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

Abstract

An information processing device (1) according to the present disclosure is provided with: a data acquisition unit (11) that acquires route data including at least three-dimensional data relating to candidate routes, which are candidates for routes along which a vehicle capable of being automatically driven travels; a score calculation unit (13) that calculates a score indicating the difficulty level of automated driving for each node included in a desired route, which is a route to be evaluated, on the basis of the route data; and an output unit (16) that outputs the scores.

Description

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

[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.

[0002] In recent years, the introduction of autonomous vehicles has progressed. Patent Document 1 discloses an information processing device that visualizes the risks of an autonomous vehicle traveling along a certain route based on the number of incidents that are likely to occur on that route due to the autonomous vehicle. The technology described in Patent Document 1 allows a user to check in advance whether the route is suitable for an autonomous vehicle to travel on.

[0003] JP 2023-150387 A

[0004] However, in the technology described in Patent Document 1, risk assessment of a route is performed 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. As a result, there is a possibility that the route may not be adequately evaluated.

[0005] The present disclosure has been made in view of the above, and aims to provide an information processing device that can output a more accurate route evaluation result.

[0006] In order to solve the above-mentioned problems and achieve the objectives, the information processing device disclosed herein 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 a vehicle capable of autonomous driving may travel, a score calculation unit that calculates a score indicating the difficulty of autonomous driving for each node included in a desired route, which is the route to be evaluated, based on the route data, and an output unit that outputs the score.

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

[0008] FIG. 1 shows an example of the configuration of an information processing system according to an embodiment. FIG. 2 shows an example of a candidate route according to an embodiment. FIG. 3 shows an example of a processing procedure in an information processing device according to an embodiment. FIG. 4 shows an example of evaluation item information according to an embodiment. FIG. 5 shows an example of score information according to an embodiment. FIG. 6 shows an example of extracted problem areas according to an embodiment. FIG. 7 shows an example of a display screen displaying problem areas according to an embodiment. FIG. 8 shows an example of a display screen displaying a reconstructed route according to an embodiment. FIG. 9 shows an example of a display screen displaying measures according to an embodiment. FIG. 10 shows an example of a display screen displaying a reconstructed route and measures according to an embodiment. FIG. 11 shows an example of countermeasure information according to an embodiment. FIG. 12 shows another example of countermeasure information according to an embodiment. FIG. 13 shows an example of the configuration of a computer system realizing each of the information processing devices according to the embodiments.

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

[0010] Embodiment. FIG. 1 is a diagram illustrating an example of the configuration of an information processing system according to an embodiment. The information processing system 100 according to this embodiment evaluates a route along which an autonomously driven vehicle travels. The information processing system 100 includes an information processing device 1 that calculates a score for the route, a mobile measurement vehicle 3 as an example of a measurement device, and a roadside device 4 as an example of a measurement device installed on the roadside. The score according to this embodiment indicates the difficulty level of autonomous driving. The score according to this embodiment may be a value indicating the risk involved when the vehicle travels. The score according to this embodiment may be a value indicating both the difficulty level of autonomous driving and the risk involved when the vehicle travels. FIG. 1 illustrates an example in which the information processing system 100 includes both the measurement vehicle 3 and the roadside device 4 as measurement devices. However, this is not limiting, and the information processing system 100 does not necessarily include the roadside device 4. Although FIG. 1 illustrates one roadside device 4, multiple roadside devices 4 may be used. Furthermore, multiple measurement vehicles 3 may also be used.

[0011] As described above, the vehicle of this embodiment is an autonomously driven vehicle. Note that the autonomously driven vehicle may be a vehicle that can switch between autonomous driving and manual driving. For example, the vehicle of this embodiment is an on-demand vehicle, a community bus, or the like, and the information processing system 100 evaluates the route for route selection (route design) of the operating route of the on-demand vehicle, the community bus, or the like.

[0012] An example of evaluating a route for route selection for an on-demand vehicle, a community bus, or the like, i.e., performing route evaluation, will be described below; however, 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 to select a route when a general user's vehicle travels to a destination. Furthermore, the vehicle may be a PMV (Personal Mobility Vehicle), or a vehicle for transporting cargo. Furthermore, 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 not only in situations where a travel route is selected in advance, but also when the travel route can be changed as appropriate.

