Information processing apparatus, information processing system, and information processing method

Abstract

The present disclosure pertains to an information processing device, an information processing system, and an information processing method that make it possible to update a dynamic map more optimally. The map update management unit generates waypoint information on the basis of map information to be updated, the map information to be updated being map information on a dynamic map to be updated, the waypoint information indicating a travel route in an information acquisition area in which three-dimensional information for updating the map information on the dynamic map is acquired. A matching processing unit performs a vehicle matching process for selecting an autonomous vehicle requested to acquire three-dimensional information according to a priority obtained with reference to list data in which vehicle information of a plurality of autonomous vehicles is registered, and requests acquisition of three-dimensional information for the autonomous vehicle as a request target. This technology can be applied, for example, to a dynamic map update system that updates a dynamic map.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to an information processing apparatus, an information processing system, and an information processing method, and particularly relates to an information processing apparatus, an information processing system, and an information processing method capable of more optimally updating a dynamic map. BACKGROUND

[0002] In recent years, with the spread of automated driving vehicles, the importance of a dynamic map for determining a travel route for automated driving travel has been increasing.

[0003] However, some dynamic maps cannot guarantee that they are up to date, whether static information or dynamic information. Therefore, using a dynamic map that is not up to date due to unexpected construction, vehicles parked on a road, a disaster, or the like can result in the inability to perform automated driving travel, and thus there is a need to quickly update the dynamic map. On the other hand, updating of the dynamic map requires measurement by a vehicle equipped with a sensor group for acquiring three-dimensional data, and thus it is difficult to frequently and largely update the dynamic map.

[0004] For example, Patent Literature 1 discloses a technology in which a server that manages a map requests a vehicle equipped with a three-dimensional information sensor to acquire data, and the requested vehicle acquires up-to-date information.

[0005] CITATION LIST

[0006] PATENT LITERATURE

[0007] Patent Literature 1: Japanese Patent Application Laid-Open No. 2020-140602 SUMMARY

[0008] PROBLEMS

[0009] However, the above-described Patent Literature 1 does not disclose a process regarding how the server that manages the map selects a vehicle to be requested, and there is a problem that the server can not be able to find a vehicle to be requested in the vicinity of a dynamic map to be updated, or can request a vehicle far from the dynamic map to be updated. Therefore, it is necessary to make it possible to more frequently and more optimally update a dynamic map by requesting a suitable vehicle without worrying about these problems.

[0010] The present disclosure is made in view of the above-described circumstances, and aims to allow a dynamic map to be more optimally updated.

[0011] SOLUTION TO PROBLEM

[0012] An information processing apparatus of one aspect of the present disclosure includes a map update management unit that generates route point information based on map information to be updated, the map information to be updated being map information of a dynamic map to be updated, the route point information indicating a travel route in an information acquisition area in which three-dimensional information for update of the map information of the dynamic map is to be acquired, and a matching processing unit that performs vehicle matching processing to request an autonomous vehicle that is a request target to acquire the three-dimensional information, the vehicle matching processing being for selecting the autonomous vehicle requested to acquire the three-dimensional information in accordance with a priority obtained by referring to list data in which vehicle information of a plurality of autonomous vehicles is registered.

[0013] An information processing system of one aspect of the present disclosure includes an information processing apparatus that includes a map update management unit that generates route point information based on map information to be updated, the map information to be updated being map information of a dynamic map to be updated, the route point information indicating a travel route in an information acquisition area in which three-dimensional information for update of the map information of the dynamic map is to be acquired, and a matching processing unit that performs vehicle matching processing to request an autonomous vehicle that is a request target to acquire the three-dimensional information, the vehicle matching processing being for selecting the autonomous vehicle requested to acquire the three-dimensional information in accordance with a priority obtained by referring to list data in which vehicle information of a plurality of autonomous vehicles is registered, and a client terminal that includes a three-dimensional information acquisition unit that acquires the three-dimensional information and a movement path management unit that, in response to a request to acquire the three-dimensional information, responds to whether the three-dimensional information can be acquired in accordance with a determination of whether the three-dimensional information can be acquired based on a new movement path in accordance with the route point information.

[0014] An information processing method of one aspect of the present disclosure is an information processing method for an information processing apparatus, the information processing method including generating route point information based on map information to be updated, the map information to be updated being map information of a dynamic map to be updated, the route point information indicating a travel route in an information acquisition area in which three-dimensional information for update of the map information of the dynamic map is to be acquired, and performing vehicle matching processing to request an autonomous vehicle that is a request target to acquire the three-dimensional information, the vehicle matching processing being for selecting the autonomous vehicle requested to acquire the three-dimensional information in accordance with a priority obtained by referring to list data in which vehicle information of a plurality of autonomous vehicles is registered.

[0015] In one aspect of the present disclosure, path point information is generated based on map information to be updated, the map information to be updated being map information of a dynamic map to be updated, the path point information indicating a travel route in an information acquisition area in which three-dimensional information used for updating the dynamic map is to be acquired, and a vehicle matching process is executed, the vehicle matching process selecting an autonomous vehicle requested to acquire the three-dimensional information according to a priority obtained by referring to list data in which vehicle information of a plurality of autonomous vehicles is registered, to request the autonomous vehicle requested as a target to acquire the three-dimensional information. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a diagram showing a configuration example of one embodiment of a dynamic map update system to which the present technology is applied.

[0017] Figure 2 FIG. 2 is a block diagram showing a configuration example of a management server.

[0018] Figure 3 FIG. 3 is a block diagram showing a configuration example of a client terminal.

[0019] Figure 4 FIG. 4 is a diagram showing an example of a screen for confirming a three-dimensional information acquisition request.

[0020] Figure 5 FIG. 5 is a diagram for describing an acceptance condition.

[0021] Figure 6 FIG. 6 is a diagram of an example of map update determination information.

[0022] Figure 7 FIG. 7 is a diagram showing an example of vehicle information.

[0023] Figure 8 FIG. 8 is a diagram showing an example of path point information.

[0024] Figure 9 FIG. 9 is a diagram for describing an example of determining a priority.

[0025] Figure 10 FIG. 10 is a sequence chart for describing a first processing example of a dynamic map update process.

[0026] Figure 11 FIG. 11 is a flowchart for describing a vehicle matching process.

[0027] Figure 12 FIG. 12 is a flowchart for describing an autonomous driving travel process of acquiring three-dimensional information.

[0028] Figure 13 FIG. 13 is a sequence chart for describing a second processing example of a dynamic map update process.

[0029] Figure 14 is a block diagram showing an example of a hardware configuration of an autonomous vehicle.

