Information processing device, information processing method, and program

Abstract

This technology provides the ability to identify roads that are consistently difficult for large vehicles to pass through. [Solution] The information processing device according to the first aspect of the present disclosure includes a control unit that performs the following: acquires a first history of driving operations when one or more large vehicles pass through a first road link; identifies the total number of times the steering angle of one or more large vehicles is reversed on the first road link as the total number of reversals, determines whether the total number of reversals exceeds a first threshold, and sets the first road link to a road link that is difficult for large vehicles to pass through, in accordance with the first history.

Description

Technical Field

[0001] The present disclosure relates to an information processing apparatus, an information processing method, and a program.

Background Art

[0002] Patent Document 1 proposes an information processing apparatus that generates information for other vehicles from acquired probe data for each attribute of a vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] One object of the present disclosure is to provide a technique for identifying a road that is constantly difficult for large vehicles to pass through.

Means for Solving the Problems

[0005] The information processing apparatus according to the first aspect of the present disclosure includes a control unit. The control unit acquires a first history of driving operations when one or more large vehicles pass through a first road link, specifies, as a total number of turns, the total number of times the steering angle of one or more of the large vehicles is reversed in the first road link according to the first history, determines whether the total number of turns exceeds a first threshold value, and sets the first road link as a road link that is difficult for the large vehicle to pass through in response to determining that the total number of turns exceeds the first threshold value.

Effects of the Invention

[0006] According to the present disclosure, it is possible to identify a road that is constantly difficult for large vehicles to pass through.

Brief Description of the Drawings

[0007] [Figure 1] Figure 1 schematically illustrates an example of a scenario in which this disclosure applies. [Figure 2] Figure 2 schematically shows an example of probe data in this disclosure. [Figure 3] Figure 3 schematically shows an example of how the server of this disclosure determines whether or not the first road link is difficult to traverse based on the first history and the second history. [Figure 4] Figure 4 schematically shows an example of the hardware configuration of the server described herein. [Figure 5] Figure 5 shows an example of the processing procedure when the server of this disclosure determines whether or not the first road link is difficult to pass through based on the first history and the second history. [Modes for carrying out the invention]

[0008] In recent years, development has progressed on systems that collect probe data from vehicles and provide information identified from the collected probe data. For example, Patent Document 1 proposes a system that collects probe data indicating the driving environment from multiple vehicles and generates information about the road driving environment from the obtained probe data for each vehicle attribute. According to this system, the information provided can be controlled according to the vehicle attributes. However, in conventional systems, the information provided about the road driving environment was basically limited to temporary information caused by natural disasters such as flooding, snow accumulation, and road freezing. On the other hand, large vehicles such as trucks and buses are larger in size than ordinary vehicles. Therefore, for large vehicles, there are roads that are permanently difficult to pass through due to road width, curves, etc., regardless of natural disasters. In previous systems, it was difficult to identify roads that were consistently impassable for such large vehicles.

[0009] In contrast, the information processing device according to the first aspect of this disclosure includes a control unit. The control unit is configured to acquire a first history of driving operations when one or more large vehicles travel through a first road link, to identify the total number of times the steering angle of one or more large vehicles is reversed on the first road link according to the first history as the total number of U-turns, to determine whether the total number of U-turns exceeds a first threshold, and, if it is determined that the total number of U-turns exceeds the first threshold, to set the first road link as a road link that is difficult for large vehicles to travel through. The more U-turns large vehicles make on the target road, the less smooth (i.e., difficult) it is for large vehicles to travel on the target road. With this configuration, by using the number of U-turns as an indicator, it is possible to identify target roads (road links) that are consistently difficult for large vehicles to travel through.

[0010] Furthermore, as another form of the information processing device relating to the above embodiment, one aspect of this disclosure may be an information processing method that implements all or part of the above components, a program, or a machine-readable storage medium that stores such a program. A machine-readable storage medium is a medium that stores information such as programs by electrical, magnetic, optical, mechanical, or chemical action.

[0011] [1. Application Examples] Figure 1 schematically shows an example of a scenario to which this disclosure applies. Server 1 according to this embodiment is an example of an information processing device. First, Server 1 acquires a first history H1, which is a history of driving operations when one or more large vehicles LV travel through the first road link L1. Server 1 identifies the total number of times the steering angle of one or more large vehicles LV is reversed on the first road link L1 as the total number of turns. Then, Server 1 determines that the total number of turns exceeds a first threshold and sets the first road link L1 as a road link that is difficult for large vehicles LV to travel through. After that, Server 1 outputs information regarding the first road link L1 that has been set as a road link that is difficult to travel through.