[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, for example, a sensor such as a LiDAR (Light Detection and Ranging) or a camera, and acquires measurement data of, for example, a road and its surroundings. The measurement vehicle 3 may be used in a system called an MMS (Mobile Mapping System), which 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 multiple 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 multiple 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 multiple sensors.

[0015] The measurement vehicle 3, for example, travels along a candidate route, which is a candidate route for the vehicle, to acquire measurement data for the candidate route. The candidate route may be a desired route, which is a route desired by a fleet 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. Note that there may be multiple alternative routes. Furthermore, the alternative route may be a route that is an alternative to a portion of the desired route. The alternative route may be determined by the fleet manager, or may be determined by a support provider that provides consulting to the fleet manager.

[0016] FIG. 2 is a diagram showing an example of a candidate route according to the present embodiment. In the example shown in FIG. 2, route 200 shown by a solid line, which passes through boarding and alighting locations 201, 202, 203, 204, 205, and 206, is a desired route, and route 300 shown by a dashed line is an alternative route. Boarding and alighting locations 201 to 206 are locations where passengers can board and alight from a vehicle, such as bus stops. Note that some reference numerals for route 300 are omitted in FIG. 2. In the example shown in FIG. 2, route 200 shown by a solid line and route 300 shown by a dashed line are candidate routes. Note that, among boarding and alighting locations 201 to 206, boarding and alighting locations indicated by solid circles are required via points, and boarding and alighting locations indicated by dashed circles are locations where it is not necessary to pass through. In the following description, when referring to any boarding and alighting location in general, not just the individual boarding and alighting locations 201 to 206 illustrated in FIG. 2, the boarding and alighting location will be referred to without a reference symbol.

[0017] In the above example, the desired route is specifically determined before 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 within the area on which the vehicle can operate may be set as candidate routes. In other words, the candidate routes may be within a defined 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 known as a smart pole. The detection unit 42 includes, for example, a sensor such as a LiDAR or 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 regarding candidate routes, which are candidates for routes along which autonomously driven vehicles may travel, and stores the acquired route data in the information storage unit 18. The route data is data used for route evaluation. 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, but is not limited to, two-dimensional map data. The map data may also be a digital road map (DRM). 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. However, this is not limited thereto. The data acquisition unit 11 may also acquire measurement data via another device (not shown) that acquires and stores measurement data, or by reading measurement data recorded on a recording medium. The data acquisition unit 11 may also acquire map data by reading map data recorded on a recording medium. The data acquisition unit 11 may also acquire, as route data, measurement or estimation results such as the current speed of people (pedestrians), the current speed of vehicles (automobiles, motorcycles), traffic volume, the presence or absence of parked vehicles, the amount (number) of parked vehicles, etc. In this way, the route data may include, for example, at least one of information regarding the current speed of people, the current 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 over a short period of time and dynamic data that changes over time. The dynamic data is associated with time information, such as time of day, day of the week, month, and season. For example, the map data is static data, and the measurement data includes both static and dynamic data. Static data includes structures and the number of lanes on a road, while dynamic data includes the actual speed of people and vehicles, traffic volume, the presence or absence of parked vehicles, and the number of pedestrians. The static and dynamic data may be 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, i.e., information identifying whether the object is a structure, a plant, a person, or a vehicle. The route data may also 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, or the number of lanes on a road.

[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 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 part of the virtual map creation process. Furthermore, dynamic data is calculated for each time information such as time period, day of the week, month, and season using multiple pieces of measurement data measured at different times, and the dynamic data associated with the time information is stored in the information storage unit 18 as route data.

[0023] The static and dynamic data in the route data may also include data other than data calculated or extracted from map data and measurement data. For example, traffic volume obtained from other devices as 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 the virtual map on, for example, a digital twin. That is, the virtual map creation unit 12 may create a virtual map by reproducing an environment identical to the real environment in virtual (cyber) space based on route data, which is information of the real space. The virtual map includes data of areas corresponding to candidate routes.

