Information processing device, information processing system, route evaluation method and program

Abstract

The information processing device (1) disclosed herein includes a data acquisition unit (11) that acquires route data including at least three-dimensional data regarding candidate routes that are candidates for routes along which a vehicle capable of autonomous driving may travel, a score calculation unit (13) that calculates a score indicating the difficulty of autonomous driving for each node included in a desired route, which is a route to be evaluated, based on the route data, and an output unit (16) that outputs the score.

Description

[Technical field]

[0001] The present disclosure relates to an information processing device, an information processing system, a route evaluation method, and a program that evaluate a route traveled by a vehicle. [Background technology]

[0002] In recent years, the introduction of autonomous vehicles has progressed. Patent Document 1 discloses an information processing device that visualizes the risk of an autonomous vehicle traveling along a certain route based on the number of incidents that are likely to occur due to the autonomous vehicle on the route. According to the technology described in Patent Document 1, a user can check in advance whether or not the route is suitable for an autonomous vehicle to travel on. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-150387 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology described in Patent Document 1, the risk assessment of the route is based on two-dimensional map information. Therefore, risks that cannot be grasped from two-dimensional map information, such as blind spots, are not taken into consideration in the risk assessment. For this reason, there is a possibility that the route may not be adequately evaluated.

[0005] The present disclosure has been made in consideration of the above, and has an object to provide an information processing device capable of outputting more precise route evaluation results. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the information processing device according to the present disclosure includes: a data acquisition unit that acquires route data including at least three-dimensional data regarding candidate routes that are candidates for routes along which an autonomously driven vehicle may travel; A reception unit that receives an input of a desired route desired by a vehicle operation manager who manages the operation of the vehicle; Based on route data, The reception desk accepted The system includes a score calculation unit that calculates a score indicating the difficulty of autonomous driving for each node included in the desired route, and an output unit that outputs the score for the desired route, and the candidate routes include the desired route. Effect of the Invention

[0007] The information processing device according to the present disclosure advantageously has the effect of being able to output a more precise route evaluation result. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a configuration example of an information processing system according to an embodiment; [Diagram 2] FIG. 2 is a diagram showing an example of a candidate route according to an embodiment; [Diagram 3] A flowchart showing an example of a processing procedure in an information processing apparatus according to an embodiment. [Figure 4] FIG. 1 is a diagram showing an example of evaluation item information according to an embodiment; [Diagram 5] FIG. 1 is a diagram showing an example of score information according to an embodiment; [Figure 6] FIG. 1 is a diagram showing an example of a problem location extracted according to an embodiment; [Figure 7] FIG. 13 is a diagram showing an example of a display screen that displays a problem location according to an embodiment; [Figure 8] FIG. 13 is a diagram showing an example of a display screen of a reconstructed route according to an embodiment. [Figure 9] FIG. 13 is a diagram showing an example of a display screen that displays a countermeasure according to an embodiment. [Figure 10] FIG. 13 is a diagram showing an example of a display screen that displays a reconstructed route and measures according to an embodiment. [Figure 11] FIG. 1 is a diagram showing an example of response measure information according to an embodiment; [Figure 12]FIG. 13 is a diagram showing another example of countermeasure information according to an embodiment. [Figure 13] FIG. 1 is a diagram for explaining a simulation using a virtual map according to an embodiment; [Figure 14] FIG. 1 is a diagram showing an example of the configuration of a computer system that realizes each of the information processing devices according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An information processing device, an information processing system, a route evaluation method, and a program according to embodiments will be described below in detail with reference to the drawings.

[0010] Embodiment FIG. 1 is a diagram showing a configuration example of an information processing system according to an embodiment. The information processing system 100 according to the present embodiment evaluates a route along which a vehicle capable of automatic driving travels. The information processing system 100 includes an information processing device 1 that calculates a score for the route, a movable measurement vehicle 3 that is an example of a measurement device, and a roadside device 4 that is an example of a measurement device provided on the roadside. The score according to the present embodiment indicates the degree of difficulty of automatic driving. The score according to the present embodiment may be a value indicating the risk when the vehicle travels. The score according to the present embodiment may be a value indicating both the degree of difficulty of automatic driving and the risk when the vehicle travels. FIG. 1 shows an example in which the information processing system 100 includes both the measurement vehicle 3 and the roadside device 4 as measurement devices, but is not limited to this, and the information processing system 100 does not need to include the roadside device 4. In addition, although one roadside device 4 is shown in FIG. 1, the roadside device 4 may be multiple. In addition, the measurement vehicles 3 may also be multiple.

[0011] The vehicle of this embodiment is an autonomous vehicle as described above. The autonomous vehicle may be a vehicle capable of switching between autonomous driving and manual driving. For example, the vehicle of this embodiment is an on-demand vehicle, a community bus, etc., and the information processing system 100 evaluates the route for route selection (route design) of the operation route of the on-demand vehicle, the community bus, etc.

[0012] In the following, an example of route evaluation for route selection for an on-demand vehicle, a community bus, or the like, that is, route evaluation is performed, but the use of the information processing system 100 of this embodiment is not limited to this. For example, the route evaluation of this embodiment may be used for route selection when a general user's vehicle travels to a destination. In addition, the vehicle may be a PMV (Personal Mobility Vehicle), or a vehicle for transporting cargo. In addition, when the vehicle is an on-demand vehicle, a community bus, or the like, the route evaluation of this embodiment may be used to select a travel route when the travel route can be changed as appropriate, not limited to when a pre-determined operating route is selected.

[0013] The measurement vehicle 3 includes a data transmission unit 31 and a detection unit 32. The detection unit 32 includes a sensor capable of acquiring three-dimensional data. The detection unit 32 includes sensors such as LiDAR (Light Detection And Ranging) and a camera, and acquires, for example, measurement data of a road and its surroundings. The measurement vehicle 3 may be a measurement vehicle 3 used in a system called MMS (Mobile Mapping System) that acquires three-dimensional point cloud data. The measurement data acquired by the detection unit 32 includes three-dimensional data (hereinafter, also referred to as three-dimensional measurement data). The three-dimensional measurement data includes, for example, at least one of three-dimensional point cloud data and three-dimensional video data. The measurement data acquired by the detection unit 32 may include two-dimensional data (hereinafter, also referred to as two-dimensional measurement data) in addition to the three-dimensional measurement data. The data transmission unit 31 transmits the three-dimensional measurement data acquired by the detection unit 32 to the information processing device 1.

[0014] The three-dimensional measurement data may be data obtained from data acquired by a plurality of sensors, in which case the detection unit 32 may include a processing unit that generates the three-dimensional measurement data. Alternatively, a processing device (not shown) that generates the three-dimensional measurement data from data acquired by a plurality of sensors may be provided, and the information processing device 1 may receive the three-dimensional measurement data from the processing device. Alternatively, the information processing device 1 may generate the three-dimensional measurement data from data acquired by a plurality of sensors.

