Information processing device and program

Abstract

To provide a program for allowing a computer to function as an information processing device.SOLUTION: An information processing device includes: a calculation unit which calculates control variables for controlling a wheel speed and inclination of each of four wheels of a vehicle, and a suspension supporting each of the wheels, on the basis of sensor information including road information indicating a road condition of a road traveled by the vehicle; and a control unit which controls automated driving on the basis of the control variables calculated by the calculation unit.SELECTED DRAWING: Figure 1

Description

[[Technical Field]]

[0001] The present invention relates to an information processing apparatus and a program. [[Background Art]]

[0002] Patent Document 1 describes a vehicle having an automatic driving function. [[Prior Art Documents]] [[Patent Documents]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Publication No. 2022-035198 [[Summary of the Invention]] [[Means for Solving the Problem]]

[0004] According to one embodiment of the present invention, there is provided an information processing apparatus. The information processing apparatus includes: a calculation unit that calculates control variables for controlling a wheel speed and a tilt of each of four wheels of a vehicle, and a suspension that supports the wheel, based on sensor information including road information indicating a road condition of a road on which the vehicle travels; and a control unit that controls automatic driving based on the control variables calculated by the calculation unit.

[0005] In the information processing apparatus, the control unit controls the automatic driving in units of one-billionth of a second based on the control variables calculated by the calculation unit.

[0006] The information processing apparatus includes a determination unit that determines control information to be used for calculating the respective control variables for controlling the wheel speed of each of the four wheels, the tilt of each of the four wheels, and the suspension supporting each of the four wheels, from among acquirable sensor information, wherein the calculation unit calculates a plurality of the control variables for the control unit to control the automatic driving based on the control information determined by the determination unit.

[0007] In the information processing device, the determination unit updates the information to be determined as control information from the sensor information based on the control result of the automatic driving by the control unit.

[0008] According to one embodiment of the present invention, a program is provided for causing a computer to function as the information processing device.

[0009] It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. Furthermore, subcombinations of these features may also constitute an invention. [Brief explanation of the drawing]

[0010] [Figure 1] This diagram schematically illustrates the risk prediction capability of the AI ​​for ultra-high-performance autonomous driving according to this embodiment. [Figure 2] This diagram schematically shows an example of the network configuration inside a vehicle according to this embodiment. [Figure 3] This is a first flowchart executed by the Central Brain according to this embodiment. [Figure 4] This is the first explanatory diagram illustrating an example of autonomous driving control using Central Brain according to this embodiment. [Figure 5] This is a second explanatory diagram illustrating an example of autonomous driving control by Central Brain according to this embodiment. [Figure 6] This is a third explanatory diagram illustrating an example of autonomous driving control by Central Brain according to this embodiment. [Figure 7] This is a fourth explanatory diagram illustrating an example of autonomous driving control by Central Brain according to this embodiment. [Figure 8] This is a fifth explanatory diagram illustrating an example of autonomous driving control by Central Brain according to this embodiment. [Figure 9] This diagram schematically shows an example of a computer hardware configuration that functions as a central brain. [Figure 10]This block diagram shows an example of the functional configuration of a computer that functions as a central brain. [Figure 11] This is a second flowchart executed by the Central Brain according to this embodiment. [Modes for carrying out the invention]

[0011] The present invention will be described below through embodiments of the invention, but these embodiments are not intended to limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0012] (First Embodiment) First, a first embodiment according to this embodiment will be described. Figure 1 schematically illustrates the hazard prediction capability of the AI ​​for ultra-high-performance autonomous driving according to this embodiment. In this embodiment, information from multiple types of sensors is converted into AI data and stored in the cloud. The AI ​​predicts and determines the best mix of conditions every nanosecond (one billionth of a second) and optimizes the operation of the vehicle 12.

[0013] Figure 2 is a diagram illustrating the configuration of the Central Brain 120 within the vehicle 12. The Central Brain 120 is an example of an information processing device.

[0014] As shown in Figure 2, multiple gateways are connected to the Central Brain 120 in a communicative manner. The Central Brain 120 is connected to an external cloud via the gateways. The Central Brain 120 is configured to be able to access the external cloud via the gateways. On the other hand, the presence of the gateways prevents direct access to the Central Brain 120 from the outside.

[0015] The Central Brain 120 outputs a request signal to the server every time a predetermined period of time elapses. Specifically, the Central Brain 120 outputs a request signal representing an inquiry to the server every one billionth of a second.