[0030] Figure 15 is a block diagram showing an example of a hardware configuration of a management server. DETAILED DESCRIPTION

[0031] Hereinafter, specific embodiments to which the present technology is applied will be described in detail with reference to the accompanying drawings.

[0032] <Configuration example of a dynamic map update system>

[0033] Figure 1 is a diagram showing an example of a configuration of one embodiment of a dynamic map update system to which the present technology is applied.

[0034] Figure 1 The dynamic map update system 11 shown in FIG. 1 can distribute and update map information of a dynamic map necessary for an autonomous vehicle 12 to perform autonomous driving, the autonomous vehicle 12 being a vehicle that can be connected to a network and also supports autonomous driving. The autonomous vehicle 12 includes a sensor group such as a camera, a millimeter wave radar, and a LiDAR (Light Detection and Ranging), and can acquire three-dimensional information for updating map information of the dynamic map by using the sensor group.

[0035] As shown in the figure, the dynamic map update system 11 includes a management server 21 and a client terminal 22 installed on a plurality of autonomous vehicles 12 (two autonomous vehicles 12-1 and 12-2 in the example shown in FIG. 1). The management server 21 is provided on a network 23 such as the Internet, and the client terminal 22 can be connected to the network 23 via a base station 24 and a cellular core network 25. Figure 1 The management server 21 manages map information of a dynamic map, and distributes the map information of the dynamic map to the autonomous vehicle 12 via the network 23. The management server 21 manages vehicle information (see the description to be made later), for example, including current positions and destinations of the autonomous vehicles 12, a sensor group included in the autonomous vehicle 12, and a battery state of the autonomous vehicle 12. Then, the management server 21 determines necessity of updating the map information of the dynamic map, selects the autonomous vehicle 12 most suitable for being requested to update the map information of the dynamic map from among list data in which vehicle information of a plurality of autonomous vehicles 12 is registered, and requests acquisition of three-dimensional information.

[0036] Figure 7

[0037] ​​The client terminal 22 can acquire map information of a dynamic map distributed by the management server 21 via the network 23 so that the autonomous vehicle 12 can perform autonomous driving travel based on the map information. When the client terminal 22 receives a request for acquisition of three-dimensional information from the management server 21, the client terminal 22 changes a travel plan based on a movement path set for the autonomous vehicle 12 to perform autonomous driving travel, determines whether or not three-dimensional information can be acquired, and makes a response to the management server 21 about whether or not three-dimensional information can be acquired. If the client terminal 22 determines that three-dimensional information can be acquired, the client terminal 22 transmits three-dimensional information acquired by a sensor group included in the autonomous vehicle 12 to the management server 21 according to the changed travel plan.

[0038] Figure 2 is a block diagram showing a configuration example of the management server 21.

[0039] As Figure 2 shown in FIG. 1, the management server 21 is configured to include a map management unit 31, a vehicle information management unit 32, a map update management unit 33, a matching processing unit 34, and a communication unit 35.

[0040] The map management unit 31 holds and manages map information of a dynamic map. For example, the map management unit 31 supplies map information of a dynamic map to the map update management unit 33 in response to a request from the map update management unit 33, and updates map information of a dynamic map by using three-dimensional information transmitted from the client terminal 22.

[0041] The vehicle information management unit 32 manages vehicle information of the autonomous vehicle 12, and supplies list data in which vehicle information of a plurality of autonomous vehicles 12 is registered to the matching processing unit 34 in response to a request from the matching processing unit 34.

[0042] The map update management unit 33 manages update of map information of a dynamic map held in the map management unit 31. For example, if the map update management unit 33 determines that it is necessary to update map information of a dynamic map, the map update management unit 33 generates path point information (see the path point information 100 described later) indicating a travel route in an information acquisition area, the path point information being based on map information of a dynamic map to be updated (hereinafter referred to as map information to be updated). Then, the map update management unit 33 supplies the path point information to the matching processing unit 34 and requests update of the map information to be updated. Figure 8

[0043] ​The matching processing unit 34 refers to the list data of the vehicle information, and performs vehicle matching processing that selects the autonomous vehicle 12 most suitable for being requested to acquire three-dimensional information for updating the map information to be updated. The matching processing unit 34 can transmit the waypoint information or the incentive information indicating the incentive generated due to acquisition of the three-dimensional information to the autonomous vehicle 12 selected by the vehicle matching processing, and can also request acquisition of the three-dimensional information.

[0044] The communication unit 35 transmits and receives data to and from the client terminal 22 of the autonomous vehicle 12 via the network 23 of the management server 21. Figure 1

[0045] Figure 3 is a block diagram illustrating a configuration example of the client terminal 22.

[0046] As illustrated in Figure 3 , the client terminal 22 is configured to include a movement path management unit 41, a three-dimensional information acquisition unit 42, and a wireless communication unit 43.

[0047] The movement path management unit 41 manages a movement path when the autonomous vehicle 12 performs autonomous driving, and creates or changes a travel plan based on the movement path. When the management server 21 requests the movement path management unit 41 to acquire three-dimensional information, the movement path management unit 41 determines whether or not the three-dimensional information can be acquired based on a new movement path that acquires waypoint information of a travel route in an information acquisition area according to the instruction information.

[0048] For example, the movement path management unit 41 can cause the display unit of the autonomous vehicle 12 to display a screen for confirming a three-dimensional information acquisition request as illustrated in Figure 4 . On the screen for confirming the three-dimensional information acquisition request, information on the information acquisition area (request title), a planned movement distance and a time to reach a destination based on the new movement path according to the waypoint information, incentive information (reward) generated due to acquisition of the three-dimensional information, and the like are presented. The movement path management unit 41 can determine whether or not the three-dimensional information can be acquired according to a response (yes / no) of a user of the autonomous vehicle 12.

[0049] Alternatively, an acceptance condition as illustrated in Figure 5 is set in advance in the movement path management unit 41. The movement path management unit 41 can automatically determine whether or not the three-dimensional information can be acquired according to the acceptance condition. For example, for an acceptance condition that accepts a request to acquire the three-dimensional information, a time taken to acquire the three-dimensional information based on the new movement path according to the waypoint information, a current battery level (%) of the autonomous vehicle 12, incentive information (reward) generated due to acquisition of the three-dimensional information, and the like are set.

[0050] ​If the movement path management unit 41 determines that three-dimensional information can be acquired, the movement path management unit 41 transmits the effect to the management server 21 and changes the travel plan according to the travel route in the area based on the instruction information to acquire the path point information. When the automated driving vehicle 12 performs automated driving travel according to the changed travel plan and reaches the information acquisition area, the movement path management unit 41 instructs the three-dimensional information acquisition unit 42 to start acquiring three-dimensional information.