[0015] The measurement vehicle 3, for example, travels along a candidate route that is a candidate for the route along which the vehicle will travel, thereby acquiring measurement data for the candidate route. The candidate route may be a desired route that is a route desired by an operations manager who manages the operation of the vehicle, or may include the desired route and an alternative route that is different from the desired route and is an alternative to the desired route. The desired route is a route to be evaluated by the information processing device 1. There may be multiple alternative routes. The alternative route may also be an alternative route for a portion of the desired route. The alternative route may be determined by the operations manager, or may be determined by a support business operator that provides consulting to the operations manager.

[0016] FIG. 2 is a diagram showing an example of a candidate route in this embodiment. In the example shown in FIG. 2, a route 200 shown by a solid line passing through a boarding / alighting station 201, a boarding / alighting station 202, a boarding / alighting station 203, a boarding / alighting station 204, a boarding / alighting station 205, and a boarding / alighting station 206 is a desired route, and a route 300 shown by a dashed line is another route. The boarding / alighting stations 201 to 206 are locations where passengers can board and alight from a vehicle, for example, bus stops. Note that some of the reference symbols of the route 300 are omitted in FIG. 2. In the example shown in FIG. 2, the route 200 shown by a solid line and the route 300 shown by a dashed line are candidate routes. Note that the boarding / alighting stations shown by solid circles among the boarding / alighting stations 201 to 206 are required via points, and the boarding / alighting stations shown by dashed circles are locations where it is not required to pass through. In the following description, when referring to all boarding and alighting places, not limited to the individual boarding and alighting places 201 to 206 illustrated in FIG. 2, the boarding and alighting place will be described without a reference symbol.

[0017] In the above example, the desired route is specifically determined before the measurement, but the present invention is not limited to this. The desired route may not be clearly determined in advance, and only the area in which the vehicle will operate may be determined. In this case, all roads in the area on which the vehicle can operate may be set as candidate routes. In other words, the candidate route may be any determined area.

[0018] Returning to the description of FIG. 1, the roadside device 4 includes a data transmission unit 41 and a detection unit 42. The detection unit 42 includes a sensor capable of measuring three-dimensional data. The roadside device 4 may be provided on a pole called a smart pole. The detection unit 42 includes sensors such as LiDAR and a camera. The measurement data acquired by the detection unit 42 includes, for example, at least one of three-dimensional measurement data and two-dimensional measurement data.

[0019] The information processing device 1 includes a data acquisition unit 11, a virtual map creation unit 12, a score calculation unit 13, a route setting unit 14, an extraction unit 15, an output unit 16, a workaround creation unit 17, an information storage unit 18, and a reception unit 19.

[0020] The data acquisition unit 11 acquires route data including at least three-dimensional data on candidate routes that are candidates for routes along which a vehicle capable of autonomous driving travels, and stores the acquired route data in the information storage unit 18. The route data is data used for evaluating a route. The data acquisition unit 11 acquires map data as route data, for example, from a server 2 that provides map data. The map data is two-dimensional map data, but is not limited to this. The map data may be a DRM (Digital Road Map). The data acquisition unit 11 also acquires measurement data as route data from each of the measurement vehicle 3 and the roadside device 4. Note that in FIG. 1, the data acquisition unit 11 acquires measurement data directly from the measurement vehicle 3 and the roadside device 4, but is not limited to this. The measurement data may be acquired via another device (not shown) that acquires and accumulates the measurement data, or may be acquired by reading the measurement data recorded on a recording medium. The data acquisition unit 11 may also acquire map data by reading the map data recorded on a recording medium. The data acquisition unit 11 may also acquire, as route data, from another device (not shown), measurement or estimation results such as the actual speed of people (pedestrians), the actual speed of vehicles (automobiles, motorcycles), traffic volume, the presence or absence of parked vehicles, the amount of parked vehicles, the amount (number) of people (pedestrians), etc. In this way, the route data may include, for example, at least one of the information regarding the actual speed of people, the actual speed of vehicles, and the presence or absence of parked vehicles.

[0021] As described above, the route data includes, for example, map data and measurement data. The route data may include static data that does not change in a short time and dynamic data that changes with time. The dynamic data is associated with time information such as a time period, a day of the week, a month, and a season. For example, the map data is static data, and the measurement data includes both static data and dynamic data. The structures and the number of lanes on a road are static data, and the actual speed of people and cars, the traffic volume, the presence or absence of parked cars, the number of pedestrians, and the like are dynamic data. The static data and the dynamic data may be data calculated or extracted from at least one of the map data and the measurement data. For example, the route data may include identification information of objects around the road calculated or extracted from at least one of the map data and the measurement data, that is, information identifying whether the object is a structure, a plant, a person, a car, or the like. In addition, the route data may include the shape of a road or an intersection calculated or extracted from at least one of the map data and the measurement data. For example, the route data may include information indicating the type of intersection, such as a T-junction or a three-way intersection, the number of lanes on a road, and the like.

[0022] The process of calculating or extracting the above-mentioned data from at least one of the map data and the measurement data may be performed by the data acquisition unit 11 or may be performed by the virtual map creation unit 12. In the latter case, the process of calculating or extracting the above-mentioned data from at least one of the map data and the measurement data is performed as a part of the virtual map creation process. In addition, using a plurality of measurement data measured at different times, dynamic data is calculated for each time information such as time period, day of the week, month, season, etc., and the dynamic data associated with the time information is stored in the information storage unit 18 as route data.

[0023] In addition, the static data and dynamic data in the route data may include data other than the data calculated or extracted from the map data and the measurement data. For example, the traffic volume obtained from the other devices described above is an example of dynamic data.

[0024] The virtual map creation unit 12 creates a three-dimensional virtual map including nodes and links connecting the nodes based on the route data stored in the information storage unit 18, and stores the created virtual map in the information storage unit 18. The virtual map creation unit 12 creates a virtual map on, for example, a digital twin. That is, the virtual map creation unit 12 may create a virtual map by reproducing the same environment as the real environment in a virtual (cyber) space based on the route data, which is information of the real space. The virtual map includes data of areas corresponding to candidate routes.

[0025] The nodes in the virtual map include, for example, intersections. The nodes in the virtual map may include at least one of a boarding and disembarking location of the vehicle and a charging location where the vehicle is charged. The boarding and disembarking location is, for example, a bus stop. The boarding and disembarking location may include not only a location actually used for boarding and disembarking the vehicle, but also a location that is a candidate for a location used for boarding and disembarking the vehicle. Similarly, the charging location may include not only a location actually used for charging the vehicle, but also a location that is a candidate for a location used for charging the vehicle. The charging location may be a general charging station, a parking lot where the vehicle can be charged, or a charging location provided exclusively for the vehicle that is the subject of the route evaluation. The charging location is not limited to these. Information indicating the boarding and disembarking location and the charging location may be acquired by the data acquisition unit 11 from another device not shown, or the reception unit 19 may receive an input. Information indicating the boarding and disembarking location and the charging location may be included in the route data.