[0016] Examples of sensors used in the present embodiment include radar, LiDAR, high-pixel, telephoto, ultra-wide-angle, 360-degree, and high-performance cameras, vision recognition, fine sound, ultrasonic waves, vibration, infrared rays, ultraviolet rays, electromagnetic waves, temperature, humidity, spot AI weather forecast, high-precision multi-channel GPS, low-altitude satellite information, and long-tail incident AI data. Long-tail incident AI data refers to trip data of Level 5 autonomous vehicles.

[0017] Examples of sensor information acquired from a plurality of types of sensors include movement of the center of gravity of a body weight, detection of road materials, detection of outside air temperature, detection of outside air humidity, detection of vertical, horizontal and diagonal inclination angles of slopes, detection of road freezing conditions and moisture content, detection of material, wear status and air pressure of each tire, road width, presence / absence of no-passing zones, oncoming vehicles, vehicle type information of preceding and following vehicles, cruising status of these vehicles, and surrounding conditions (birds, animals, soccer balls, accident vehicles, earthquakes, fires, wind, typhoons, heavy rain, light rain, snowstorms, fog, etc.). In the present embodiment, these detections are performed every one billionth of a second.

[0018] In the present embodiment, Central Brain 120 is based on sensor information including road information indicating the road conditions of the road on which the vehicle 12 travels, detected by the aforementioned sensors (e.g., road material, vertical, horizontal and diagonal inclination angles of slopes, the degree of road icing, road moisture content, etc.), and functions as a calculation unit that calculates control variables for controlling the wheel speed and inclination of each of the four wheels of the vehicle 12, and the suspensions that support the wheels. Note that wheel inclination includes both the inclination of the wheel relative to an axis horizontal to the road and the inclination of the wheel relative to an axis perpendicular to the road. Specifically, Central Brain 120 calculates a total of 16 control variables for controlling the wheel speed of each of the four wheels, the inclination of each of the four wheels relative to an axis horizontal to the road, the inclination of each of the four wheels relative to an axis perpendicular to the road, and the suspension that supports each of the four wheels. In the present embodiment, the calculation of the 16 control variables described above is performed every one-billionth of a second. Note that the wheel speed of each of the four wheels can also be referred to as "the number of spins (rotation speed) of the in-wheel motor respectively mounted on each of the four wheels", and the inclination of each of the four wheels relative to the axis horizontal to the road can also be referred to as "the horizontal angle of each of the four wheels". Furthermore, the aforementioned control variables are numerical values for performing optimal steering adapted to the mountain road when the vehicle travels on a mountain road, for example, and are numerical values for traveling at an optimal angle adapted to the parking lot when the vehicle is parked in the parking lot.

[0019] Furthermore, in the present embodiment, Central Brain 120 functions as a control unit that controls autonomous driving in units of one-billionth of a second based on the control variables calculated above. Specifically, Central Brain 120 performs autonomous driving by controlling the in-wheel motors respectively mounted on each of the four wheels based on the 16 control variables described above, thereby controlling the wheel speed and inclination of each of the four wheels of the vehicle 12, and the suspensions that support each of the four wheels.

[0020] Central Brain 120 repeatedly executes the flowchart shown in FIG. 3.

[0021] In step S10, the Central Brain 120 acquires sensor information, including road information detected by the sensors. Then, the Central Brain 120 proceeds to step S11.

[0022] In step S11, the Central Brain 120 calculates the 16 control variables based on the sensor information acquired in step S10. Then, the Central Brain 120 proceeds to step S12.

[0023] In step S12, the Central Brain 120 controls the automatic driving based on the control variables calculated in step S11. Then, the Central Brain 120 terminates the processing of the flowchart.

[0024] Figures 4 to 8 are explanatory diagrams illustrating examples of autonomous driving control by Central Brain 120. Figures 4 to 6 are explanatory diagrams showing the vehicle 12 from a frontal view, while Figures 7 and 8 are explanatory diagrams showing the vehicle 12 from a downward view.

[0025] Figure 4 shows the vehicle 12 traveling on a flat road R1. Based on the 16 control variables calculated according to the road R1, the Central Brain 120 controls the in-wheel motors 31 mounted on each of the four wheels 30, thereby controlling the wheel speed, tilt, and the suspension 32 supporting each of the four wheels 30 to perform autonomous driving.

[0026] Figure 5 shows the vehicle 12 traveling on a mountain road R2. Based on the 16 control variables calculated according to the mountain road R2, the Central Brain 120 controls the in-wheel motors 31 mounted on each of the four wheels 30, thereby controlling the wheel speed, tilt, and the suspension 32 supporting each of the four wheels 30 to perform autonomous driving.