[0051] The three-dimensional information acquisition unit 42 acquires three-dimensional information output from various sensor groups installed on the automated driving vehicle 12 according to an instruction from the movement path management unit 41 and transmits the three-dimensional information to the management server 21 via the wireless communication unit 43.

[0052] The wireless communication unit 43 performs wireless communication with the base station 24 of the Figure 1 and transmits and receives data to and from the management server 21 via the network 23.

[0053] Figure 6 is a diagram illustrating an example of map update determination information that is additionally provided to the map information supplied from the map management unit 31 to the map update management unit 33.

[0054] As illustrated in Figure 6 , information on an information update date and time, information on whether there is construction work, information on whether there is an event, weather forecast information, accident notification information, error notification information from an automated driving vehicle, user demand information, user request information, and traffic volume information are registered in the map update determination information in association with a map ID for identifying a map.

[0055] In general, for the update of map information of a dynamic map, all of the map information cannot be guaranteed to be up-to-date due to the cost necessary to acquire three-dimensional information, and thus map information to be updated is selected with priority. For example, map information of a region with a large traffic volume, a road with new construction information or accident information, a region where an event that is expected to attract a large number of vehicles is to occur, a region with many map requests from users, and the like are updated with priority. Further, when a notification indicating that travel is not possible (error notification) is received from the automated driving vehicle 12 that travels using the map information of the dynamic map distributed from the management server 21, or when the user of the automated driving vehicle 12 requests up-to-date data, the map information is updated with priority.

[0056] The map update management unit 33 refers to the map update determination information that is additionally provided to the map information supplied from the map management unit 31, determines the necessity of updating the map information of the dynamic map, and determines the map information of the dynamic map to be updated with priority.

[0057] Figure 7is a diagram of an example of vehicle information supplied from the vehicle information management unit 32 to the map update management unit 33.

[0058] As Figure 7 As shown in FIG. 6, the manufacturer and vehicle line information, type information, sensor information, current position information, state information, destination information, arrival time information, battery information, measurable time information, future travel plan information, and past data acquisition history information are registered in the vehicle information in association with the vehicle ID for identifying the autonomous vehicle 12.

[0059] For example, a taxi or a general vehicle is registered in the type information. Referring to the type information and the state information, a taxi without a passenger is given a higher priority. Specifically, a taxi without a passenger is more likely to accept a request for acquisition of three-dimensional information. In addition, with respect to a taxi, it is assumed that there are many autonomous vehicles 12 of the same type equipped with the same type of sensor. Therefore, if an autonomous vehicle 12 of the same type has acquired three-dimensional information in the past without any problem, it can be determined that it has a high reliability. Note that high reliability means that there is a history of data acquisition in the past and the acquired three-dimensional information has almost no error or missing data. On the other hand, a taxi with a passenger has a lower priority than a general vehicle.

[0060] Referring to the sensor information, a sensor corresponding to three-dimensional information necessary for updating map information of a dynamic map is given a higher priority, and if there are sensors of the same type, a more powerful sensor is given a higher priority. Referring to the battery information, the one with a larger remaining battery charge is given a higher priority. Referring to the measurable time information, the one with a longer measurable time (assumed to be set by a user of the autonomous vehicle 12) is given a higher priority. Referring to the future travel plan information, an autonomous vehicle 12 that travels in or near an information acquisition area is given a higher priority. Referring to the past data acquisition history information, an autonomous vehicle 12 with high reliability is given a higher priority.

[0061] The map update management unit 33 can comprehensively determine each piece of information registered in the vehicle information and select an autonomous vehicle 12 requested to acquire three-dimensional information. In addition, a plan for autonomous driving of the autonomous vehicle 12 is registered in the management server 21, so that for a non-immediate request, the map update management unit 33 can specify a date and time at which three-dimensional information is to be acquired (a date and time required for acquisition of three-dimensional information) and select an autonomous vehicle 12 requested to acquire three-dimensional information.

[0062] Figure 8 is a diagram showing an example of path point information transmitted from the management server 21 to the autonomous vehicle 12.

[0063] For example, the waypoint information includes information indicating a plurality of points of a specified travel route within the information acquisition area. Figure 8 The waypoint information shown in FIG indicates a first waypoint 1 and a second waypoint 2 specifying two travel routes within the information acquisition area. For example, the first waypoint 1 includes information indicating four points A to D (x coordinates, y coordinates, and travel directions).

[0064] The management server 21 may transmit the waypoint information to only one autonomous vehicle 12, or may transmit the waypoint information to multiple autonomous vehicles 12. Furthermore, if the autonomous vehicle 12 requested to acquire three-dimensional information does not have sufficient time to travel the entire route specified in the waypoint information, or if the remaining battery power is low, the autonomous vehicle 12 may respond that it can acquire three-dimensional information for only a portion of the route. If this response is provided, the autonomous vehicle 12 is required to transmit the waypoint information indicating the portion for which three-dimensional information can be acquired to the management server 21. The management server 21 may then request another autonomous vehicle 12 to acquire three-dimensional information for the route excluding this portion.

[0065] Will refer to Figure 9 An example will be described in which the map update management unit 33 comprehensively scores the autonomous driving vehicles 12 that are requested to acquire three-dimensional information and determines the priority.

[0066] Regarding the above Figure 7 Type information and status information, sensor information, current position information and destination information, battery information, measurable time information, and past data acquisition history information among the vehicle information shown in , Figure 9 The priority based on the score (numerical value from 0 to 1) set according to the content of each piece of information is shown.

[0067] For example, for type information, the score for an ordinary vehicle is set to 0.5, and the score for a taxi without passengers is set to 1. For sensor information, a numerical value from 0 to 1 is set according to the performance of each sensor. For current location information and destination information, a numerical value from 0 to 1 is set according to the proximity of the travel distance from the current location to the destination. For battery information, a value indicating the percentage of remaining battery power is used as a score.

[0068] For the measurable time information, if the estimated time required to acquire the three-dimensional information is the same as the measurable time, it is set to 0, and is set to at most 1 according to the margin of the measurable time. Note that if the estimated time is greater than the measurable time, it is excluded from the process of determining the priority. For the past data acquisition history information, if the acquisition of the three-dimensional information succeeded, the score is set to 1, and if the acquisition of the three-dimensional information failed, the score is set to 0. The score is set from 0 to 1 according to the degree of success and failure. Note that for a taxi, if the taxi has no history, but other taxis of the same type have histories, the reliability of the taxi can be increased and the score can be corrected upward.

