are used together, the effect of achieving target accuracy while keeping the number of installations small is achieved.

[0052] [3. Vehicle position correction] Next, we will provide additional information on the process (2) described above with respect to S104 in Fig. 3, which corrects the vehicle position detected by the sensor 20 to the center of the lane in the digital twin. In the process (2), the following processes (i) to (iv) are executed. Fig. 5 is an example diagram for explaining the vehicle position correction in the process (2).

[0053] (i) The calculation unit 13 searches for road points within one lane from the vehicle position converted into the server coordinate system, i.e., the vehicle position stored in the storage unit 19 in S102. Here, the road points are defined by a plurality of points on a straight line or curve indicating the center position of each lane. From another perspective, a plurality of road points are plotted at a predetermined interval at the center position of each lane.

[0054] The road points within one lane may be road points within a radius of 3.5 m, for example. The data structure of the road points may be a Kd tree or the like. v indicates the vehicle position, and points 41a and 41b indicate the searched road points. v indicates the angle of the vehicle's traveling direction relative to a reference line such as a coordinate axis.

[0055] (ii) The calculation unit 13 drops a perpendicular line from the vehicle position converted into the server coordinate system to a straight line on each lane connecting the searched road point and a road point (not shown) adjacent to the road point, and adds a point where the intersection is an internal division point of each road point to a set indicating candidates for the corrected vehicle position. r1 and p r2 indicates the point that is the internal division point. r1 and θ r2 indicates the angle of the line or curve indicating the center position of each lane relative to the reference line.

[0056] (iii) The calculation unit 13 calculates each of the internal division points p r For each of these, the Mahalanobis distance D is calculated using the following formula 1: MIn Equation 1, σ_dist is calculated as p v σ_dir indicates the uncertainty of θ v The uncertainty may be an estimated standard deviation. Furthermore, Equation 1 indicates that the more reliable of the vehicle position and heading is given more importance.

[0057]

number

[0058]

number

[0059] Further, vehicle position 43b indicates the actual vehicle position. Although it is not clear from vehicle position 43a whether the vehicle is traveling in the upper lane or the lower lane, if the traveling direction of the vehicle is detected to be to the right, calculation unit 13 estimates that the vehicle is traveling in the upper lane based on the traveling direction set for the lane.

[0060] In addition, at vehicle position 44a, it is unclear whether the vehicle is traveling in the upper lane, which is the lane it should be traveling in, or traveling in the wrong direction in the lower lane. In this case, if the reliability of the traveling direction is higher than the reliability of the position, it is presumed that the vehicle is traveling in the upper lane, and conversely, if the reliability of the position is higher than the reliability of the traveling direction, it is presumed that the vehicle is traveling in the wrong direction in the lower lane.

[0061] (iV) If the set is not empty, the calculation unit 13 calculates the vehicle position p v D M The point p where the value of is smallest r If the set is empty, the calculation unit 13 corrects the vehicle position p v , p v In this way, the calculation unit 13 may perform a process of correcting the vehicle position converted into the server coordinate system by associating it with a position on one of the lanes in the server coordinate system, in accordance with the Mahalanobis distance between the vehicle position and a position on each lane.

[0062] The above has explained the process (2) in S104 of FIG.

[0063] Next, we will provide further information regarding the estimation of vehicle position. Figure 7 is a diagram showing an example of the detection range of sensor 20. If sensor 20 is installed in a low position and can only detect a portion of the vehicle, there is a risk that the error in the estimated vehicle position will be large. Range 46 on the left side of Figure 7 shows the detection range of sensor 20 in this case.

[0064] On the other hand, the width of a vehicle is constant regardless of the position. Therefore, to address the above-mentioned problem, the sensor 20 or the server 1 may be configured to estimate the vehicle width as an unknown quantity. For example, the sensor 20 may detect parts of the vehicle at multiple vehicle positions, and the server 1 may estimate the vehicle width based on the multiple detection results of the sensor 20.