[0025] The nodes on the virtual map include, for example, intersections. The nodes on the virtual map may also include at least one of vehicle boarding and disembarking locations and charging locations where the vehicle is charged. The boarding and disembarking locations are, for example, bus stops. The boarding and disembarking locations may include not only locations actually used for boarding and disembarking the vehicle, but also candidate locations for vehicle boarding and disembarking. Similarly, the charging locations may include not only locations actually used for vehicle charging, but also candidate locations for vehicle charging. The charging locations may be general charging stations, parking lots where vehicles can be charged, or charging locations dedicated to the vehicle being evaluated for the route. The charging locations are not limited to these. Information indicating the locations of the boarding and disembarking locations and the charging locations may be acquired by the data acquisition unit 11 from another device (not shown), or may be input by the reception unit 19. The information indicating the locations of the boarding and disembarking locations and the charging locations 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 each node and link corresponds to 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 a score for 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. While the following describes an example in which the score calculation unit 13 calculates the scores for nodes and links, the score calculation unit 13 only needs to calculate the scores for nodes and does not need to calculate the scores for links. The virtual map includes data on areas corresponding to candidate routes, and as described above, the candidate routes include 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 score calculation method 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 also 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 may be a person who uses the results of route evaluation by the information processing device 1, or a person requested by a person who uses the results of route evaluation. The user may be, for example, a person in charge or an operator at a support provider, or an operation provider, but is not limited to these.

[0029] The desired route may be input, for example, by specifying the boarding and alighting locations to be passed through on the displayed virtual map in the order in which the vehicle will travel, or by inputting the boarding and alighting locations to be passed through and the route between the adjacent boarding and alighting locations. When only the boarding and alighting locations are specified in order, a route that connects the specified boarding and alighting locations in the shortest time may be automatically set. Furthermore, the boarding and alighting locations may be specified by node numbers defined on the virtual map, by the names of the boarding and alighting locations, or by latitude and longitude. When the boarding and alighting locations are specified by the names of the boarding and alighting locations, the names of the boarding and alighting locations may be included in the virtual map. For example, the route data may include information indicating the positions of the boarding and alighting locations and the names of the boarding and alighting locations, so that the names of the boarding and alighting locations are included in the virtual map. 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 locations may be specified as the desired route. For example, charging locations may also be specified in the desired route, and in this case, the charging locations are specified together with the boarding and alighting locations. 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 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 charging location or other location other than a boarding and disembarking location.

[0031] The route setting unit 14 sets the desired route accepted by the accepting unit 19 on a virtual map. For example, information identifying nodes and links included in the desired route among the nodes and links on 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, as desired route information in the information storage unit 18.

[0032] The extraction unit 15 extracts problem locations on the desired route using the scores 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, as problem locations, nodes and links on the desired route whose scores are equal to or greater than a predetermined threshold. 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 represented, for example, by node and link numbers, but are not limited thereto. They may also be represented by map names of the nodes and links, latitude and longitude, or the like. The method of representing the problem locations is not limited to this example. Furthermore, the extraction unit 15 may extract scores of 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 an alternative route that bypasses the problem location, or may create countermeasure information indicating a countermeasure for solving the problem at the problem location. In other words, 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 problem locations on a 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 workarounds received from the workaround creation unit 17, i.e., the workarounds corresponding to the problem locations. For example, the output unit 16 may generate display data for displaying the workarounds 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 workarounds. Note that the workarounds 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 countermeasures 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 operable 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, the displayed area, and the like when displaying the virtual map may be changeable based on a user specification. In this case, the display device 5 may accept a specification from the user and generate display data in accordance with the user specification, or the receiving unit 19 may accept a specification from the user and the output unit 16 may generate display data in accordance with the user specification and transmit it to the display device 5.

[0039] In addition, when the display device 5 is a terminal device, the various pieces of 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. Furthermore, 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 pieces of 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. However, this is not limiting, and the display may be performed by the information processing device 1. 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 a virtual map reflecting the route data. However, this is not limited to this. The score may be calculated using the route data without using the virtual map. For example, 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 separate from the information processing device 1. For example, the virtual map creation unit 12 may be provided in a virtual map management device separate from 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 transceiver unit (not shown). The virtual map management device may then create and manage the virtual map using the route data. In this case, when reading the virtual map, the data acquisition unit 11 or a transceiver 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 transceiver 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). Specifically, the virtual map creation unit 12 creates a virtual map 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 a score for each node and each link (step S3). Specifically, the score calculation unit 13 calculates the score for 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 applies, using the virtual map.