[0069] The map update management unit 33 can use a total value obtained by adding the scores of the respective pieces of information as the priority. In the example shown in Figure 9

[0070] The dynamic map update system 11 configured as described above can update the dynamic map more frequently and more optimally, because the appropriate autonomous vehicle 12 can be requested to acquire the three-dimensional information according to the priority.

[0071] <First processing example of dynamic map update processing>

[0072] A first processing example of the dynamic map update processing performed in the dynamic map update system 11 will be described with reference to Figure 10 to Figure 12

[0073] Figure 10 is a sequence diagram for describing the first processing example of the dynamic map update processing. Note that in the first processing example of the dynamic map update processing, the process from determining to update the dynamic map in the management server 21 to transmitting the three-dimensional information actually acquired by one autonomous vehicle 12 will be described.

[0074] In step S11, in the management server 21, the map update management unit 33 transmits a map information acquisition request to the map management unit 31, which requests to acquire the map information of the dynamic map stored in the map management unit.

[0075] In step S12, the map management unit 31 reads the map information of the dynamic map in response to the map information acquisition request transmitted in step S11, and supplies the map information to the map update management unit 33. Thus, the map update management unit 33 acquires the map information of the dynamic map.

[0076] ​​In step S13, the map update management unit 33 determines whether it is necessary to update the map information of the dynamic map acquired in step S12. For example, the map update management unit 33 can determine the necessity of updating the map information of the dynamic map by referring to the map update determination information described above. Figure 6

[0077] Next, if the map update management unit 33 determines that it is necessary to update the map information of the dynamic map, in step S14, the map update management unit 33 generates path point information indicating a travel route in an information acquisition area in which three-dimensional information is to be acquired, based on the map information to be updated, which is the map information of the dynamic map to be updated.

[0078] In step S15, the map update management unit 33 transmits a map information update request requesting to update the map information to be updated, to the matching processing unit 34. The map information update request includes the path point information generated in step S14.

[0079] In step S16, the matching processing unit 34 transmits a vehicle information acquisition request requesting to acquire list data of vehicle information registered in the vehicle information management unit 32, to the vehicle information management unit 32.

[0080] In step S17, the vehicle information management unit 32 reads the vehicle information in response to the vehicle information acquisition request transmitted in step S16, and transmits the list data of the vehicle information to the matching processing unit 34. Thus, the matching processing unit 34 acquires the list data of the vehicle information.

[0081] In step S18, the matching processing unit 34 selects the most suitable autonomous vehicle 12 that is requested to acquire three-dimensional information of the information acquisition area, from the vehicle information acquired in step S17, based on the map information to be updated in the map information update request transmitted in step S15. The vehicle matching processing of the matching processing unit 34 will be described with reference to the flowchart described later. Figure 11

[0082] In step S19, the matching processing unit 34 transmits a three-dimensional information acquisition request message requesting to acquire three-dimensional information, to the autonomous vehicle 12 selected in the vehicle matching processing of step S18, via the communication unit 35. The three-dimensional information acquisition request message includes path point information, required date and time, excitation information, and the like.

[0083] In response thereto, in the client terminal 22 of the autonomous vehicle 12, the movement path management unit 41 receives the three-dimensional information acquisition request message transmitted in step S19.

[0084] ​​In step S20, the movement path management unit 41 determines whether or not three-dimensional information corresponding to the three-dimensional information acquisition request message received in step S19 can be acquired. For example, the movement path management unit 41 can determine whether or not the three-dimensional information can be acquired by presenting a screen (see Figure 4 ) for confirming the three-dimensional information acquisition request to the user, or whether or not the three-dimensional information can be automatically acquired according to a pre-set acceptance condition (see Figure 5 ).

[0085] If the movement path management unit 41 determines that the three-dimensional information corresponding to the three-dimensional information acquisition request can be acquired, in step S21, the movement path management unit 41 transmits a message indicating that acquisition is possible to the management server 21 via the wireless communication unit 43, which informs that the three-dimensional information can be acquired.

[0086] In step S22, in the management server 21, the matching processing unit 34 terminates the processing of requesting update of the map information of the dynamic map according to the message indicating that acquisition is possible transmitted from the client terminal 22 in step S21.

[0087] In step S23, in the autonomous vehicle 12, the movement path management unit 41 changes the travel plan according to the path point information included in the three-dimensional information acquisition request.

[0088] Thereafter, the autonomous vehicle 12 travels according to the travel plan changed in step S23 until reaching the information acquisition area for which the acquisition of the three-dimensional information is requested by the three-dimensional information acquisition request. If it is determined in step S24 that the autonomous vehicle 12 has reached the information acquisition area, the processing proceeds to step S25.

[0089] In step S25, the movement path management unit 41 supplies the three-dimensional information acquisition unit 42 with an acquisition start instruction to instruct the start of acquisition of the three-dimensional information.

[0090] In step S26, the three-dimensional information acquisition unit 42 acquires the three-dimensional information output from each sensor group installed on the autonomous vehicle 12 according to the three-dimensional information acquisition request message.

[0091] After the acquisition of the three-dimensional information according to the three-dimensional information acquisition request message is completed, in step S26, the three-dimensional information acquisition unit 42 supplies the acquired three-dimensional information to the wireless communication unit 43.

[0092] In step S27, the wireless communication unit 43 transmits the three-dimensional information acquired in step S26 to the management server 21, and the communication unit 35 receives the three-dimensional information.

[0093] In step S28, in the management server 21, the communication unit 35 supplies the three-dimensional information received in step S27 to the map management unit 31, and the map management unit 31 updates the map information to be updated on the basis of the three-dimensional information.

[0094] Figure 11 is a flowchart for describing the vehicle matching process performed in step S18 of Figure 10

[0095] In step S31, the matching process unit 34 determines a travel route within the information acquisition area on the basis of the route point information included in the map information update request acquired in step S15 of Figure 10

[0096] In step S32, the matching process unit 34 refers to the list data of the vehicle information acquired in step S17 of Figure 10

[0097] In step S33, the matching process unit 34 determines whether all the vehicle information registered in the list data of the vehicle information has been confirmed.

[0098] In step S33, if the matching process unit 34 determines that all the vehicle information registered in the list data of the vehicle information has not been confirmed, the process proceeds to step S34.

[0099] In step S34, the matching process unit 34 determines whether the autonomous vehicle 12 that has undergone the confirmation in step S32 immediately before this step is provided with a sensor necessary for updating the map information of the dynamic map.