[0065] Since the server 1 can assume the same vehicle width for each position of the vehicle, redundancy occurs and the vehicle width can be estimated as an overdetermined equation. The range 47a on the right side of Fig. 7 indicates the detection range of the sensor 20, similar to the range 46, and the range 47b indicates the range that covers the estimated vehicle width.

[0066] In another embodiment, vehicle information such as vehicle width detected by a sensor 20 capable of detecting the entire vehicle may be transmitted to the server 1 or another sensor 20, and reflected in the information to complement the vehicle information detected by the other sensor 20.

[0067] [4. Software implementation example] The functions of the server 1 or system 100 (hereinafter referred to as the "device") can be realized by a program that causes a computer to function as the device, and a program that causes a computer to function as each control block of the device (particularly each part included in the control unit 10).

[0068] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The control device and storage device execute the program, thereby realizing the functions described in each of the above embodiments.

[0069] The program may be non-transitory and may be recorded on one or more computer-readable recording media. The recording media may or may not be included in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0070] Furthermore, some or all of the functions of the control blocks can be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of the control blocks can also be realized by, for example, a quantum computer.

[0071] Furthermore, each process described in each of the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI ​​may run on the control device or on another device (for example, an edge computer or a cloud server). [Explanation of symbols]

[0072] 1. Server (information processing device) 10 Control Unit 11 Acquisition Department 12 Conversion unit 13 Calculation section 18 Communications Department 19 Memory section 20 Sensor (information processing device) 100 systems

Claims

1. an acquisition unit that acquires a vehicle position of a vehicle detected by a sensor provided at a predetermined position, the vehicle position being indicated in a sensor coordinate system that is a coordinate system used by the sensor; a conversion unit that converts the vehicle position from the sensor coordinate system into a server coordinate system that is a coordinate system used by a server; a calculation unit that calculates an installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and a lane position in the server coordinate system; Equipped with When the road has a plurality of lanes, the acquisition unit acquires the vehicle position for each lane detected by the sensor.

2. An acquisition unit that acquires a vehicle position of a vehicle detected by a sensor installed at a predetermined position, the vehicle position being indicated by a sensor coordinate system that is a coordinate system used by the sensor; a conversion unit that converts the vehicle position from the sensor coordinate system into a server coordinate system that is a coordinate system used by a server; a calculation unit that calculates an installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and a lane position in the server coordinate system; a storage unit that stores an installation position of the sensor in the server coordinate system, Each time a predetermined condition is satisfied, a process of updating the installation position of the sensor stored in the storage unit with the installation position of the sensor newly calculated by the calculation unit is automatically executed. Information processing device.

3. An acquisition unit that acquires a vehicle position of a vehicle detected by a sensor installed at a predetermined position, the vehicle position being indicated by a sensor coordinate system that is a coordinate system used by the sensor; a conversion unit that converts the vehicle position from the sensor coordinate system into a server coordinate system that is a coordinate system used by a server; a calculation unit that calculates an installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and a lane position in the server coordinate system; Equipped with The calculation unit The vehicle position transformed into the server coordinate system is associated with a position on any one of the lanes in the server coordinate system according to the Mahalanobis distance between the vehicle position and the position on each lane. Information processing device.

4. An acquisition unit that acquires a vehicle position of a vehicle detected by a sensor installed at a predetermined position, the vehicle position being indicated by a sensor coordinate system that is a coordinate system used by the sensor; a conversion unit that converts the vehicle position from the sensor coordinate system into a server coordinate system that is a coordinate system used by a server; a calculation unit that calculates an installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and a lane position in the server coordinate system; Equipped with the acquisition unit acquires a plurality of vehicle positions detected by a certain sensor, The calculation unit performing a process of associating the vehicle position transformed into the server coordinate system with a position on any lane in the server coordinate system for each vehicle position; Calculating the installation position of the sensor such that the value obtained based on each distance between each vehicle position and the position on the lane to which the vehicle position is associated is maximized or minimized Information processing device.