[0045] FIG. 4 is a diagram illustrating an example of evaluation item information according to the present embodiment. In the example illustrated in FIG. 4, the evaluation item information is information in which evaluation items are associated with scores for the evaluation items. Because evaluation items may differ between nodes and links, the example illustrated in FIG. 4 defines evaluation items separately for nodes and links. For example, with respect to nodes, the example illustrated in FIG. 4 includes items related to lane widths, such as one lane per way, two lanes per way, or three or more lanes per way; items related to the type of intersection, such as a T-junction; items related to the presence or absence of blind spots; items related to the presence or absence of sidewalks; and items related to whether the intersection is a roundabout. The example illustrated in FIG. 4 also takes into consideration the presence or absence of curbs, and although not illustrated, the evaluation items are divided into three types: a sidewalk and curb, a sidewalk and no curb, and no sidewalk. With respect to links, the example illustrated in FIG. 4 includes items related to lane widths and an item related to whether the road is a narrow, bottleneck 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 the node is a charging station and an item indicating whether the node is used as a boarding / disembarking station. The evaluation items may include, for example, at least one of an item related to road conditions, an item related to environmental / driving conditions, and an item related to vehicle behavior. Road conditions include, for example, an item related to lanes (e.g., one lane per way, two lanes per way, or three or more lanes per way), an item related to the type of intersection, and an item related to the presence or absence of sidewalks. The items related to environmental / driving conditions include an item related to regulations (e.g., one-way streets, speed limits), an item related to the number of parked vehicles, an item related to traffic volume, and an item related to the number of pedestrians. The items related to vehicle behavior include an item related to whether the vehicle turns right or left and an item related to whether the vehicle stops and starts. Furthermore, evaluation items may be defined depending on whether the node is an intersection, a boarding / disembarking station, or a charging station, i.e., for each type of node. For example, if the node is a boarding / disembarking station or a charging station, unique evaluation items different from those for 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 / contactless, etc.).

[0047] In the example shown in FIG. 4 , a corresponding score is set for each evaluation item so that weighting can be performed according to the evaluation item. For example, with respect to a node, the score for a roundabout (the node is a roundabout) may be 3 points, the score for a sidewalk with a curb (the node has a sidewalk with a curb) may be 0.5 points, and the score for a blind spot (the node has a blind spot) may be 3 points. Note that the above-mentioned scores are merely examples, and the scores for each evaluation item are not limited to the above-mentioned examples. Furthermore, in the example shown in FIG. 4 , a score is set for each evaluation item, but a uniform score may be set. For example, the score for all evaluation items may be 1 point. In this case, it is not necessary to include scores in the evaluation item information; the evaluation item information may simply 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 to 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, among the items defined in the evaluation item information for the nodes, the first node is applicable to the first, fifth, and tenth evaluation items. In this case, the score A of the first node is １ , Ｔｏｔａｌ are the scores corresponding to the 1st, 5th, and 10th evaluation items, respectively. １ , A ５ , A １０ Then, it is calculated by the following (1). １ , Ｔｏｔａｌ =A １ +A ５ +A １０ ...(1)

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

[0050] The amount of parked vehicles, traffic volume, pedestrian volume, etc. are dynamic data as described above. Items corresponding to dynamic data may change depending on time information. When the 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 illustrating an example of score information according to the present embodiment. In the example illustrated in FIG. 5, for each node and link, the score and the number of the corresponding evaluation item (corresponding evaluation item) among the evaluation items indicated in the evaluation item information are stored as score information. In the example illustrated in FIG. 5, consecutive numbers (consecutive numbers assigned to all nodes and links) are assigned to the nodes, and node numbers are assigned to the links. The numbers in the first row of FIG. 5 indicate consecutive numbers, and the numbers in the second row indicate node numbers or link numbers. The evaluation item numbers are, for example, numbers assigned sequentially from top to bottom to each evaluation item in the evaluation item information illustrated in FIG. 4, but are not limited thereto. In FIG. 5, the corresponding evaluation items are indicated by numbers, but are not limited thereto. The corresponding evaluation items may be indicated by the names of the items indicated in the evaluation item information, such as "one-way, one lane" or "roundabout." Note that FIG. 5 is merely an example, and the format of the score information is not limited to the example illustrated in FIG. 5. For example, consecutive numbers may not be assigned. Alternatively, 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 applies may be indicated in a matrix. Furthermore, score information may be added to the virtual map as information about each node and each link, and stored in the information storage unit 18.