[0012] In this disclosure, the large vehicle LV may be a vehicle that falls under the definition of a large motor vehicle as defined in the Road Traffic Act. A large motor vehicle is a vehicle with a gross vehicle weight of 11 tons or more, or a maximum load capacity of 6.5 tons or more, or a vehicle with a seating capacity of 30 or more people. The type of large vehicle LV (power source, shape, etc.) may be selected at will.

[0013] (Road link 1) Each road on the map may be managed as a road link. A road link is a section of road having a certain length. A road link may include straight roads, curves, intersections, roundabouts, etc. The length of a road link may be determined as appropriate. Of the road links defined on the map, the first road link L1 is the one to be determined as to whether or not it is difficult for large vehicles LV to pass through. The first road link L1 may be automatically selected by server 1 or specified manually.

[0014] (First History) The first history H1 is a history of driving operations when a large vehicle LV travels along the first road link L1. In one example, the driving operations recorded as the first history H1 may include actions such as sudden acceleration, sudden braking, U-turns, turning around, backing up, shifting gears, and sudden steering. The method for creating the first history H1 may be appropriately selected depending on the embodiment. For example, the first history H1 may be created from probe data PD. Probe data PD is obtained by an on-board sensor. This is measurement data. The on-board sensors may include any sensors that can be mounted on the vehicle, such as a positioning module, imaging device, speed sensor, acceleration sensor, steering angle sensor, direction sensor, accelerator position sensor, brake pedal stroke sensor, shift position sensor, etc.

[0015] In one example, each large vehicle LV may accumulate, as probe data PD, the results of measuring the driving operations performed by in-vehicle sensors. Various driving operations in the large vehicle LV may be estimated from the accumulated probe data PD. The first history H1 may be constituted by the estimation results of the driving operations for the probe data PD collected from one or more large vehicles LV. However, the constitution of the first history H1 is not necessarily limited to such an example. If the driving operation in the first road link L1 can be specified, the constitution of the first history H1 is not particularly limited and may be appropriately selected according to the embodiment. In another example, the first history H1 may be constituted by the probe data PD. The period of the first history H1 may be arbitrarily determined.

[0016] (Probe data) FIG. 2 schematically shows an example of the probe data PD of the present disclosure. The probe data PD is sensing data obtained from a vehicle. If at least one of the acts of switching, turning, and reversing can be detected, the items included in the probe data PD are not particularly limited and may be appropriately selected according to the embodiment.

[0017] In one example, each record of the probe data PD may include the identifier of the vehicle, time, speed, acceleration, steering angle, position, ON / OFF of the brake, and the measured value of the shift. One record may correspond to the measurement result at one point in time. Based on the identifier, time, and position of the vehicle included in each record, a plurality of records corresponding to a series of driving operations on the first road link L1 (or the second road link L2 described later) may be extracted from the collected probe data PD. Even if it is the same large vehicle LV and the same road link, if they are measured in different time zones, each record may be distinguished as a record of a different driving operation. Then, based on the extracted plurality of records, it may be determined whether the corresponding type of driving operation corresponds to any of switching, turning, and reversing.

[0018] For example, a turn-back is an act of rotating the steering wheel in the opposite direction from a state where the steering wheel is being rotated in one direction. Therefore, a turn-back may be detected based on the measured value of the steering angle included in each record. As an example, one turn-back may be detected in response to the measured value of the steering angle reversing once. The reversal of the steering angle may be that the positive and negative of the measured value of the steering angle are reversed.

[0019] A U-turn is to change the direction of travel of the vehicle from one direction to the opposite direction. The direction of travel can be determined from the measured values of the time and position (i.e., displacement) included in each record. In addition, whether the vehicle is facing in its direction of travel (i.e., whether the vehicle is moving forward or backward) can be determined from the measured value of the shift included in each record. When making a U-turn, acceleration can occur by turning the steering wheel. Therefore, a U-turn may be detected based on the measured values of the time, position, shift, steering angle, and acceleration included in each record. As an example, one U-turn may be detected in response to the steering angle and acceleration being greater than a threshold value, the shift being D (Drive), and the direction of travel determined from the time and position reversing once. Each threshold value may be appropriately defined so as to be able to detect the driving operation of a U-turn.