[0100] In step S34, if the matching process unit 34 determines that the autonomous vehicle 12 that has undergone the confirmation is not provided with the sensor necessary for updating the map information of the dynamic map, the process of steps S35 to S37 is skipped, and the process returns to step S32. Meanwhile, in step S34, if the matching process unit 34 determines that the autonomous vehicle 12 that has undergone the confirmation is provided with the sensor necessary for updating the map information of the dynamic map, the process proceeds to step S35.

[0101] In step S35, the matching process unit 34 determines whether the autonomous vehicle 12 that has undergone the confirmation is traveling in or near the information acquisition area. Note that, if the date and time of acquiring the three-dimensional information are specified, the matching process unit 34 determines whether the autonomous vehicle 12 that has undergone the confirmation is traveling in or near the information acquisition area at the date and time of acquiring the three-dimensional information.

[0102] ​​​In step S35, if the matching processing unit 34 determines that the experience-confirmed autonomous vehicle 12 is not traveling in or near the information acquisition area, the processing of steps S36 and S37 is skipped, and the processing returns to step S32. Meanwhile, in step S35, if the matching processing unit 34 determines that the experience-confirmed autonomous vehicle 12 is traveling in or near the information acquisition area, the processing proceeds to step S36.

[0103] In step S36, the matching processing unit 34 determines whether the experience-confirmed autonomous vehicle 12 can travel in the travel route according to the route point information within the measurable time. For example, the matching processing unit 34 obtains a predicted time necessary to be predicted to travel in the travel route according to the route point information, based on the distance between the points of the route point information and the legal speed. If the measurable time of the autonomous vehicle 12 is the predicted time or longer, the matching processing unit 34 can determine that the experience-confirmed autonomous vehicle 12 can travel in the travel route according to the route point information within the measurable time.

[0104] In step S36, if the matching processing unit 34 determines that the experience-confirmed autonomous vehicle 12 cannot travel in the travel route according to the route point information within the measurable time, the processing of step S37 is skipped, and the processing returns to step S32. Meanwhile, in step S36, if the matching processing unit 34 determines that the experience-confirmed autonomous vehicle 12 can travel in the travel route according to the route point information within the measurable time, the processing proceeds to step S37.

[0105] In step S37, the matching processing unit 34 registers the experience-confirmed autonomous vehicle 12 in the request candidate vehicle list. After the processing of step S37, the processing returns to step S32, and the same processing is repeatedly executed thereafter.

[0106] Meanwhile, in step S33, if the matching processing unit 34 determines that all the vehicle information registered in the list data of the vehicle information has been confirmed, the processing proceeds to step S38. In other words, in this case, all the autonomous vehicles 12 that become candidates requested to acquire the three-dimensional information of the information acquisition area are registered in the request candidate vehicle list according to the determination in steps S34 to S36.

[0107] In step S38, the matching processing unit 34 scores the vehicle information (see the above description Figure 9 ) of the autonomous vehicles 12 that have been registered in the request candidate vehicle list, and selects the autonomous vehicle 12 having the highest priority as the request target.

[0108] In step S39 , the matching processing unit 34 transmits a three-dimensional information acquisition request message to the autonomous driving vehicle 12 serving as a request target.

[0109] In step S40 , the matching processing unit 34 determines whether a message indicating that acquisition is possible is transmitted in response to the three-dimensional information acquisition request message transmitted in step S39 before the response deadline.

[0110] In step S40 , if the matching processing unit 34 determines that a message indicating that acquisition is possible has not been sent before the response deadline, the process proceeds to step S41 .

[0111] In step S41, the matching processing unit 34 selects the autonomous driving vehicle 12 with the second highest priority from the vehicle information of the autonomous driving vehicles 12 registered in the request candidate vehicle list as the request target. The process then returns to step S39, and a three-dimensional information acquisition request message is sent to the autonomous driving vehicle 12 with the second highest priority.

[0112] Meanwhile, in step S40 , if the matching processing unit 34 determines that a message indicating that acquisition is possible has been sent before the response deadline, the process proceeds to step S42 .

[0113] In step S42, the matching processing unit 34 determines whether a message indicating that acquisition is possible has been sent from the autonomous driving vehicles 12 corresponding to the number of autonomous driving vehicles required to update the map information of the dynamic map. For example, if a single autonomous driving vehicle 12 fails to acquire three-dimensional information by traveling through all the driving routes, the matching processing unit 34 requests that a plurality of autonomous driving vehicles 12 corresponding to the number of autonomous driving vehicles required to acquire three-dimensional information by traveling through all the driving routes be requested to acquire the three-dimensional information.

[0114] In step S42, if the matching processing unit 34 determines that a message indicating that acquisition is possible has not yet been sent from the autonomous driving vehicle 12 corresponding to the number of autonomous driving vehicles required to update the map information of the dynamic map, then the processing returns to step S41 and the same processing is repeated thereafter.

[0115] Meanwhile, in step S42, if the matching processing unit 34 determines that a message indicating that acquisition is possible has been sent from the autonomous driving vehicles 12 corresponding to the number of autonomous driving vehicles required to update the map information of the dynamic map, the vehicle matching processing is terminated. Therefore, acquisition of three-dimensional information can be requested for all driving routes in the information acquisition area in which three-dimensional information is to be acquired.

[0116] Will refer to Figure 12 The flowchart shown in describes an autonomous driving travel process including three-dimensional information acquisition performed in the autonomous driving vehicle 12.

[0117] For example, when driving of the automated vehicle 12 is started, the process is started. In step S51, the client terminal 22 transmits vehicle information of its own automated vehicle 12 to the management server 21. Note that the vehicle information can also be transmitted periodically at a timing after a predetermined update interval elapses after automated driving is started.

[0118] In step S52, the automated vehicle 12 executes automated driving in accordance with the normal travel plan.

[0119] In step S53, in the client terminal 22, the travel path management unit 41 determines whether a three-dimensional information acquisition request message has been transmitted from the management server 21.

[0120] In step S53, if the travel path management unit 41 determines that the three-dimensional information acquisition request message has not been transmitted from the management server 21, the process returns to step S52 and automated driving is continuously executed. Meanwhile, in step S53, if the travel path management unit 41 determines that the three-dimensional information acquisition request message has been transmitted from the management server 21, the process proceeds to step S54.

[0121] In step S54, the travel path management unit 41 determines whether three-dimensional information can be acquired on the basis of the three-dimensional information acquisition request message transmitted from the management server 21.

[0122] In step S55, the travel path management unit 41 determines whether to accept the three-dimensional information acquisition request on the basis of the determination in step S54.