[0026] The virtual map includes information for determining the degree of difficulty of autonomous driving for each node and each link. For example, the virtual map includes information for determining whether or not the node and each link fall under an evaluation item that is used to calculate a score, which will be described later. The virtual map may be transmitted to the display device 5 by the output unit 16 and displayed on the display device 5.

[0027] The score calculation unit 13 calculates the score of each node and each link using the virtual map stored in the information storage unit 18, and stores the calculated scores for each node and link in the information storage unit 18 as score information. Note that, in the following, an example in which the score calculation unit 13 calculates the scores of the nodes and links will be described, but the score calculation unit 13 only needs to calculate the scores of the nodes, and does not need to calculate the scores of the links. The virtual map includes data of the area corresponding to the candidate route, and as described above, the candidate route includes at least the desired route. Therefore, the score calculation unit 13 calculates a score indicating the difficulty level of autonomous driving for at least each node included in the desired route. The method of calculating the score will be described later.

[0028] The reception unit 19 receives manual input. For example, the reception unit 19 receives the setting of a desired route. The reception unit 19 may receive input of a desired route on a virtual map. For example, the desired route may be input by a user of the information processing device 1 while the virtual map is displayed on the display device 5. The user is a person who uses the result of route evaluation by the information processing device 1, or a person requested by a person who uses the result of route evaluation. The user may be, for example, a person in charge or an operator at a support company, or an operation company, but is not limited to these.

[0029] The desired route may be input by, for example, specifying the boarding and alighting places on the displayed virtual map in the order in which the vehicle travels, or may input the boarding and alighting places and the route between the adjacent boarding and alighting places. When only the boarding and alighting places are specified in order, a route that connects the specified boarding and alighting places in the shortest time may be automatically set. Furthermore, the boarding and alighting places may be specified by the number of a node determined on the virtual map, may be specified by the name of the boarding and alighting place, or may be specified by latitude and longitude. When the boarding and alighting place is specified by the name of the boarding and alighting place, the name of the boarding and alighting place is included in the virtual map. For example, the name of the boarding and alighting place may be included in the virtual map by including information indicating the position of the boarding and alighting place and the name of the boarding and alighting place in the route data. The method of setting the desired route is not limited to the above example. Furthermore, nodes and links on the virtual map other than the boarding and alighting places may be specified as the desired route. For example, a charging place may also be specified in the desired route, and in this case, the charging place is also specified together with the boarding and alighting places. Furthermore, if the desired route includes road sections, intersections, etc. along which the vehicle is desired to travel, the desired route may also be specified together with the corresponding nodes and links.

[0030] The reception unit 19 may also receive an input of a mandatory passing point, which is a location that must be passed through. The mandatory passing point is, for example, a boarding and disembarking location that must be passed through, but is not limited thereto and may be a location other than the boarding and disembarking location, such as a charging location.

[0031] The route setting unit 14 sets the desired route accepted by the accepting unit 19 on the virtual map. For example, information identifying the nodes and links included in the desired route among the nodes and links in the virtual map may be added to the virtual map stored in the information storage unit 18. Alternatively, instead of setting the desired route on the virtual map, the route setting unit 14 may store information indicating the desired route, i.e., information indicating the nodes and links included in the desired route, in the information storage unit 18 as desired route information.

[0032] The extraction unit 15 extracts problem locations on the desired route using the score calculated by the score calculation unit 13. Specifically, the extraction unit 15 extracts problem locations on the desired route using score information stored in the information storage unit 18 and the desired route set by the route setting unit 14. For example, the extraction unit 15 extracts locations (nodes, links) on the desired route whose scores are equal to or greater than a predetermined threshold value as problem locations. The extraction unit 15 associates the problem locations with the scores and outputs them to the output unit 16 and the workaround creation unit 17. The problem locations are indicated by, for example, node and link numbers, but are not limited thereto, and may be indicated by the names of the nodes and links on a map, latitude and longitude, etc., and the method of expressing the problem locations is not limited to this example. The extraction unit 15 may also extract the scores of the nodes and links on the desired route from the score information and store the extracted results in the information storage unit 18 as desired route score information.

[0033] The workaround creation unit 17 creates a workaround for the problem location received from the extraction unit 15. For example, the workaround creation unit 17 may create another route that bypasses the problem location as a workaround, or may create countermeasure information indicating a countermeasure for solving the problem at the problem location. That is, the workaround may be a detour around the problem location, or a countermeasure for solving the problem at the problem location. Details of the workaround will be described later.

[0034] The output unit 16 outputs the problem locations and scores received from the extraction unit 15. For example, the output unit 16 outputs the problem locations and scores by transmitting them to the display device 5. For example, the output unit 16 may generate display data for displaying the desired route and the problem locations on the virtual map stored in the information storage unit 18, and transmit the generated display data to the display device 5, thereby outputting the problem locations and scores. The output unit 16 also outputs the workaround received from the workaround creation unit 17, that is, the workaround corresponding to the problem locations. The output unit 16 may, for example, generate display data for displaying the workaround on the virtual map in association with the problem locations on the virtual map, and transmit the generated display data to the display device 5, thereby outputting the workaround. The workaround may be output to the display device 5 as text data or the like for each problem location, separate from the virtual map.

[0035] Furthermore, the output unit 16 may read out each piece of data stored in the information storage unit 18 and output it to the display device 5. For example, the output unit 16 may output a virtual map to the display device 5, may output display data for displaying the virtual map to the display device 5, or may output desired route score information to the display device 5.

[0036] The information storage unit 18 stores information such as a virtual map, route data, and score information. The information storage unit 18 may also store evaluation item information used to calculate the score, and countermeasure information indicating measures for each evaluation item or location (node, link), etc. The evaluation item information and countermeasure information will be described later.

[0037] The server 2 includes a data transmission unit 21 and a map data storage unit 22. The map data storage unit 22 stores map data. The data transmission unit 21 transmits the map data stored in the map data storage unit 22 to the information processing device 1.

[0038] The display device 5 may be a display, a monitor, or a terminal device having a processing function. This terminal device may be a terminal device that can be operated by a user. The display device 5 displays data received from the output unit 16. For example, the display device 5 receives a virtual map from the output unit 16 and displays the received virtual map. The display device 5 may display the virtual map in three dimensions or in a two-dimensional map format. The display format and the range to be displayed when displaying the virtual map may be changeable according to a user's specification. In this case, the display device 5 may accept a specification from the user and generate display data according to the user's specification, or the reception unit 19 may accept a specification from the user and the output unit 16 may generate display data according to the user's specification and transmit it to the display device 5.