[0052] Returning to the description of Fig. 3, the information processing device 1 outputs the virtual map (step S4). Specifically, 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 a desired route has been set (step S5). Specifically, 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 scores for 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 value as problem areas. FIG. 6 is a diagram showing an example of problem areas extracted in this embodiment. In the example shown in FIG. 6, the threshold value 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). Specifically, the extraction unit 15 determines whether or not there is a portion extracted as a problem portion in the processing of step S6. If there is no extracted portion (step S7 No), the information processing device 1 ends the processing. Note that if there is no extracted portion, the information processing device 1 may end the processing by displaying information indicating that there is no problem portion on the display device 5.

[0056] If an extracted portion is found (Yes in step S7), the information processing device 1 outputs the problem portion (step S8). Specifically, 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 the display data to the display device 5.

[0057] FIG. 7 is a diagram illustrating an example of a display screen displaying problem locations according to this embodiment. FIG. 7 illustrates an example of how problem locations are displayed when the desired route illustrated in FIG. 2 is set. For example, as shown in FIG. 7, the display device 5 highlights problem locations on a virtual map by displaying them in a predetermined manner. In FIG. 7, the desired route is indicated by a solid line, and hatched rectangular shapes 301, 302, and 303 indicate problem locations. Problem locations may be highlighted in a color different from other locations on the desired route, such as red, or by being highlighted with a different shape from other locations on the desired route, or by being surrounded by a shape such as a circle or rectangle. The highlighting method is not limited to these. In the example illustrated in FIG. 7, a score corresponding to each problem location is also displayed, but the score does not necessarily have to be displayed. In the example illustrated in FIG. 7, the virtual map is converted into a two-dimensional map and displayed, i.e., a map viewed from above, but the virtual map may also 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). Specifically, the workaround creation unit 17 creates a workaround so that there are no locations 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 the route as a workaround so as to avoid and detour around the problem location. That is, the workaround creation unit 17 may create a reconstructed route as a workaround so as to avoid and detour around the problem location. When alternative routes are defined as candidate routes, the route may be reconstructed by selecting an alternative route that detours around the problem location from the alternative routes. Note that if the candidate alternative route has a location where the score is equal to or greater than the threshold, the alternative route is not adopted. Furthermore, if alternative routes are not defined in advance and route data for all roads in a defined area is available, a route that avoids the problem location may be reconstructed using, for example, 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, if mandatory pass points are defined, the workaround creation unit 17 reconstructs the route so that the route passes through the mandatory pass points. Note that the charging location may be specified, for example, 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 that one charging location is included on the route regardless of its location. Note that specifying a charging location is not mandatory.

[0059] The workaround creation unit 17 may also create countermeasure information indicating countermeasures for resolving 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 resolving the problems.

[0060] Fig. 8 is a diagram showing an example of a display screen of a reconstructed route according to 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 indicated by solid circles are set, and the route is reconstructed by passing through the mandatory pass points and adopting 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, which may then display the reconstructed route as shown in Fig. 8.

[0061] FIG. 9 is a diagram showing an example of a display screen displaying countermeasures according to this 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 representing the three problem locations shown in FIG. 7 , and the countermeasures are displayed in the display areas 401, 402, and 403. Because the scores of the three problem locations are reduced to below the threshold as a result of the countermeasures, the colors of the figures 301, 302, and 303 may be changed from the state shown in FIG. 9 . The change in display mode between when the score is equal to or greater than the threshold and when the score is below the threshold is not limited to the example shown in FIG. 9 , and the shapes of the figures 301, 302, and 303 may also be changed. While FIG. 9 shows an example in which the display mode of a problem location whose score falls below the threshold as a result of the countermeasures is changed, the display mode of a problem location whose score falls below the threshold as a result of the countermeasures may remain unchanged and remain the same as that shown in FIG. 7 .

[0062] FIG. 10 is a diagram showing an example of a display screen displaying a reconstructed route and countermeasures according to this embodiment. In FIG. 10, a route that avoids the link of the problem location corresponding to graphic 303, one of the three problem locations shown in FIG. 7, is reconstructed as reconstructed route 404. For the remaining problem locations, display areas 401 and 402 are provided connected to graphics 301 and 302 by lead lines, as in FIG. 9, and countermeasures are displayed in display areas 401 and 402. In the example shown in FIG. 10, the colors of graphics 301 and 302 are changed from those shown in FIG. 7 because the countermeasures have reduced the scores of the two problem locations below the threshold. However, the display format is not limited to this example. The display format of problem locations whose scores are reduced below the threshold due to the countermeasures may remain unchanged and be the same as that shown in FIG. 7.