[0123] In step S55, if the travel path management unit 41 determines not to accept the three-dimensional information acquisition request, the process proceeds to step S56.

[0124] In step S56, the travel path management unit 41 transmits a message indicating that acquisition is not possible to the management server 21, which notifies that three-dimensional information cannot be acquired, and the process returns to step S52. Meanwhile, in step S55, if the travel path management unit 41 determines to accept the three-dimensional information acquisition request, the process proceeds to step S57.

[0125] In step S57, the travel path management unit 41 transmits a message indicating that acquisition is possible to the management server 21, which notifies that three-dimensional information can be acquired. Then, the travel path management unit 41 changes the travel plan in accordance with the path point information included in the three-dimensional information acquisition request message.

[0126] In step S58, the automated vehicle 12 executes automated driving in accordance with the changed travel plan.

[0127] In step S59, the movement path management unit 41 determines whether the automated driving vehicle 12 has reached the information acquisition area for which acquisition of three-dimensional information is requested by the three-dimensional information acquisition request.

[0128] In step S59, if the movement path management unit 41 determines that the automated driving vehicle 12 has not reached the information acquisition area, the processing returns to step S58, and the automated driving travel according to the changed travel plan is continued. Meanwhile, in step S59, if the movement path management unit 41 determines that the automated driving vehicle 12 has reached the information acquisition area, the processing proceeds to step S60.

[0129] In step S60, the movement path management unit 41 instructs the three-dimensional information acquisition unit 42 to start acquisition of three-dimensional information. Thereby, the three-dimensional information acquisition unit 42 acquires three-dimensional information output from various sensor groups installed on the automated driving vehicle 12, and the automated driving vehicle 12 performs automated driving travel.

[0130] In step S61, the movement path management unit 41 determines whether acquisition of three-dimensional information by the three-dimensional information acquisition unit 42 according to the three-dimensional information acquisition request has been completed.

[0131] In step S61, if the movement path management unit 41 determines that acquisition of three-dimensional information has not been completed, the processing returns to step S60, and acquisition of three-dimensional information is continued. Meanwhile, in step S61, if the movement path management unit 41 determines that acquisition of three-dimensional information has been completed, the processing proceeds to step S62.

[0132] In step S62, the three-dimensional information acquisition unit 42 transmits the three-dimensional information acquired in step S60 to the management server 21 via the wireless communication unit 43. Thereafter, the processing returns to step S52, and the automated driving vehicle 12 restarts automated driving travel according to the normal travel plan.

[0133] The dynamic map update processing as described above is executed, so that in the dynamic map update system 11, it is possible to quickly select the automated driving vehicle 12 that can acquire three-dimensional information within the information acquisition area for which map information needs to be updated, and request acquisition of three-dimensional information. This makes it possible to more frequently update map information of a dynamic map in the dynamic map update system 11.

[0134] <Second processing example of dynamic map update processing>

[0135] Reference will be made to Figure 13A second processing example of the dynamic map update processing performed in the dynamic map update system 11 will be described with reference to the sequence chart shown in FIG. 8. Note that, in the second processing example of the dynamic map update processing, a process of acquiring three-dimensional information of an information acquisition area by a plurality of autonomous vehicles 12 will be described.

[0136] In steps S71 to S78, the same processing as steps S11 to S18 of the dynamic map update processing is performed. Figure 10

[0137] In step S79, the matching processing unit 34 transmits a three-dimensional information acquisition request message to the client terminal 22 of the autonomous vehicle 12 having the highest priority in the vehicle matching processing of step S78.

[0138] In step S80, in the client terminal 22 that received the three-dimensional information acquisition request message transmitted in step S79, the movement path management unit 41 determines whether or not it is possible to acquire three-dimensional information, as in step S20 described above. If the movement path management unit 41 determines that it is possible to acquire three-dimensional information corresponding to the three-dimensional information acquisition request within a partial section of the information acquisition area, the movement path management unit 41 transmits a message indicating that it is possible to acquire, together with the path point information of the partial section, to the management server 21.

[0139] In step S81, the matching processing unit 34 transmits a response (OK) to the message indicating that it is possible to acquire to the autonomous vehicle 12 having the highest priority.

[0140] In step S82, in the client terminal 22 of the autonomous vehicle 12 having the highest priority, the movement path management unit 41 changes the travel plan, and then performs autonomous travel in accordance with the changed travel plan.

[0141] In step S83, the matching processing unit 34 additionally selects the autonomous vehicle 12 having the second highest priority in the vehicle matching processing of step S78.

[0142] In step S84, the matching processing unit 34 transmits a three-dimensional information acquisition request message to the client terminal 22 of the autonomous vehicle 12 additionally selected in step S84. At this time, the three-dimensional information acquisition request message contains path point information that has been determined to be impossible to acquire by the autonomous vehicle 12 having the first highest priority.

[0143] ​In step S85, in the client terminal 22 that has received the three-dimensional information acquisition request message transmitted in step S84, the movement path management unit 41 determines whether or not it is possible to acquire the three-dimensional information, as in step S20 described above. If the movement path management unit 41 determines that it is not possible to acquire the three-dimensional information corresponding to the three-dimensional information acquisition request in the partial section of the information acquisition area, the movement path management unit 41 transmits a message indicating that it is not possible to acquire to the management server 21.

[0144] In step S86, the matching processing unit 34 additionally selects the automated driving vehicle 12 having the third highest priority in the vehicle matching processing of step S78.

[0145] In step S87, the matching processing unit 34 transmits a three-dimensional information acquisition request message to the client terminal 22 of the automated driving vehicle 12 additionally selected in step S86. At this time, the three-dimensional information acquisition request message contains the point information determined by the automated driving vehicle 12 having the first highest priority as being impossible to acquire.

[0146] In step S88, in the client terminal 22 that has received the three-dimensional information acquisition request message transmitted in step S87, the movement path management unit 41 determines whether or not it is possible to acquire the three-dimensional information, as in step S20 described above. If the movement path management unit 41 determines that it is possible to acquire the three-dimensional information corresponding to the three-dimensional information acquisition request, the movement path management unit 41 transmits a message indicating that it is possible to acquire to the management server 21.

[0147] In step S89, in the client terminal 22 of the automated driving vehicle 12 having the third highest priority, the movement path management unit 41 changes the travel plan, and then performs automated driving travel in accordance with the changed travel plan.

[0148] In step S90, the matching processing unit 34 terminates the processing of requesting the update of the map information of the dynamic map in accordance with the completion of the request to acquire the three-dimensional information in all sections of the information acquisition area.