[0027] Figure 6 shows the vehicle 12 driving through a puddle R3. Based on the 16 control variables calculated according to the puddle R3, the Central Brain 120 controls the in-wheel motors 31 mounted on each of the four wheels 30, thereby controlling the wheel speed, tilt, and the suspension 32 supporting each of the four wheels 30 to perform automatic driving.

[0028] Figure 7 shows the case where the vehicle 12 curves in the direction indicated by arrow A1. Based on the 16 control variables calculated according to the curved road being entered, the Central Brain 120 controls the in-wheel motors 31 mounted on each of the four wheels 30, thereby controlling the wheel speed, tilt, and the suspension 32 (not shown) supporting each of the four wheels 30 to perform automatic driving.

[0029] Figure 8 shows the case where the vehicle 12 moves in parallel in the direction indicated by arrow A2. Based on the 16 control variables calculated in accordance with the parallel movement in the direction indicated by arrow A2, the Central Brain 120 controls the in-wheel motors 31 mounted on each of the four wheels 30, thereby controlling the wheel speed, tilt, and suspension 32 (not shown) supporting each of the four wheels 30 to perform automatic driving.

[0030] It should be noted that the states (tilts) of the wheels 30 and suspension 32 shown in Figures 4 to 8 are merely examples, and it goes without saying that different states of the wheels 30 and suspension 32 may occur.

[0031] While conventional in-wheel motors in vehicles can independently control each drive wheel, this particular vehicle was unable to analyze road conditions and control the in-wheel motors accordingly. Therefore, for example, when driving on mountain roads or through puddles, this vehicle could not perform appropriate automated driving based on road conditions. However, according to the vehicle 12 of this embodiment, based on the configuration described above, it is possible to perform automated driving in which the speed, steering, etc., are controlled in a manner suitable for the environment, such as road conditions.

[0032] Figure 9 schematically shows an example of the hardware configuration of a computer 1200 that functions as a Central Brain 120. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the apparatus according to this embodiment, or to cause the computer 1200 to execute operations associated with the apparatus according to this embodiment or such one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0033] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes legacy input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0034] The CPU 1212 operates according to the programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires the image data generated by the CPU 1212 and stores it in the frame buffer provided in RAM 1214 or within itself, so that the image data is displayed on the display device 1218.

[0035] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0036] The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 upon activation. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0037] The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0038] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as RAM 1214, storage device 1224, DVD-ROM, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area provided on the recording medium.

[0039] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0040] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies the predetermined condition.

[0041] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0042] In this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements.

[0043] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray® disc, memory stick, integrated circuit card, etc.

[0044] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar programming languages.

[0045] Computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or a programmable circuit, either locally or via a wide area network (WAN) such as a local area network (LAN) or the internet, so that the computer-readable instructions may be executed by the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, in order to generate means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

[0046] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0047] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," and "next," for convenience, this does not mean that it is essential to perform the operations in that order.

[0048] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0049] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," and "next," for convenience, this does not mean that it is essential to perform the operations in that order.

[0050] (Second embodiment) Next, a second embodiment according to this embodiment will be described, omitting or simplifying any parts that overlap with the above embodiment.

[0051] Figure 10 is a block diagram showing an example of the functional configuration of computer 1200, which functions as Central Brain 120.

[0052] As shown in Figure 10, the CPU 1212 of the computer 1200 has a functional configuration consisting of a determination unit 1212A, an acquisition unit 1212B, a calculation unit 1212C, and a control unit 1212D. Each functional configuration is realized by the CPU 1212 reading and executing a program installed on the computer 1200.

[0053] The determination unit 1212A determines, from the available sensor information, the wheel speed of each of the four wheels, the inclination of each of the four wheels relative to an axis horizontal to the road, the inclination of each of the four wheels relative to an axis perpendicular to the road, and control information to be used to calculate each of the 16 control variables for controlling the suspension supporting each of the four wheels. For example, while the vehicle 12 is stopped, the determination unit 1212A acquires sensor information that can be detected by each sensor used in the vehicle 12, and determines the control information to be used to calculate each control variable from that sensor information.

[0054] The acquisition unit 1212B acquires sensor information detected by each of the above sensors at intervals of one billionth of a second while the vehicle 12 is operating autonomously.

[0055] During the autonomous driving of the vehicle 12, the calculation unit 1212C calculates multiple control variables for the control unit 1212D to control autonomous driving every one billionth of a second, based on control information predetermined by the determination unit 1212A from the sensor information acquired by the acquisition unit 1212B. Specifically, the calculation unit 1212C calculates the wheel speed of each of the four wheels, the inclination of each of the four wheels relative to an axis horizontal to the road, the inclination of each of the four wheels relative to an axis perpendicular to the road, and a total of 16 control variables for controlling the suspension supporting each of the four wheels.