5. An acquisition unit that acquires a vehicle position of a vehicle detected by a sensor installed at a predetermined position, the vehicle position being indicated by a sensor coordinate system that is a coordinate system used by the sensor; a conversion unit that converts the vehicle position from the sensor coordinate system into a server coordinate system that is a coordinate system used by a server; a calculation unit that calculates an installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and a lane position in the server coordinate system; Equipped with The process of recreating the real world, including lanes, using a digital twin. and (b) executing a process of reflecting information about a vehicle detected by the sensor and traveling on the lane on the digital twin. Information processing device.

6. A system comprising one or more sensors and a server, The sensor is provided at a predetermined position and detects the position of a vehicle traveling on a lane; The server an acquisition unit that acquires, from the sensor, a vehicle position indicated by a sensor coordinate system that is a coordinate system used by the sensor; a conversion unit that converts the vehicle position from the sensor coordinate system into a server coordinate system that is a coordinate system used by the server; a calculation unit that calculates an installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and a lane position in the server coordinate system; Equipped with In the case where the road has multiple lanes, the acquisition unit acquires the vehicle position for each lane detected by the sensor.

7. A system comprising one or more sensors and a server, The sensor is provided at a predetermined position and detects the position of a vehicle traveling on a lane; The server an acquisition unit that acquires, from the sensor, a vehicle position indicated by a sensor coordinate system that is a coordinate system used by the sensor; a conversion unit that converts the vehicle position from the sensor coordinate system into a server coordinate system that is a coordinate system used by the server; a calculation unit that calculates an installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and a lane position in the server coordinate system; Equipped with the sensor detects a portion of the vehicle at a plurality of the vehicle positions; The vehicle width of the vehicle is estimated based on the detection results of the sensors. system.

8. A system comprising one or more sensors and a server, The sensor is provided at a predetermined position and detects the position of a vehicle traveling on a lane; The server an acquisition unit that acquires, from the sensor, a vehicle position indicated by a sensor coordinate system that is a coordinate system used by the sensor; a conversion unit that converts the vehicle position from the sensor coordinate system into a server coordinate system that is a coordinate system used by the server; a calculation unit that calculates an installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and a lane position in the server coordinate system; Equipped with The sensor stores the installation position of the device itself, In response to the calculation unit calculating the installation position of the sensor in the server coordinate system, the installation position of the device itself stored by the sensor is updated with the installation position of the sensor calculated by the calculation unit. system.

9. The sensor Includes at least one of 2D-LiDAR, 3D-LiDAR, RGB camera, and RGBD camera 8. A system according to claim 6 or 7.

10. 1. An information processing method performed by an apparatus, comprising: an acquisition step of acquiring a vehicle position of the vehicle detected by a sensor provided at a predetermined position, the vehicle position being indicated by a sensor coordinate system that is a coordinate system used by the sensor; a transformation step of transforming the vehicle position from the sensor coordinate system into a server coordinate system, which is a coordinate system used by a server; a calculation step of calculating an installation position of the sensor in the server coordinate system by referring to the vehicle position converted into the server coordinate system and a lane position in the server coordinate system; Includes In the acquiring step, if the road has a plurality of lanes, the vehicle position is acquired for each lane detected by the sensor. Information processing methods.

11. A control program for causing a computer to function as the information processing device according to any one of claims 1 and 3 to 5, the control program causing the computer to function as the acquisition unit, the conversion unit, and the calculation unit.

12. an acquisition unit that acquires an object position of an object detected by a sensor provided at a predetermined position, the object position being indicated by a sensor coordinate system that is a coordinate system used by the sensor; a conversion unit that converts the object position from the sensor coordinate system into a server coordinate system that is a coordinate system used by a server; a calculation unit that calculates an installation position of the sensor in the server coordinate system by referring to the object position converted into the server coordinate system and route information in the server coordinate system; a storage unit that stores an installation position of the sensor in the server coordinate system, Each time a predetermined condition is satisfied, a process of updating the installation position of the sensor stored in the storage unit with the installation position of the sensor newly calculated by the calculation unit is automatically executed. Information processing device.

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