[0149] As described above, the three-dimensional information in all sections of the information acquisition area can be acquired by the two automated driving vehicles 12. At this time, the automated driving vehicles 12 can independently acquire the three-dimensional information without communicating with each other, and can transmit the three-dimensional information to the management server 21.

[0150] <Hardware configuration example>

[0151] Next, the series of processes described above (information processing method) can be executed by hardware, or can be executed by software. If the series of processes is executed by software, a program configuring the software is installed on a general-purpose computer or the like.

[0152] Figure 14 is a block diagram showing an example of a hardware configuration of the automated driving vehicle 12.

[0153] As shown in Figure 14 The automated driving vehicle 12 is configured by connecting a processor 52, a read only memory (ROM) 53, a random access memory (RAM) 54, a drive system 55, a sensor group 56, a battery 57, an input interface (I / F) 58, a communication I / F 59, and a storage medium 60 via a bus 51, and an operation device 61 and a display device 62 are connected to the input I / F 58. The sensor group 56 includes various sensors necessary to acquire three-dimensional information, such as a camera, a millimeter wave radar, and a LiDAR, for example.

[0154] Figure 15 is a block diagram showing an example of a hardware configuration of the management server 21.

[0155] As shown in Figure 15 The management server 21 is configured by connecting a processor 72, a ROM 73, a RAM 74, a communication I / F 75, and a storage medium 76 via a bus 71.

[0156] The programs can be recorded in the ROM 53 and the ROM 73 in advance, and the ROM 53 and the ROM 73 are each used as a recording medium built in a computer.

[0157] Alternatively, the programs can be stored (recorded) in the storage medium 60 and the storage medium 76. Such storage medium 60 and storage medium 76 can be provided as a so-called software package. Here, examples of the storage medium 60 and the storage medium 76 include a flexible disk, a compact disc read only memory (CD-ROM), a magneto optical (MO) disk, a digital versatile disk (DVD), a magnetic disk, and a semiconductor memory.

[0158] Note that the program can be installed on a computer from the storage medium 60 and the storage medium 76 as described above, or it can be downloaded and installed on a computer via a communication network or a broadcast network. In other words, for example, the program can be wirelessly transmitted from a download site to a computer via a satellite for digital satellite broadcasting, or transmitted to a computer in a wired manner via a network such as a local area network (LAN) or the Internet.

[0159] The processor 52 and the processor 72 load the programs stored in the ROM 53 and the ROM 73 into the RAM 54 and the RAM 74, respectively, to execute the programs.

[0160] Accordingly, the processor 52 and the processor 72 execute processing according to the above-described flowchart or processing executed by the configuration of the above-described block diagram. For example, the processor 52 and the processor 72 can display a result of the processing on the display device 62 or transmit and receive the result via the communication I / F 59 and the communication I / F 75 as necessary.

[0161] Here, in the present specification, processing executed by a computer according to a program does not necessarily have to be executed chronologically according to the order described as a flowchart. In other words, the processing executed by the computer according to the program can also include processing executed in parallel or individually (for example, parallel processing or object-based processing).

[0162] In addition, the program can be processed by a single computer (processor) or distributed and processed in multiple computers. Furthermore, the program can be transferred to a remote computer in order to be executed.

[0163] Furthermore, in the present specification, a system refers to a collection of components such as devices and modules (parts), and it does not matter whether all the components are located in a single housing. Thus, both a plurality of devices housed in independent housings and connected to each other through a network and a single device housing a plurality of modules in a single housing are systems.

[0164] In addition, for example, a configuration described as a single device (or processing unit) can be divided into a plurality of devices (or processing units). Conversely, a configuration described above as a plurality of devices (or processing units) can be unified as a single device (or processing unit). In addition, of course, the configuration of each device (or each processing unit) can be additionally provided with a configuration other than the above-described configuration. Furthermore, if the configuration or operation is substantially the same as the entire system, a part of the configuration of a certain device (or processing unit) can be included in the configuration of another device (or another processing unit).

[0165] In addition, for example, the present technology can have a configuration of cloud computing in which a single function is shared and cooperatively processed by a plurality of devices through a network.

[0166] Furthermore, for example, the above-mentioned program can be executed in any device. In this case, the device only needs to have a function (functional block or the like) necessary to obtain necessary information.

[0167] Furthermore, for example, the steps described in the above-described flowchart can be executed by one device or can be shared and executed by a plurality of devices. Furthermore, in the case where one step includes a plurality of processing steps, the plurality of processing steps in one step can be executed by one device or can be shared and executed by a plurality of devices. In other words, the plurality of processing steps included in one step can be executed as processing including a plurality of steps. Conversely, it is also possible to collectively execute processing described as a plurality of steps as one step.

[0168] Note that in a program executed by a computer, the processing of the steps describing the program can be performed in chronological order according to the order described in this specification, or can be performed in parallel or individually at necessary timings (such as when a call is executed). In other words, the processing of each step can be performed in an order different from that described above, as long as there is no contradiction. In addition, the processing of the steps describing this program can be performed in parallel with the processing of other programs, or can be performed in combination with the processing of other programs.

[0169] It is noted that the present technology described herein can be implemented independently of each other, as long as there is no conflict between them. Of course, the present technology described herein can be implemented using some of these technologies in combination. For example, some or all of the present technology described in any embodiment can be implemented in combination with some or all of the present technology described in other embodiments. In addition, some or all of any of the above-mentioned present technologies can be implemented in combination with other technologies not described above.

[0170] <Configuration combination example>

[0171] Note that the present technology can also have the following configurations.

[0172] (1) An information processing device comprising:

[0173] a map update management unit that generates waypoint information based on map information to be updated, the map information to be updated being map information of a dynamic map to be updated, the waypoint information indicating a driving route in an information acquisition area in which updated three-dimensional information for map information of the dynamic map is to be acquired; and

[0174] A matching processing unit that performs vehicle matching processing to request an autonomous driving vehicle that is a request target to obtain three-dimensional information, and the vehicle matching processing is used to select the autonomous driving vehicle that is requested to obtain three-dimensional information based on a priority obtained by referring to list data in which vehicle information of multiple autonomous driving vehicles is registered.

[0175] (2) The information processing device according to (1), wherein

[0176] At least information on the type of the autonomous driving vehicle, information on a sensor group mounted on the autonomous driving vehicle, information on the current position and destination of the autonomous driving vehicle, and information on measurable time information of the autonomous driving vehicle for three-dimensional information are registered in the vehicle information, and

[0177] The matching processing unit selects an autonomous driving vehicle for which acquisition of three-dimensional information is requested based on the plurality of pieces of information registered in the vehicle information.