[0039] In addition, when the display device 5 is a terminal device, the various information accepted by the accepting unit 19 may be input by a user using the terminal device, and the terminal device may transmit the input information to the information processing device 1. In this case, the accepting unit 19 accepts the input of the information by receiving the information from the terminal device. Also, an operation device that accepts user input may be provided separately from the display device 5, and the operation device may accept the input of the various information accepted by the accepting unit 19 and transmit the accepted information to the information processing device 1.

[0040] 1, the display device 5 displays the virtual map, score, etc., but the present invention is not limited to this, and the information processing device 1 may display the same. For example, the output unit 16 may have a display function and display the virtual map, score, etc., thereby outputting the virtual map, score, etc.

[0041] In the above example, the information processing device 1 indirectly calculates the score using the route data by using the virtual map reflecting the route data, but the present invention is not limited to this, and the score may be calculated using the route data without using the virtual map. For example, the nodes and links may be defined, and the score calculation unit 13 may calculate the score of each node and link using the route data. The virtual map may also be managed by a device other than the information processing device 1. For example, the virtual map creation unit 12 may be provided in a virtual map management device other than the information processing device 1, and the route data acquired by the data acquisition unit 11 may be transmitted to the virtual map management device by the output unit 16 or a transmission / reception unit (not shown), so that the virtual map management device creates and manages the virtual map using the route data. In this case, in the information processing device 1, when reading the virtual map, the data acquisition unit 11 or a transmission / reception unit (not shown) acquires the virtual map from the virtual map management device, and when updating the virtual map, the output unit 16 or a transmission / reception unit (not shown) transmits data for updating to the virtual map management device.

[0042] Next, the operation of this embodiment will be described. Fig. 3 is a flowchart showing an example of a processing procedure in the information processing device 1 of this embodiment. As shown in Fig. 3, the information processing device 1 acquires route data (step S1). In detail, the data acquisition unit 11 acquires route data from the server 2, the measurement vehicle 3, the roadside device 4, etc., and stores the acquired route data in the information storage unit 18.

[0043] Next, the information processing device 1 creates a virtual map (step S2). In detail, the virtual map creation unit 12 creates a virtual map by using the route data stored in the information storage unit 18, and stores the created virtual map in the information storage unit 18.

[0044] Next, the information processing device 1 calculates the score of each node and each link (step S3). In detail, the score calculation unit 13 calculates the score of each node and each link using the virtual map stored in the information storage unit 18. For example, the score calculation unit 13 refers to the evaluation item information stored in the information storage unit 18, and determines, for each node and link, whether or not each evaluation item included in the evaluation item information is applicable, using the virtual map.

[0045] FIG. 4 is a diagram showing an example of evaluation item information in this embodiment. In the example shown in FIG. 4, the evaluation item information is information in which evaluation items are associated with scores when the evaluation items are applicable. Since the evaluation items may differ between nodes and links, in the example shown in FIG. 4, the evaluation items are defined separately for nodes and links. For example, in the example shown in FIG. 4, the evaluation items for nodes include items related to lanes such as one lane in one direction, two lanes in one direction, and three or more lanes in one direction, items related to the type of intersection such as a T-junction, items related to whether there is a blind spot, items related to whether there is a sidewalk, and items related to whether it is a roundabout. In the example shown in FIG. 4, the presence or absence of a curb is also taken into consideration, and although not shown, the items are divided into three types of items, for example, a sidewalk and a curb, a sidewalk and no curb, and no sidewalk. In addition, in the example shown in FIG. 4, the evaluation items for links include items related to lanes and items related to whether the road is a narrow narrow road.

[0046] Note that FIG. 4 is an example, and the evaluation items are not limited to the example shown in FIG. 4. The evaluation items may include an item indicating whether or not the node is a charging location, and an item indicating whether or not the node is used as a boarding and disembarking location. The evaluation items may include, for example, at least one of an item regarding road conditions, an item regarding environmental / driving conditions, and an item regarding vehicle behavior. The road conditions may include, for example, an item regarding lanes such as one lane in one direction, two lanes in one direction, and three or more lanes in one direction, an item regarding the type of intersection, and an item regarding the presence or absence of a sidewalk. The items regarding environmental / driving conditions may include an item regarding regulations such as one-way streets and speed limits, an item regarding the amount of parked vehicles, an item regarding traffic volume, and an item regarding the amount of pedestrians. The items regarding vehicle behavior include an item regarding whether the vehicle turns right or left, and an item regarding whether the vehicle stops and starts. The evaluation items may be determined according to whether the node is an intersection, a boarding and disembarking location, or a charging location, that is, for each type of node. For example, when the node is a boarding and disembarking location or a charging location, a unique evaluation item different from that when the node is an intersection may be set. For example, if the node is a boarding and disembarking location, the evaluation items may include whether or not a fixed demand terminal is installed, and if the node is a charging location, the evaluation items may include the charging method (contact / non-contact, etc.).

[0047] In the example shown in FIG. 4, a score corresponding to each evaluation item is determined so that weighting can be performed according to the evaluation item. For example, for a node, the score of an evaluation item may be changed according to the difficulty of autonomous driving, such as a roundabout (the node is a roundabout) being given a score of 3 points, a sidewalk with a curb (the node has a sidewalk with a curb) being given a score of 0.5 points, and a blind spot (the node has a blind spot). Note that the above-mentioned scores are merely examples, and the scores for each evaluation item are not limited to the above-mentioned examples. In addition, in the example shown in FIG. 4, a score is determined for each evaluation item, but the scores may be determined uniformly. For example, the score corresponding to all evaluation items may be set to 1 point. In this case, it is not necessary to include the scores in the evaluation item information, and the evaluation item information may include a list of the evaluation items.

[0048] The score calculation unit 13 uses the virtual map to determine whether each node and each link is applicable for each evaluation item, extracts the points corresponding to the applicable evaluation items from the evaluation item information, and calculates the total points for each node and link as the score. That is, for example, it is assumed that the first, fifth, and tenth evaluation items are applicable to the first node among the items defined in the evaluation item information for the nodes. In this case, the score A1 of the first node, Total The scores corresponding to the 1st, 5th, and 10th evaluation items are A1, A5, and A 10 Then, it is calculated as follows (1). A1, Total =A1+A5+A 10 (1)

[0049] Similarly, the score A of the i-th node (i is an integer between 1 and n, and n is the number of nodes) i , Total is calculated as the sum of the scores corresponding to the corresponding evaluation items. Similarly, for links, the score of each link is calculated as the sum of the scores corresponding to the corresponding evaluation items.

[0050] The amount of parked vehicles, traffic volume, pedestrian volume, and the like are the dynamic data described above. Items corresponding to dynamic data may change according to time information. When dynamic data is associated with time information, the score calculation unit 13 may calculate the score of each node and each link for each piece of time information. For example, the score calculation unit 13 may calculate the score of each node and each link for each day of the week.