[0020] A reverse is to reverse a vehicle traveling in one direction. When reversing, a brake operation is performed. Therefore, a reverse may be detected based on the measured values of the time, position, shift, and brake ON / OFF included in each record. As an example, one reverse may be detected in response to the brake ON / OFF operation being performed, the shift being changed from D (Drive) to R (Reverse), and the direction of travel determined from the time and position reversing once.

[0021] The detection method for each driving operation is not limited to the example shown and may be modified as appropriate depending on the embodiment. Also, the information included in each record of the probe data PD is not limited to the example in Figure 2 and may be selected as appropriate depending on the embodiment. For example, each record of the probe data PD may include speed and accelerator ON / OFF measurements, at least partially replacing or along with the measured values ​​of each item. When making a U-turn, the vehicle speed may be limited. Therefore, the speed measurement may be used to determine whether a U-turn is occurring. Also, when turning and reversing, the accelerator may be operated. Therefore, the accelerator ON / OFF measurement may be used to determine whether at least one of turning or reversing is occurring.

[0022] The method for collecting probe data PD is not particularly limited and may be appropriately selected depending on the embodiment. Server 1 may appropriately collect probe data PD from each of one or more large vehicles LV via a communication network. Probe data PD may be transmitted from the large vehicles LV to Server 1 upon request from Server 1 or by the large vehicles LV's voluntary operation. Probe data PD may also be stored in an external computer such as a NAS (Network Attached Storage), and Server 1 may acquire the probe data PD from the external computer. The data format of the probe data PD may be arbitrarily selected.

[0023] (judgement) Server 1 may determine whether it is difficult for a large vehicle LV to pass through the first road link L1 based on the number of times each driving operation is performed in the first history H1. The driving operations used as indicators for determining the difficulty of passage may be appropriately selected depending on the embodiment. In one example, the indicator driving operations may include at least one of reverse, turning around, and turning back. However, the indicator driving operations are not limited to this example and may be appropriately changed depending on the embodiment. In another example, the indicator driving operations may further include at least one of sudden acceleration, sudden braking, shifting gears, and sudden steering.

[0024] Furthermore, since turning around and returning are actions that reverse the direction of travel, these driving operations may be performed on the road link before the first road link L1, or from the middle of the first road link L1 to the road link before the first road link L1. Therefore, server 1 may acquire a second history H2 of the second road link L2, which is a road link before the first road link L1. Server 1 may then determine whether or not it is difficult for a large vehicle LV to pass through the first road link L1, depending on the number of times various driving operations are performed in the acquired second history H2. The second road link L2 may be continuous with the first road link L1, or it may be separated enough to allow detection of various driving operations performed in response to the difficulty of passing through the first road link L1. Also, the second road link L2 may overlap with the first road link L1 at least partially. The second history H2 may contain the same content as the driving operations recorded in the first history H1, except that the target link is different from the first history H1. The second history H2 may be created in the same manner as the first history H1.

[0025] (Conditions for evaluation) Figure 3 schematically shows an example of how the Server 1 of this disclosure determines whether the first road link L1 is difficult to pass through based on the first history H1 and the second history H2. As shown in Figure 3, the Server 1 may determine whether the first road link L1 is difficult for large vehicles LV to pass through based on the number of specific driving operations (reversing, turning around, turning back, etc.) in the first history H1 or the number of specific driving operations (turning around, turning back, etc.) in the second history H2. The specific driving operations used for the determination may be determined as appropriate. Both the first history H1 and the second history H2 may be used for the determination of the first road link L1, or only one of them may be used. When both the first history H1 and the second history H2 are used to determine link L1, the indicator driving operations may be the same for both the first history H1 and the second history H2, or they may be different. Server 1 may set one or more determination conditions for evaluating the difficulty of passage for the driving operations of the first history H1 or the second history H2. Server 1 may determine whether the first road link L1 is difficult for large vehicles LV to pass through, depending on whether the set determination conditions are met. The determination conditions may be set arbitrarily. In one example of this embodiment, any of the following three determination conditions may be adopted.