[0178] (3) The information processing apparatus according to (2), in which

[0179] The matching processing unit sets the automated driving vehicle as a request target in order from high to low of priority degrees obtained based on the plurality of items of information registered in the vehicle information, and requests the automated driving vehicle to acquire the three-dimensional information.

[0180] (4) The information processing apparatus according to (3), in which

[0181] When the automated driving vehicle requested to acquire the three-dimensional information is able to acquire the three-dimensional information within a partial section of the information acquisition area, the matching processing unit sets the automated driving vehicle having the second highest priority degree as a request target, and requests the automated driving vehicle to acquire the three-dimensional information within a remaining section.

[0182] (5) The information processing apparatus according to (4), in which

[0183] The automated driving vehicle able to acquire the three-dimensional information within the partial section of the information acquisition area transmits waypoint information indicating the partial section.

[0184] (6) An information processing system, comprising:

[0185] an information processing apparatus including:

[0186] a map update management unit that generates waypoint information based on map information to be updated, the map information to be updated being map information of a dynamic map to be updated, the waypoint information indicating a travel route in an information acquisition area in which three-dimensional information for update of the map information of the dynamic map is to be acquired, and

[0187] a matching processing unit that performs vehicle matching processing to request an automated driving vehicle as a request target to acquire the three-dimensional information, the vehicle matching processing being for selecting the automated driving vehicle requested to acquire the three-dimensional information in accordance with a priority degree obtained by referring to list data in which a plurality of automated driving vehicles are registered;

[0188] and

[0189] a client terminal including:

[0190] a three-dimensional information acquisition unit that acquires the three-dimensional information, and

[0191] a movement path management unit that, in response to the request to acquire the three-dimensional information, responds to whether the three-dimensional information can be acquired in accordance with a determination of whether the three-dimensional information can be acquired based on a new movement path in accordance with the waypoint information.

[0192] (7) An information processing method for an information processing apparatus, the information processing method comprising:

[0193] generating path point information based on map information to be updated, the map information to be updated being map information of a dynamic map to be updated, the path point information indicating a travel route in an information acquisition area in which three-dimensional information used for updating of the map information of the dynamic map is to be acquired; and

[0194] performing vehicle matching processing to request an automated driving vehicle serving as a request target to acquire the three-dimensional information, the vehicle matching processing being for selecting the automated driving vehicle requested to acquire the three-dimensional information in accordance with a priority degree obtained by referring to list data in which vehicle information of a plurality of automated driving vehicles is registered.

[0195] Note that embodiments are not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present disclosure. In addition, the effects described herein are merely exemplary effects, and are not limiting effects, and any other effects can be produced.

[0196] List of Reference Signs

[0197] 11 dynamic map update system

[0198] 12 automated driving vehicle

[0199] 21 management server

[0200] 22 client terminal

[0201] 23 network

[0202] 24 base station

[0203] 25 cellular core network

[0204] 31 map management unit

[0205] 32 vehicle information management unit

[0206] 33 map update management unit

[0207] 34 matching processing unit

[0208] 35 communication unit

[0209] 41 mobile path management unit

[0210] 42 three-dimensional information acquisition unit

[0211] 43 wireless communication unit

Claims

1. An information processing device, comprising: a map update management unit, the map update management unit generating waypoint information based on map information to be updated, the map information to be updated being map information of a dynamic map to be updated, the waypoint information indicating a driving route in an information acquisition area in which updated three-dimensional information for map information of the dynamic map is to be acquired; as well as A matching processing unit, the matching processing unit performs vehicle matching processing to request the autonomous driving vehicle that is the request target to obtain three-dimensional information, and the vehicle matching processing is used to select the autonomous driving vehicle that is requested to obtain three-dimensional information based on the priority obtained by referring to list data in which vehicle information of multiple autonomous driving vehicles is registered.

2. The information processing apparatus according to claim 1, wherein At least information on the type of the autonomous driving vehicle, information on a sensor group mounted on the autonomous driving vehicle, information on the current position and destination of the autonomous driving vehicle, and information on measurable time information of the autonomous driving vehicle for three-dimensional information are registered in the vehicle information, and The matching processing unit selects an autonomous driving vehicle for which acquisition of three-dimensional information is requested based on the plurality of pieces of information registered in the vehicle information.

3. The information processing apparatus according to claim 2, wherein The matching processing unit sets the autonomous driving vehicle as a request target in descending order of priority obtained based on the plurality of pieces of information registered in the vehicle information, and requests the autonomous driving vehicle to acquire three-dimensional information.

4. The information processing apparatus according to claim 3, wherein When the autonomous driving vehicle requested to obtain three-dimensional information is able to obtain three-dimensional information within a partial section of the information acquisition area, the matching processing unit sets the autonomous driving vehicle with the second highest priority as the request target and requests the autonomous driving vehicle to obtain the three-dimensional information within the remaining section.

5. The information processing apparatus according to claim 4, wherein The autonomous driving vehicle capable of acquiring three-dimensional information within the partial section of the information acquisition area transmits waypoint information indicating the partial section.

6. An information processing system comprising: An information processing device comprising: a map update management unit that generates waypoint information based on map information to be updated, the map information to be updated being map information of a dynamic map to be updated, the waypoint information indicating a driving route in an information acquisition area in which updated three-dimensional information for map information of the dynamic map is to be acquired, and a matching processing unit that performs vehicle matching processing to request an autonomous driving vehicle that is a request target to acquire three-dimensional information, the vehicle matching processing for selecting the autonomous driving vehicle that is requested to acquire three-dimensional information based on a priority obtained by referring to list data in which vehicle information of a plurality of autonomous driving vehicles is registered; and Client terminal, including: a three-dimensional information acquisition unit, the three-dimensional information acquisition unit acquires three-dimensional information, and The movement path management unit responds to the request to acquire the three-dimensional information by determining whether the three-dimensional information can be acquired based on the new movement path according to the waypoint information.

7. An information processing method for an information processing device, the information processing method comprising: generating waypoint information based on map information to be updated, the map information to be updated being map information of a dynamic map to be updated, the waypoint information indicating a driving route in an information acquisition area in which updated three-dimensional information for map information of the dynamic map is to be acquired; as well as Vehicle matching processing is performed to request the autonomous driving vehicle that is the request target to obtain three-dimensional information, and the vehicle matching processing is used to select the autonomous driving vehicle that is requested to obtain three-dimensional information based on the priority obtained by referring to list data in which vehicle information of multiple autonomous driving vehicles is registered.

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