[0051] The score calculation unit 13 stores the scores for each node and link as score information in the information storage unit 18. FIG. 5 is a diagram showing an example of score information in this embodiment. In the example shown in FIG. 5, for each node and link, the number of the corresponding evaluation item (corresponding evaluation item) among the evaluation items indicated in the evaluation item information is stored as score information together with the score. In the example shown in FIG. 5, a serial number (a serial number assigned to all the nodes and links) is assigned to the nodes and a node number is assigned to the links. The number in the first row of FIG. 5 indicates a serial number, and the number in the second row indicates a node number or a link number. The number of the evaluation item is, for example, a number assigned from top to bottom to each evaluation item in the evaluation item information illustrated in FIG. 4, but is not limited thereto. In FIG. 5, the corresponding evaluation item is indicated by a number, but is not limited thereto, and the corresponding evaluation item may be indicated by the name of the item indicated in the evaluation item information, such as one-way one lane, roundabout, etc. Note that FIG. 5 is an example, and the format of the score information is not limited to the example illustrated in FIG. 5. For example, serial numbers may not be assigned. Also, for each node and link, a row corresponding to each evaluation item in the evaluation item information may be provided, and whether or not each evaluation item is applicable may be indicated in a matrix. Also, the score information may be added to the virtual map as information on each node and each link, and stored in the information storage unit 18.

[0052] Returning to the explanation of Fig. 3, the information processing device 1 outputs the virtual map (step S4). In detail, the output unit 16 transmits the virtual map stored in the information storage unit 18 to the display device 5. As a result, the display device 5 displays the virtual map.

[0053] The information processing device 1 determines whether or not the desired route has been set (step S5). In detail, the route setting unit 14 receives the desired route from the reception unit 19 and determines whether or not the desired route has been set on the virtual map.

[0054] If the desired route has not been set (step S5 No), the information processing device 1 repeats step S5. If the desired route has been set (step S5 Yes), the information processing device 1 extracts problem areas (step S6). In detail, the extraction unit 15 calculates the scores of the nodes and links included in the desired route based on the set desired route, and extracts areas where the calculated scores are equal to or greater than a threshold as problem areas. FIG. 6 is a diagram showing an example of an extracted problem area in this embodiment. In the example shown in FIG. 6, the threshold is set to 8.0, and node N2 is extracted as a problem area.

[0055] The information processing device 1 determines whether or not there is an extracted portion (step S7). In detail, the extraction unit 15 determines whether or not there is a portion extracted as a problem portion in the process of step S6. If there is no extracted portion (No in step S7), the information processing device 1 ends the process. Note that, if there is no extracted portion, the information processing device 1 may display information indicating that there is no problem portion on the display device 5 and end the process.

[0056] If an extracted portion is found (Yes in step S7), the information processing device 1 outputs the problem portion (step S8). In detail, if an extracted portion is found, the extraction unit 15 outputs the problem portion and the corresponding score to the output unit 16 and the workaround creation unit 17. Then, the output unit 16 outputs the problem portion and the corresponding score to the display device 5. As described above, the output unit 16 may generate display data for displaying the problem portion and the corresponding score on the virtual map and output it to the display device 5.

[0057] FIG. 7 is a diagram showing an example of a display screen that displays problem areas in this embodiment. FIG. 7 shows an example in which problem areas are displayed when the desired route exemplified in FIG. 2 is set. For example, as shown in FIG. 7, the display device 5 highlights problem areas on a virtual map by displaying them in a predetermined manner. In FIG. 7, the desired route is shown by a solid line, and square hatched figures 301, 302, and 303 respectively show problem areas. Problem areas may be highlighted in a color different from other parts of the desired route, such as red, or highlighted by being shown in a figure different from other parts of the desired route, or highlighted by being surrounded by a figure such as a circle or a rectangle. The highlighting method is not limited to these. In the example shown in FIG. 7, a score corresponding to each problem area is also displayed, but the score does not have to be displayed. In the example shown in FIG. 7, the virtual map is converted into a two-dimensional map and displayed, that is, a map viewed from above the virtual map is displayed, but the virtual map may be displayed in three dimensions.

[0058] Returning to the description of FIG. 3, the information processing device 1 creates and outputs a workaround (step S9). In detail, the workaround creation unit 17 creates a workaround so that there are no points where the score is equal to or greater than the threshold, and outputs the created workaround to the output unit 16, which then outputs the workaround to the display device 5. The display device 5 displays the workaround. For example, the workaround creation unit 17 may reconstruct a route as a workaround so as to avoid and detour around the problematic points. That is, the workaround creation unit 17 may create a reconstructed route as a workaround so as to avoid and detour around the problematic points. In reconstructing a route, if another route is determined as a candidate route, the route may be reconstructed by selecting from the other routes an alternative route that detours around the problematic points. Note that if the candidate alternative route has a point where the score is equal to or greater than the threshold, the alternative route is not adopted. In addition, if an alternative route is not determined in advance and route data for all roads in a determined area is obtained, a route that avoids the problematic points may be reconstructed, for example, by a general route search algorithm. In this case, the workaround creation unit 17 uses the score information to search for a route with a score less than a threshold value for the reconstructed route. Furthermore, when a mandatory pass point is defined, the workaround creation unit 17 reconstructs the route so as to pass through the mandatory pass point. Note that, for example, the charging location may be specified such that one charging location is included on the route. The charging location may be specified as a fixed location, or a condition may be specified such that one charging location is included on the route regardless of the location. Note that it is not essential to specify a charging location.

[0059] The workaround creation unit 17 may also create countermeasure information indicating countermeasures for solving problems at problem locations. For example, the workaround creation unit 17 generates countermeasure information indicating countermeasures corresponding to evaluation items of nodes or links at problem locations in the score information stored in the information storage unit 18. That is, the workaround creation unit 17 may generate countermeasures corresponding to the types of problems at problem locations. The workaround creation unit 17 may also create a workaround by combining both route reconstruction and countermeasure information indicating countermeasures for solving problems.

[0060] Fig. 8 is a diagram showing an example of a display screen of a reconstructed route in this embodiment. The reconstructed route 400 shown in Fig. 8 shows an example of a route reconstructed to avoid and detour around the three problematic locations shown in Fig. 7. In the example shown in Fig. 8, mandatory pass points shown by solid circles are set, and the route is reconstructed by passing through the mandatory pass points and adopting a part of the alternative route shown in Fig. 2. As a workaround, the information processing device 1 may, for example, output the reconstructed route to the display device 5, and the display device 5 may display the reconstructed route as shown in Fig. 8.