[0063] For example, the workaround creation unit 17 may create countermeasure information when it is not possible to reconstruct a route such that 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 route reconstruction process and the countermeasure information creation process, and perform the high-priority process first, and then perform the low-priority process if any problem areas remain.

[0064] Countermeasure information indicating countermeasures for problem locations is created using, for example, countermeasure information. FIG. 11 is a diagram illustrating an example of countermeasure information according to the present embodiment. The countermeasure information illustrated in FIG. 11 is information indicating countermeasures for each evaluation item, i.e., for each type of problem to which the problem location is determined to correspond. In the example illustrated in FIG. 11 , for a location determined to have a blind spot, a countermeasure is determined depending on the cause of the blind spot. For example, if the cause of the blind spot is vegetation, the corresponding countermeasure is pruning the vegetation or installing a smart pole. In addition, in the case of a narrow road, the corresponding countermeasure is vehicle-to-vehicle mediation or manual driving (temporarily switching to manual driving). Note that the smart pole installed as a countermeasure is a pole equipped with a sensor, such as a camera, capable of detecting objects in blind spots and a communication device that transmits measurement data acquired by the sensor. This measurement data can be used for autonomous vehicle driving via road-to-vehicle communication or another device (not illustrated). Note that countermeasures corresponding to evaluation items are not limited to the example illustrated in FIG. 11 . For example, if the problem is a blind spot, the countermeasure may be vehicle-to-vehicle mediation. That is, if the problem is a blind spot, the solution may be at least one of installing smart poles, pruning plants, and mediating between vehicles.

[0065] As shown in FIG. 11 , multiple measures may be defined for one evaluation item. In this case, priorities may be assigned to the multiple measures. In the example shown in FIG. 11 , the measure shown on the left side of the multiple measures is prioritized. The way of indicating priorities is not limited to the example shown in FIG. 11 . When multiple measures corresponding to a problem location exist in the countermeasure information, the workaround creation unit 17 may include the multiple measures in the countermeasure information, or may include the highest priority measure in the countermeasure information.

[0066] Furthermore, when there are multiple evaluation items corresponding to one problem location, the workaround creation unit 17 may prioritize measures corresponding to the evaluation item with the highest score in the evaluation item information, and add measures in descending order of priority until the score falls below the threshold. For example, if implementing the highest-priority measure reduces the score below the threshold, the workaround creation unit 17 includes only that measure in the measure information. If implementing the highest-priority measure still results in a score equal to or greater than the threshold, the workaround creation unit 17 calculates the score resulting from implementing the measure corresponding to the evaluation item with the second highest priority. If this score falls below the threshold, the workaround creation unit 17 includes measures corresponding to the two highest-priority evaluation items 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. Furthermore, in this example, priority is given to evaluation items with high scores, but this is not limited to this. The priority of each evaluation item in determining measures may be determined separately from the score, and the workaround creation unit 17 may determine measures according to the priority.

[0067] In FIG. 11 , when there is a blind spot, a countermeasure is defined depending on 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 depending on the identified cause. Alternatively, an evaluation item may be defined for each cause as an evaluation item in the evaluation item information, and a countermeasure may be defined 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 (influences other than plants), and the score calculation unit 13 may also 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 countermeasures differ depending on the cause of the blind spot, but the present invention is not limited to this example, and countermeasures for dealing with blind spots may be determined regardless of the cause. For example, the countermeasure for dealing with blind spots may be determined to be the installation of smart poles, regardless of the cause.

[0069] FIG. 12 is a diagram showing another example of the countermeasure information according to the present embodiment. The countermeasure information shown in FIG. 12 is information indicating countermeasures for each location, i.e., for each node and link. In the example shown in FIG. 12, for example, when the information processing device 1 determines the relevant evaluation items for each node and link, it outputs the evaluation items determined to be relevant and accepts input of countermeasures corresponding to the evaluation items, thereby generating the countermeasure information. Alternatively, when the information processing device 1 determines the relevant evaluation items for each node and link, it may extract countermeasures corresponding to the node or link from the countermeasure information shown in FIG. 11, thereby generating countermeasure information indicating countermeasures for each node and link.

[0070] Furthermore, 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, by performing a simulation on a digital twin, it is possible to determine measures that reflect the actual situation.