[0056] The control unit 1212D controls the automatic driving of the vehicle 12 every one billionth of a second based on the control variables calculated by the calculation unit 1212C.

[0057] Furthermore, the decision unit 1212A updates the information to be selected as control information from the sensor information during the automatic driving of the vehicle 12, based on the control results of the automatic driving by the control unit 1212D. For example, if the control result of the automatic driving determines that parking in a parking lot takes longer than expected, the decision unit 1212A updates the control information used to calculate the control variables for controlling the automatic driving related to parking in the parking lot.

[0058] Next, we will explain the processing flow performed by the computer 1200, which functions as the Central Brain 120. In the computer 1200, the CPU 1212 reads the program installed in the computer 1200, loads it into the RAM 1214, and executes it, thereby executing the processing shown in the flowchart in Figure 11. As a prerequisite for this processing, the CPU 1212 determines, from the available sensor information, the wheel speed of each of the four wheels, the inclination of each of the four wheels relative to an axis horizontal to the road, the inclination of each of the four wheels relative to an axis perpendicular to the road, and control information to be used to calculate a total of 16 control variables for controlling the suspension supporting each of the four wheels.

[0059] In step S20, the CPU 1212 acquires sensor information, including road information detected by the sensor. Then, the CPU 1212 proceeds to step S21.

[0060] In step S21, the CPU 1212 calculates the 16 control variables based on the control information predetermined from the sensor information acquired in step S20. Then, the CPU 1212 proceeds to step S22.

[0061] In step S22, the CPU 1212 controls the automatic driving based on the control variables calculated in step S21. Then, the CPU 1212 proceeds to step S23.

[0062] In step S23, the CPU 1212 updates the information to be determined as control information from the sensor information based on the control results of the autonomous driving performed in step S22. Then, the CPU 1212 terminates the processing of the flowchart.

[0063] As described above, in the computer 1200 functioning as the Central Brain 120 according to the second embodiment, the CPU 1212 determines control information from the available sensor information to be used to calculate each of the 16 control variables for controlling the wheel speed of each of the four wheels, the inclination of each of the four wheels with respect to an axis horizontal to the road, the inclination of each of the four wheels with respect to an axis perpendicular to the road, and the suspension supporting each of the four wheels. Then, the CPU 1212 calculates the 16 control variables for controlling autonomous driving based on the control information determined while the vehicle 12 is stopped. As a result, the processing load on the CPU 1212 during autonomous driving can be reduced compared to when the information used to calculate each of the multiple control variables is determined during autonomous driving.

[0064] Furthermore, in the computer 1200 described above, the CPU 1212 updates the information determined to be control information from the sensor information based on the control results of the autonomous driving. This allows the computer 1200 to optimize the information used to calculate each of the multiple control variables during autonomous driving. [Explanation of Symbols]

[0065] 120 Central Brain, 1200 Computer, 1210 Host Controller, 1212 CPU, 1214 RAM, 1216 Graphics Controller, 1218 Display Device, 1220 Input / Output Controller, 1222 Communication Interface, 1224 Storage Device, 1230 ROM, 1240 Input / Output Chip

Claims

1. A calculation unit calculates the wheel speed, tilt, and control variables for controlling the suspension supporting each of the four wheels of the vehicle, based on sensor information including road information indicating the road conditions of the road on which the vehicle is traveling. Based on the control variables calculated by the calculation unit, a control unit controls automatic driving. Equipped with, The calculation unit calculates a total of 16 control variables for controlling the wheel speed of each of the four wheels, the inclination of each of the four wheels with respect to an axis horizontal to the road, the inclination of each of the four wheels with respect to an axis perpendicular to the road, and the suspension supporting each of the four wheels. Information processing device.

2. The control unit controls the automatic operation in units of one billionth of a second based on the control variables calculated by the calculation unit. The information processing apparatus according to claim 1.

3. The system includes a determination unit that determines, from the obtainable sensor information, control information used to calculate each of the 16 control variables for controlling the wheel speed of each of the four wheels, the inclination of each of the four wheels with respect to an axis horizontal to the road, the inclination of each of the four wheels with respect to an axis perpendicular to the road, and the suspension supporting each of the four wheels, while the vehicle is stopped. The calculation unit calculates a plurality of control variables for the control unit to control the automatic driving based on the control information determined by the determination unit. The information processing apparatus according to claim 1.

4. The determination unit updates the information to be determined as control information from the sensor information based on the control result of the automatic driving by the control unit. The information processing apparatus according to claim 3.

5. A program for causing a computer to function as an information processing device according to any one of claims 1 to 4.

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