[0061] Fig. 9 is a diagram showing an example of a display screen displaying the countermeasures of the present embodiment. In Fig. 9, display areas 401, 402, and 403 are provided, each connected by a leader line to the figures 301, 302, and 303 showing the three problematic parts shown in Fig. 7, and the countermeasures are displayed in the display areas 401, 402, and 403. Since the scores of the three problematic parts become less than the threshold value by the countermeasures, the colors of the figures 301, 302, and 303 may be changed from the state shown in Fig. 7, as shown in Fig. 9. The change in the display mode between the case where the score is equal to or greater than the threshold value and the case where the score is less than the threshold value is not limited to the example shown in Fig. 9, and the shapes of the figures 301, 302, and 303 may be changed. Although Fig. 9 shows an example of changing the display mode of the problematic parts whose scores become less than the threshold value by the countermeasures, the display mode of the problematic parts whose scores become less than the threshold value by the countermeasures may be the same as that of Fig. 7 without changing it.

[0062] FIG. 10 is a diagram showing an example of a display screen displaying a reconstructed route and measures according to the present embodiment. In FIG. 10, a route that avoids the link of the problematic part corresponding to the figure 303 among the three problematic parts shown in FIG. 7 is reconstructed as a reconstructed route 404. As for the remaining problematic parts, display areas 401 and 402 connected to the figures 301 and 302 by leader lines are provided as in FIG. 9, and measures are displayed in the display areas 401 and 402. In the example shown in FIG. 10, the colors of the figures 301 and 302 are changed from the state shown in FIG. 7 because the measures have made the scores of the two problematic parts less than the threshold value, but the display form is not limited to this example. The display form of the problematic parts whose scores are less than the threshold value due to the measures may be the same as that of FIG. 7 without being changed.

[0063] For example, the workaround creation unit 17 may create countermeasure information when it is not possible to reconstruct a route in which all the scores of the nodes and links passing through the route are less than the threshold value. Alternatively, the workaround creation unit 17 may determine the priority order between the process of reconstructing the route and the process of creating countermeasure information, and perform the process with high priority first, and then perform the process with low priority if problem areas remain.

[0064] Countermeasure information indicating a countermeasure corresponding to a problem location is created, for example, using countermeasure information. FIG. 11 is a diagram showing an example of countermeasure information in this embodiment. The countermeasure information shown in FIG. 11 is information indicating a countermeasure for each evaluation item, that is, for each type of problem to which the problem location is determined to be applicable. In the example shown in FIG. 11, for example, for a location determined to have a blind spot, a countermeasure is determined according to the cause of the blind spot. For example, if the cause of the blind spot is planting, the corresponding countermeasure is pruning the planting or installing a smart pole. In addition, in the case of a narrow road, the corresponding countermeasure is mediation between vehicles and manual driving (temporarily switching to manual driving). Note that the smart pole installed as a countermeasure is a pole on which a sensor such as a camera capable of detecting an object in a blind spot and a communication device that transmits measurement data acquired by the sensor are installed. This measurement data can be used for automatic driving of a vehicle via road-to-vehicle communication or another device not shown. Note that the countermeasure corresponding to the evaluation item is not limited to the example shown in FIG. 11. For example, the countermeasure when the problem is a blind spot may be mediation between vehicles. That is, if the problem is blind spots, the solution may be at least one of installing smart poles, pruning plants, and vehicle coordination.

[0065] As shown in FIG. 11, a plurality of measures may be defined for one evaluation item. In this case, a priority order may be set for the plurality of measures. In the example shown in FIG. 11, it is shown that the measure shown on the left side among the plurality of measures is given priority. The way of indicating the priority order is not limited to the example shown in FIG. 11. When there are a plurality of measures corresponding to a problem location in the response measure information, the workaround creation unit 17 may include the plurality of measures in the measure information, or may include the measure with the highest priority in the measure information.

[0066] In addition, when there are multiple evaluation items for one problem location, the workaround creation unit 17 may prioritize measures corresponding to the evaluation items with the highest scores in the evaluation item information, and add measures in descending order of priority until the score becomes less than the threshold. For example, if the score becomes less than the threshold by implementing the highest priority measure, the workaround creation unit 17 includes only that measure in the measure information. If the score is equal to or greater than the threshold even after implementing the highest priority measure, the workaround creation unit 17 calculates the score when the measure corresponding to the evaluation item with the second highest priority is implemented. If this score becomes less than the threshold, the workaround creation unit 17 includes measures corresponding to the two evaluation items with the highest priorities in the measure information. If this score is equal to or greater than the threshold, the workaround creation unit 17 repeats the process of adding further measures. In addition, in this example, the evaluation items with the highest scores are prioritized, but this is not limited to the above. The workaround creation unit 17 may determine the priority of each evaluation item in determining the measures separately from the scores, and determine the measures according to the priority.

[0067] In FIG. 11, when there is a blind spot, a countermeasure is determined according to the cause. In this case, for example, the avoidance measure creation unit 17 may identify the cause of the blind spot using a virtual map, and select a countermeasure from the countermeasure information according to the identified cause. Alternatively, an evaluation item may be determined for each cause as an evaluation item in the evaluation item information, and a countermeasure may be determined for each evaluation item in the countermeasure information. For example, the evaluation items in the evaluation item information may be divided according to the cause, such as blind spots (influence of plants) and blind spots (influence of things other than plants), and the score calculation unit 13 may identify the cause of the blind spot based on the virtual map when calculating the score, and determine whether or not each evaluation item applies.

[0068] 11 shows an example in which measures differ depending on the cause of the blind spot, but the present invention is not limited to this example, and measures to deal with the case where there is a blind spot may be determined regardless of the cause. For example, the measure to deal with the case where there is a blind spot regardless of the cause may be determined to be the installation of a smart pole.

[0069] FIG. 12 is a diagram showing another example of the countermeasure information of this embodiment. The countermeasure information shown in FIG. 12 is information showing countermeasures for each location, that is, for each node and link. In the example shown in FIG. 12, for example, when the information processing device 1 judges the corresponding evaluation item for each node and link, it outputs the evaluation item judged to be corresponding and receives input of a countermeasure according to the evaluation item, thereby generating the countermeasure information. Alternatively, when the information processing device 1 judges the corresponding evaluation item for each node and link, it may generate the countermeasure information showing the countermeasure for each node and link by extracting a countermeasure corresponding to the node or link from the countermeasure information shown in FIG. 11.

[0070] In order to better reflect the characteristics of each node and each link, the information processing device 1 may determine effective measures by performing a simulation using a virtual map for each node and link. For example, a simulation is performed on a digital twin, so that measures that reflect the actual situation can be determined.