[0026] (1) First judgment condition For example, the first determination criterion may be set to evaluate the difficulty of passage according to the total number of U-turns in the first history H1. The total number of U-turns is the sum of the number of U-turns in the first history H1. For example, the first determination criterion may be defined to evaluate the first road link L1 as difficult for large vehicles LV to pass if the total number of U-turns in the first history H1 exceeds the first threshold, and the first road link L1 as not difficult for large vehicles LV to pass if the total number of U-turns is less than the first threshold. If the total number of U-turns is equal to the first threshold, either evaluation is acceptable. The first threshold may be arbitrarily defined. When large vehicles LV attempt to pass on roads that are difficult to pass, such as narrow roads or roads with sharp turns, they will have to make many small U-turns. Accordingly, the number of U-turns for large vehicles LV may increase on roads that are difficult to pass. According to the first determination criterion, by using this number of U-turns as an indicator, it is possible to appropriately identify road links that are difficult for large vehicles LV to pass.

[0027] (2)Second judgment condition For example, the second determination criterion may be set to evaluate the difficulty of passage according to the total number of U-turns in the first history H1 and the second history H2. The total number of U-turns is the sum of the number of turns in the first history H1 and the second history H2. For example, the second determination criterion may be defined to evaluate the first road link L1 as difficult for large vehicles LV to pass if the total number of U-turns in the first history H1 and the second history H2 exceeds the second threshold, and the first road link L1 as not difficult for large vehicles LV to pass if the total number of U-turns is less than the second threshold. If the total number of U-turns is equal to the second threshold, either evaluation is acceptable. The second threshold may be arbitrarily defined. If a driver determines that the road ahead is difficult to pass, they may turn the vehicle around by using a side road, etc., before or in the middle of that road. Accordingly, if the target road link includes roads that are difficult to traverse, the number of U-turns for large vehicles (LV) on the target road link (first road link L1) and the road link preceding it (second road link L2) may increase. According to the second determination criterion, by using this number of U-turns as an indicator, it is possible to appropriately identify road links that are difficult for large vehicles (LV) to traverse.

[0028] (3)Third judgment condition For example, the third determination criterion may be set to evaluate the difficulty of passage based on the total number of turns back in the first history H1 and the second history H2. The total number of turns back is the sum of the number of turns back in the first history H1 and the second history H2. For example, the third determination criterion may be defined to evaluate the first road link L1 as difficult for large vehicles LV to pass if the total number of turns back in the first history H1 and the second history H2 exceeds the third threshold, and the first road link L1 as not difficult for large vehicles LV to pass if the total number of turns back is less than the third threshold. If the total number of turns back is equal to the third threshold, either evaluation is acceptable. The third threshold may be arbitrarily defined. If a driver determines that the road ahead is difficult to pass, they may turn back by reversing the vehicle before or during the journey down that road. Accordingly, if the target road link includes roads that are difficult to traverse, the number of times large vehicle LVs turn back on the target road link (first road link L1) and the road link preceding it (second road link L2) may increase. According to the third determination condition, by using this number of turns back as an indicator, it is possible to appropriately identify road links that are difficult for large vehicle LVs to traverse.

[0029] (summary) Whether or not it is difficult for a large vehicle LV to pass through the first road link L1 may be determined by at least one of the above first to third determination conditions. For example, one or more determination conditions may be selected from the above first to third determination conditions, and the determination of whether or not it is difficult for a large vehicle LV to pass through the first road link L1 may be determined by the selected one or more determination conditions. If multiple determination conditions are selected, Server 1 may determine that the first road link L1 is difficult to pass through if at least one determination condition is satisfied, and that the first road link L1 is not difficult to pass through if none of the determination conditions are satisfied. Alternatively, Server 1 may determine that the first road link L1 is difficult to pass through if all of the determination conditions are satisfied, and that the first road link L1 is not difficult to pass through if at least one of the determination conditions is not satisfied. The determination conditions to be used may be selected by any method. The determination conditions to be used may be selected manually or may be predetermined in the program.