[0071] FIG. 13 is a diagram illustrating a simulation using a virtual map according to this embodiment. In FIG. 13 , the virtual map is displayed in three dimensions, showing the area around an intersection, which is an example of a node. The direction of travel 500 indicates the vehicle's direction of travel. By considering the field of view of the vehicle's onboard autonomous driving sensor in accordance with the direction of travel, blind spots can be determined. In the example shown in FIG. 13 , a plant 501 and a structure 502 are responsible for the 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 the pruning of the plant 501 and the installation of smart poles on the digital twin. By determining whether the blind spot is eliminated, appropriate countermeasures for each node may be determined. Furthermore, if multiple countermeasures are possible, the priorities of the countermeasures may be determined through simulation so that the most effective countermeasures are prioritized.

[0072] Although the above example has been given using blind spots as an example, countermeasures may be determined for each cause of other evaluation items 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 determines whether the workaround has been approved (step S10). Specifically, when the receiving unit 19 receives input indicating approval of the workaround, the receiving unit 19 notifies the workaround creation unit 17 of the approval. When the workaround creation unit 17 receives the notification, the workaround creation unit 17 determines 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 that presents options to the user, either to approve the workaround or to recreate the workaround, and prompts the user to make a selection. The display device 5 may display the display data, and the receiving unit 19 may accept input of the selection result. Furthermore, when the user selects to recreate the workaround, the receiving unit 19 may further accept input of a request from the user. Examples of user requests include, but are not limited to, adding a required pass point, specifying an alternative route to be applied, and changing a measure.

[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 is repeated from step S9. 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. Alternatively, 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] While the example shown in FIG. 3 uses a virtual map, as described above, this is not limiting. The information processing device 1 may directly use route data to calculate the scores of each node and each link. Furthermore, in the example described in FIG. 3, problem locations and corresponding scores are output. However, any score corresponding to the desired route may be displayed. For example, the scores of all nodes and links included in the desired route, not just the problem locations, may be output as evaluation results. In this case, too, the display device 5 displays the scores of all nodes and links included in the desired route, allowing the user, upon checking the scores, to identify locations with high scores and determine the suitability of the desired route. Furthermore, in the example described in FIG. 3, workarounds for the problem locations are created and output. However, the creation and output of workarounds is not required. For example, the information processing device 1 may output evaluation items corresponding to the problem locations, and the display device 5 may display the evaluation items. This allows the user to consider countermeasures based on the evaluation items.

[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. After the desired route is set, the score calculation unit 13 may use the virtual map to calculate the score for each node and link included in the desired route. 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 whose score is less than the threshold value.

[0077] Furthermore, in the above-described 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 describing the processing of each of the information processing devices 1 is executed on a computer system, causing each computer system to function as the information processing device 1. FIG. 14 is a diagram showing an example 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 a processor such as a CPU (Central Processing Unit) and executes a program describing the processes performed by the information processing device 1 of this embodiment. The input unit 102 is composed of, for example, a keyboard, buttons, a mouse, and the like, and is used by a user of the computer system to input various information. The memory unit 103 includes various memories such as RAM (Random Access Memory) and ROM (Read Only Memory) and a storage device such as a hard disk, and stores programs to be executed by the control unit 101, necessary data obtained during processing, and the like. The memory unit 103 is also used as a temporary storage area for programs. The control unit 101 and the memory unit 103 constitute, for example, a processing circuit. The processing circuit may be a single 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. Note that a touch panel in which the input unit 102 and the display unit 104 are integrated may also be used. The communication unit 105 is a receiver and 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 the 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 may not be provided.

[0080] Here, an example of the operation of the computer system until the program of this embodiment is ready to be executed will be described. In the computer system having the above-described configuration, for example, the program is installed in storage unit 103 from a CD-ROM or DVD-ROM inserted 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 storage unit 103 is stored in the main storage area of ​​storage unit 103. In this state, control unit 101 executes the processes as each of information processing device 1 of this embodiment in accordance with the program stored in storage unit 103.