[0071] FIG. 13 is a diagram for explaining a simulation using a virtual map of this embodiment. In FIG. 13, the virtual map is displayed in three dimensions, and a state near an intersection, which is an example of a node, is displayed. A traveling direction 500 indicates the traveling direction of the vehicle, and a blind spot area can be determined by considering the field of view of a sensor for automatic driving mounted on the vehicle according to the traveling direction. In the example shown in FIG. 13, a plant 501 and a structure 502 are causes of a blind spot. The information processing device 1 simulates this environment using a virtual map on a digital twin, and then performs a simulation that reflects pruning of the plant 501 and installation of a smart pole on the digital twin. By doing so, it is possible to determine measures suitable for each node by determining whether or not the blind spot is eliminated. In addition, when multiple measures are considered, the priority order of each measure may be determined by simulation so that an effective measure is given priority.

[0072] In the above example, blind spots are taken as an example, but for other evaluation items, countermeasures may be determined for each cause in the same way. Also, effective countermeasures may be determined in advance by simulation in the same way.

[0073] Returning to the description of FIG. 3, the information processing device 1 judges whether the workaround has been approved (step S10). In detail, when the reception unit 19 receives an input indicating that the workaround is approved, the reception unit 19 notifies the workaround creation unit 17 of the same, and when the workaround creation unit 17 receives the notification, the workaround creation unit 17 judges that the workaround has been approved. For example, the output unit 16 may output display data to the display device 5 for displaying a screen showing an option of whether to approve the workaround or to recreate the workaround and prompting the user to make a selection, the display device 5 may display the display data, and the reception unit 19 may accept an input of the selection result. In addition, when the user selects to recreate the workaround, the reception unit 19 may further accept an input of a request from the user. The request from the user may be, for example, but is not limited to, adding a required passing point, specifying another route to be applied, changing a measure, and the like.

[0074] If the workaround is approved (Yes in step S10), the information processing device 1 ends the process. If the workaround is not approved (No in step S10), the process from step S9 is repeated. At this time, if there is a request from the user, a workaround is created in response to the user request in step S9. If there is no request from the user, in step S9 from the second time onwards, the information processing device 1 reconstructs a route different from the reconstructed route that has already been output as a workaround, for example. Or, a workaround different from the output workaround is created by including a measure other than the measure that has already been output as a workaround in the measure information.

[0075] In the example shown in FIG. 3, a virtual map is used, but as described above, the present invention is not limited to this, and the information processing device 1 may directly use route data to calculate the scores of each node and each link. In the example described in FIG. 3, the problem location and the score corresponding to the problem location are output, but it is sufficient that the score corresponding to the desired route is displayed. For example, the scores of all nodes and links included in the desired route, not just the problem location, may be output as the evaluation result. In this case, too, the display device 5 displays the scores of all nodes and links included in the desired route, so that the user who has checked the scores can understand the locations with high scores and can judge the suitability of the desired route. In the example described in FIG. 3, a workaround corresponding to the problem location is created and output, but the creation and output of the workaround may not be performed. For example, the information processing device 1 may output the corresponding evaluation item corresponding to the problem location, and the display device 5 may display the corresponding evaluation item. This allows the user to consider measures based on the corresponding evaluation item.

[0076] In the above example, the score calculation unit 13 calculates the score of each node and each link in the virtual map in advance, but this is not limiting, and after the desired route is set, the score calculation unit 13 may calculate the score for each node and link included in the desired route using the virtual map. In this case, when reconstructing the route, the score calculation unit 13 or the workaround creation unit 17 calculates the scores of the nodes and links included in the alternative route, and the workaround creation unit 17 uses the calculated scores of the nodes and links in the alternative route to select an alternative route with a score less than the threshold value.

[0077] Also, in the above example, the score calculation unit 13 calculated the scores of the nodes and links, but as described above, the score calculation unit 13 may calculate only the scores of the nodes, and the extraction unit 15 may extract problematic nodes based on the node scores.

[0078] Next, the hardware configuration of the information processing device 1 of this embodiment will be described. In the information processing device 1 of this embodiment, a computer program in which the processing in each of the information processing devices 1 is described is executed on a computer system, so that the computer system functions as the information processing device 1. FIG. 14 is a diagram showing an example of the configuration of a computer system that realizes each of the information processing devices 1 of this embodiment. As shown in FIG. 14, this computer system includes a control unit 101, an input unit 102, a storage unit 103, a display unit 104, a communication unit 105, and an output unit 106, which are connected via a system bus 107.

[0079] In FIG. 14, the control unit 101 is, for example, a processor such as a CPU (Central Processing Unit), and executes a program in which the processing in the information processing device 1 of the present embodiment is described. The input unit 102 is, for example, composed of a keyboard, a button, a mouse, and the like, and is used by a user of the computer system to input various information. The storage unit 103 includes various memories such as a RAM (Random Access Memory), a ROM (Read Only Memory), and a storage device such as a hard disk, and stores the program to be executed by the control unit 101, necessary data obtained in the process of processing, and the like. The storage unit 103 is also used as a temporary storage area for the program. The control unit 101 and the storage unit 103, for example, constitute a processing circuit. The processing circuit may be one circuit or multiple circuits. The display unit 104 is composed of a display, an LCD (Liquid Crystal Display), and the like, and displays various screens to the user of the computer system. A touch panel in which the input unit 102 and the display unit 104 are integrated may be used. The communication unit 105 is a receiver and a transmitter that perform communication processing. The output unit 106 is a speaker or the like. Note that Fig. 14 is just an example, and the configuration of a computer system that realizes each of the information processing devices 1 is not limited to the example shown in Fig. 14. For example, the output unit 106 does not necessarily have to be provided.

[0080] Here, an example of the operation of the computer system until the program of this embodiment is in an executable state will be described. In the computer system having the above-mentioned configuration, for example, a program is installed in the storage unit 103 from a CD-ROM or DVD-ROM set in a CD (Compact Disc)-ROM drive or DVD (Digital Versatile Disc)-ROM drive (not shown). Then, when the program is executed, the program read from the storage unit 103 is stored in the main storage area of ​​the storage unit 103. In this state, the control unit 101 executes the processes as each of the information processing device 1 of this embodiment according to the program stored in the storage unit 103.

[0081] In the above description, a program describing the processing in each of the information processing devices 1 is provided using a CD-ROM or DVD-ROM as a recording medium. However, this is not limited to this, and depending on the configuration of the computer system, the capacity of the program to be provided, etc., it is also possible to use a program provided over a transmission medium such as the Internet via the communication unit 105.

[0082] The program of this embodiment, for example, causes a computer system to execute the steps of acquiring route data including at least three-dimensional data regarding a candidate route, calculating a score indicating the difficulty of autonomous driving for each node included in the desired route based on the route data, and outputting the score.