[0030] [2 Example Configurations] Figure 4 schematically shows an example of the hardware configuration of Server 1 of this disclosure. As shown in Figure 4, Server 1 according to this embodiment is a computer in which a control unit 11, a storage unit 12, a communication interface 13, an input device 14, an output device 15, and a drive 16 are electrically connected. The control unit 11 includes a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), etc., and is configured to execute arbitrary information processing. The storage unit 12 may be composed of, for example, a hard disk drive, a solid-state drive, etc. In this embodiment, the storage unit 12 stores a program 81. The program 81 is a program that causes an information processing device to execute the information processing according to this embodiment. The program 81 includes a series of instructions for the information processing.

[0031] The communication interface 13 is configured to perform wired or wireless data communication over a network. The communication interface 13 may be composed of, for example, a wired LAN (Local Area Network) module, a wireless LAN module, etc. In this embodiment, the server 1 may use the communication interface 13 to perform data communication over a network with other computers (for example, an external server, an in-vehicle device, etc.). The input device 14 is a device for inputting, for example, a mouse, keyboard, buttons, joystick, or controls. The output device 15 is a device for outputting, for example, a display or speaker. The input device 14 and the output device 15 may be integrally configured, for example, by a touch panel display, etc.

[0032] Drive 16 is a device for reading various information, such as programs, stored in the storage medium 91. The program 81 may be stored in the storage medium 91 in place of or together with the storage unit 12. The storage medium 91 is configured to store various information (stored programs, etc.) by electrical, magnetic, optical, mechanical, or chemical means so that a machine such as a computer can read the information. Server 1 may retrieve the program 81 from the storage medium 91. The storage medium 91 may be a disk-type storage medium such as a CD or DVD, or a non-disk-type storage medium such as semiconductor memory (e.g., flash memory). The type of drive 16 may be appropriately selected according to the type of storage medium 91.

[0033] Furthermore, regarding the specific hardware configuration of the information processing device, components can be omitted, replaced, and added as appropriate depending on the embodiment. For example, the control unit 11 may include multiple hardware processors. Hardware processors include microprocessors, FPGAs (field-programmable gate arrays), DSPs (digital signal processors), GPUs (Graphics Processing Units), and ASICs (application-specific integrated circuits). It may be composed of t), etc.

[0034] [3 Examples of operation] Figure 5 shows an example of the processing procedure when the server 1 of this disclosure determines whether the first road link L1 is difficult to pass through based on the first history H1 and the second history H2. The following processing procedure is an example of an information processing method executed by a computer.

[0035] In step S101, the control unit 11 acquires the first history H1 of the first road link L1 and the second history H2 of the second road link L2. The first road link L1 may be arbitrarily selected from the road links to be managed. The first history H1 and the second history H2 may be created from probe data PD collected from a large vehicle LV traveling on the selected first road link L1. For example, the control unit 11 may extract records from the probe data PD in which the value of the vehicle field is a large vehicle LV and the value of the location information field belongs to the first road link L1 or the second road link L2. The control unit 11 may estimate whether a specific driving operation was performed by analyzing the extracted records. If it is estimated that a specific driving operation was performed, the control unit 11 may record the driving operation in the first history H1 and the second history H2. Through this series of processes, the control unit 11 may create the first history H1 and the second history H2. Once the first history H1 and the second history H2 are acquired, the control unit 11 proceeds to step S102.

[0036] In step S102, the control unit 11 may determine whether the first road link L1 is difficult to pass through, depending on whether the driving operations included in the first history H1 and the second history H2 satisfy the above determination conditions for evaluating the difficulty of passage. For example, the determination conditions may include at least one of the first to third determination conditions. If only the first determination condition is adopted, the acquisition of the second history H2 may be omitted in step S101. If at least one of the second and third determination conditions is adopted, the control unit 11 may refer to both the first history H1 and the second history H2 to determine whether the first road link L1 is difficult to pass through. In step S103, the control unit 11 determines the branch destination of the process according to the determination result of step S102. If it is determined that the first road link L1 is difficult to pass through, the control unit 11 proceeds to the next step S104. Otherwise, the control unit 11 omits the process in step S104 and terminates this processing procedure.

[0037] In step S104, the control unit 11 sets the first road link L1 as a difficult-to-pass road link. Once the first road link L1 is set as a difficult-to-pass road link, the control unit 11 terminates this processing procedure. The information regarding the difficulty of passing the set first road link L1 may be used for any purpose. For example, the control unit 11 may output this information along with map information to terminals such as in-vehicle devices and user terminals, thereby providing information indicating the difficulty of passing each road link on a map.