[0081] In the above description, a program describing the processing in each information processing device 1 is provided using a CD-ROM or DVD-ROM as a recording medium, but this is not limited to this. 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 via 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, score calculation unit 13, route setting unit 14, extraction unit 15, and workaround creation unit 17 shown in FIG. 1 are realized by the control unit 101 shown in FIG. 14 executing programs stored in the storage unit 103 shown in FIG. 14. The storage unit 103 is also used to realize the virtual map creation unit 12, score calculation unit 13, route setting unit 14, extraction unit 15, and workaround creation unit 17. The data acquisition unit 11 and 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. If 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 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. The function of the reception unit 19 may also be realized by the communication unit 105. The information processing device 1 may also 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 this embodiment uses route data including at least three-dimensional data to calculate scores indicating the difficulty of autonomous driving for nodes on a route traveled by a vehicle, and outputs the calculated scores. This allows the user to receive more accurate route evaluation results than when route evaluation is performed using only two-dimensional data. Furthermore, displaying the desired route, score, etc. on a virtual map makes it easier for the user to understand the situation. Furthermore, the information processing device 1 may extract and output problem areas based on the scores, allowing the user to identify the problem areas. Furthermore, the information processing device 1 may present solutions to the problem areas, allowing the user to quickly confirm the solutions to the problem areas, improving user convenience.

[0085] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention.

[0086] REFERENCE SIGNS LIST 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 Avoidance measure 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 regarding a candidate route that is a candidate for a route on which an autonomous vehicle travels; a score calculation unit that calculates a score indicating the difficulty level of autonomous driving for each node included in a desired route that is a route to be evaluated, based on the route data; and an output unit that outputs the score, wherein the information processing apparatus is characterized by comprising these components.

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, wherein the information processing apparatus according to claim 1 or 2 is characterized in that 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 points in the desired route using the score, wherein the information processing apparatus according to claim 3 or 4 is characterized in that the output unit outputs the problem points.

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

7. The information processing apparatus according to claim 5 or 6, wherein the output unit outputs a countermeasure corresponding to the problem points.

8. The information processing apparatus according to claim 7, wherein the countermeasure includes a reconstructed route reconstructed to avoid and detour around the problem points.

9. The information processing apparatus according to claim 8, wherein a mandatory passing point is set, and the reconstructed route is constructed to pass through the mandatory passing point.

10. The information processing apparatus according to any one of claims 7 to 9, wherein the countermeasure includes a measure for resolving the problem of the problem points.

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

12. The information processing apparatus according to claim 11, wherein when the problem is a blind spot, the measure includes at least one of installation of a smart pole, pruning of vegetation, and mediation between vehicles.

13. The information processing apparatus according to any one of claims 1 to 12, wherein the three-dimensional data includes at least one of three-dimensional video data and three-dimensional point cloud data.

14. The information processing apparatus according to any one of claims 1 to 13, wherein the three-dimensional data includes measurement data measured by a sensor mounted on a measurement vehicle.

15. The information processing apparatus according to any one of claims 1 to 14, wherein the route data includes at least one of information regarding the actual speed of a person, the actual speed of a vehicle, and the presence or absence of parked vehicles.

16. The information processing apparatus according to any one of claims 1 to 15, wherein the candidate route includes the desired route and another route different from the desired route.

17. The information processing apparatus according to any one of claims 1 to 16, wherein the node includes an intersection.

18. The information processing apparatus according to any one of claims 1 to 17, wherein the node includes a boarding and alighting location of the vehicle.

19. An information processing system comprising: a measuring device that measures three-dimensional data regarding a candidate route that is a candidate for a route on which a vehicle capable of autonomous driving travels; and an information processing apparatus, wherein the information processing apparatus includes: a data acquisition unit that acquires route data including at least the three-dimensional data measured by the measuring device, which is data regarding the candidate route; a score calculation unit that calculates a score indicating the difficulty level of autonomous driving for each node included in a desired route that is a route to be evaluated, based on the route data; and an output unit that outputs the score.

20. A route evaluation method in an information processing apparatus, the method including: a step of acquiring route data including at least three-dimensional data regarding a candidate route that is a candidate for a route on which a vehicle capable of autonomous driving travels; a step of calculating, based on the route data, a score indicating the difficulty level of autonomous driving for each node included in a desired route that is a route to be evaluated; and a step of outputting the score.

21. A step of causing a computer system to acquire route data including at least three-dimensional data regarding a candidate route that is a candidate for a route on which a vehicle capable of autonomous driving travels; a step of calculating a score indicating the difficulty level of autonomous driving for each node included in a desired route that is a route to be evaluated, based on the route data; and a step of outputting the score. A program characterized by causing the above steps to be executed.

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