[0083] The virtual map creation unit 12, the score calculation unit 13, the route setting unit 14, the extraction unit 15, and the workaround creation unit 17 shown in FIG. 1 are realized by executing a program stored in the storage unit 103 shown in FIG. 14 by the control unit 101 shown in FIG. 14. The storage unit 103 is also used to realize the virtual map creation unit 12, the score calculation unit 13, the route setting unit 14, the extraction unit 15, and the workaround creation unit 17. The data acquisition unit 11 and the output unit 16 shown in FIG. 1 are realized by the communication unit 105 shown in FIG. 14. Some functions of the data acquisition unit 11 and the output unit 16 may be realized by the control unit 101 and the storage unit 103. When the output unit 16 has a display function, the display function is realized by the display unit 104 shown in FIG. 14. The information storage unit 18 shown in FIG. 1 is a part of the storage unit 103 shown in FIG. 14. The reception unit 19 shown in FIG. 1 is realized by the input unit 102 shown in FIG. 14. Furthermore, the function of the reception unit 19 may be realized by the communication unit 105. The information processing device 1 may be realized by a plurality of computer systems. For example, the information processing device 1 may be realized by a cloud computer system.

[0084] As described above, the information processing device 1 of the present embodiment uses route data including at least three-dimensional data to calculate a score indicating the degree of difficulty of automatic driving of a node on a route along which a vehicle travels, and outputs the calculated score. Therefore, compared with the case where route evaluation is performed using only two-dimensional data, a more accurate route evaluation result can be provided to the user. In addition, by displaying the desired route, score, etc. on the virtual map, the user can easily grasp the situation. Furthermore, the information processing device 1 may extract and output problem areas based on the score, in which case the user can grasp the problem areas. Furthermore, the information processing device 1 may present measures for the problem areas, in which case the user can quickly confirm the measures for the problem areas, thereby improving the user's convenience.

[0085] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or the embodiments may be combined with each other. Also, parts of the configurations may be omitted or modified without departing from the spirit of the invention. [Explanation of symbols]

[0086] 1 Information processing device, 2 Server, 3 Measurement vehicle, 4 Roadside device, 5 Display device, 11 Data acquisition unit, 12 Virtual map creation unit, 13 Score calculation unit, 14 Route setting unit, 15 Extraction unit, 16 Output unit, 17 Workaround creation unit, 18 Information storage unit, 19 Reception unit, 31, 41 Data transmission unit, 32, 42 Detection unit, 100 Information processing system.

Claims

1. a data acquisition unit that acquires route data including at least three-dimensional data relating to candidate routes that are candidates for routes along which an autonomously driven vehicle may travel; a score calculation unit that calculates a score indicating the difficulty level of autonomous driving for each node included in a route to be evaluated that is a desired route desired by an operations manager who manages the operation of the vehicle, based on the route data; and an output unit that outputs the score for the desired route; Equipped with The information processing device is characterized in that the candidate routes include the desired route.

2. The information processing apparatus according to claim 1 , wherein the score calculation unit further calculates the score for each link included in the desired route.

3. a virtual map creation unit that creates a virtual map based on the route data; Equipped with The information processing apparatus according to claim 1 , wherein the score calculation unit calculates the score using the virtual map.

4. The information processing apparatus according to claim 3 , wherein the output unit outputs display data for displaying the virtual map.

5. an extraction unit that extracts problem areas on the desired route using the score; Equipped with The information processing apparatus according to claim 3 , wherein the output unit outputs the problem area.

6. 6. The information processing apparatus according to claim 5, wherein the output unit outputs display data for displaying the desired route and the problem areas on the virtual map.

7. The information processing apparatus according to claim 5 , wherein the output unit outputs a workaround corresponding to the problem area.

8. 8. The information processing apparatus according to claim 7, wherein the workaround includes a reconstructed route that is reconstructed so as to avoid and detour around the problem area.

9. 9. The information processing apparatus according to claim 8, wherein essential pass points are set, and the reconstructed route is constructed so as to pass through the essential pass points.

10. 8. The information processing apparatus according to claim 7, wherein the workaround includes a measure for solving the problem at the problem location.

11. 11. The information processing apparatus according to claim 10, wherein the countermeasure is determined depending on the type of the problem.

12. The information processing device of claim 11 , wherein if the problem is a blind spot, the countermeasure includes installing smart poles.

13. The information processing device described in Claim 11, characterized in that if the problem is a blind spot, the countermeasure includes mediation between vehicles.

14. An information processing device as described in Claim 11, characterized in that if the problem is a bottleneck, the countermeasures include at least one of mediation between vehicles and switching to manual driving.

15. 3. The information processing apparatus according to claim 1, wherein the three-dimensional data includes at least one of three-dimensional video data and three-dimensional point cloud data.

16. 3. The information processing apparatus according to claim 1, wherein the three-dimensional data includes measurement data measured by a sensor mounted on a measurement vehicle.

17. 3. The information processing device according to claim 1, wherein the route data includes at least one of information on the actual speed of people, the actual speed of cars, and information on the presence or absence of parked cars.

18. 3. The information processing device according to claim 1, wherein the candidate routes include the desired route and another route different from the desired route.

19. 3. The information processing apparatus according to claim 1, wherein the node includes an intersection.

20. 3. The information processing device according to claim 1, wherein the node includes a boarding and disembarking location of the vehicle.

21. An information processing device as described in claim 1 or 2, characterized in that the score of the node is the sum of points corresponding to multiple items, and the multiple items include at least one of an item regarding the type of intersection, an item regarding whether or not there is a blind spot, an item regarding whether or not there is a sidewalk, and an item regarding vehicle behavior.

22. a measurement device that measures three-dimensional data relating to candidate routes that are candidates for routes along which an autonomously driven vehicle may travel; an information processing device; Equipped with The information processing device includes: a data acquisition unit that acquires route data relating to the candidate route, the route data including at least the three-dimensional data measured by the measuring device; a score calculation unit that calculates a score indicating the difficulty level of autonomous driving for each node included in a route to be evaluated that is a desired route desired by an operations manager who manages the operation of the vehicle, based on the route data; and an output unit that outputs the score for the desired route; Equipped with An information processing system, wherein the candidate routes include the desired route.

23. A route evaluation method in an information processing device, comprising: acquiring route data including at least three-dimensional data relating to candidate routes that are candidates for routes along which an autonomously driven vehicle may travel; A step of calculating a score indicating the difficulty level of autonomous driving for each node included in a route to be evaluated and a desired route desired by an operations manager who manages the operation of the vehicle, based on the route data; outputting the score for the desired route; Including, A route evaluation method, wherein the candidate routes include the desired route.

24. In the computer system, acquiring route data including at least three-dimensional data relating to candidate routes that are candidates for routes along which an autonomously driven vehicle may travel; A step of calculating a score indicating the difficulty level of autonomous driving for each node included in a route to be evaluated and a desired route desired by an operations manager who manages the operation of the vehicle, based on the route data; outputting the score for the desired route; Execute The program is characterized in that the candidate routes include the desired route.

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