[0038] [Features] According to this embodiment, in the process of step S102, by using the first to third determination conditions as indicators, it is possible to identify roads that are consistently difficult for large vehicles (LVs) to travel on from the driving operations shown in the collected driving history. This makes it possible to efficiently determine the travel route for large vehicles (LVs). Furthermore, the navigation system for large vehicles (LVs) can propose routes that avoid road links that are difficult for large vehicles (LVs) to travel on.

[0039] [4. Variant] While embodiments of this disclosure have been described in detail above, the above description is merely illustrative in all respects of this disclosure. It goes without saying that various improvements or modifications can be made without departing from the scope of this disclosure. The processes and means described in this disclosure are technically... They can be freely combined and implemented as long as no contradictions arise.

[0040] In the above embodiment, Server 1 is an example of an information processing device. However, the form of the information processing device is not limited to this example and may be appropriately modified depending on the embodiment. In another example, a terminal such as a PC (personal computer), tablet terminal, or mobile terminal may be configured to perform the calculation processing of Server 1. In this case, the terminal may be an example of an information processing device.

[0041] Furthermore, although the above embodiment describes a configuration in which Server 1 directly acquires data from each large vehicle, the method of data exchange is not limited to this example. Server 1 may acquire data indirectly from each large vehicle via an external computer, storage medium, etc. Also, some of the calculation processing of Server 1 may be performed in each large vehicle. [Explanation of Symbols]

[0042] 1...Server, 11...Control unit, 12...Storage unit, 13. Communication interface, 14. Input device, 15. Output device, 16. Drive, 81...Programs, 91...Storage media, PD...Probe data, L1...First road link, L2...Second road link, H1...First history, H2...Second History, LV...Large Vehicle

Claims

1. To acquire the first history of driving operations when one or more large vehicles pass through the first road link, In accordance with the first history, the total number of times the steering angle of one or more of the large vehicles is reversed on the first road link is identified as the total number of turns. To determine whether the total number of reversals exceeds the first threshold, and In response to the determination that the total number of turns exceeds the first threshold, the first road link is set to a road link that is difficult for the large vehicle to pass through. A control unit configured to perform the following actions: Information processing device.

2. The control unit, To acquire a second history of driving operations when one or more of the aforementioned large vehicles pass through a second road link preceding the first road link in the direction of travel of one or more of the aforementioned large vehicles, In accordance with the first history and the second history, the total number of times one or more of the large vehicles made turns in the middle of the first road link or the second road link is identified as the total number of turns. To determine whether the total number of turns exceeds the second threshold, and In response to the determination that the total number of turns exceeds the second threshold, the first road link is set to a road link that is difficult for the large vehicle to pass through. It is configured to perform further actions. The information processing apparatus according to claim 1.

3. The control unit, To acquire a second history of driving operations when one or more of the aforementioned large vehicles pass through a second road link preceding the first road link in the direction of travel of one or more of the aforementioned large vehicles, In accordance with the first history and the second history, the total number of times one or more of the large vehicles reversed midway through the first or second road link without completing the first road link is identified as the total number of turns back. To determine whether the total number of turns back exceeds the third threshold, and In response to the determination that the total number of turns back exceeds the third threshold, the first road link is set to a road link that is difficult for large vehicles to pass through. It is configured to perform further actions. The information processing apparatus according to claim 1.

4. A method of information processing performed by a computer, The aforementioned information processing method is: To acquire the first history of driving operations when one or more large vehicles pass through the first road link, In accordance with the first history, the total number of times the steering angle of one or more of the large vehicles is reversed on the first road link is identified as the total number of turns. To determine whether the total number of reversals exceeds the first threshold, and In response to the determination that the total number of turns exceeds the first threshold, the first road link is set to a road link that is difficult for the large vehicle to pass through. including, Information processing methods.

5. A program that causes a computer to execute an information processing method, The aforementioned information processing method is: To acquire the first history of driving operations when one or more large vehicles pass through the first road link, In accordance with the first history, the total number of times the steering angle of one or more of the large vehicles is reversed on the first road link is identified as the total number of turns. To determine whether the total number of reversals exceeds the first threshold, and In response to the determination that the total number of turns exceeds the first threshold, the first road link is set to a road link that is difficult for the large vehicle to pass through. including, program.

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