Patent Publication Number: US-2022238019-A1

Title: Safety performance evaluation apparatus, safety performance evaluation method, information processing apparatus, and information processing method

Description:
TECHNICAL FIELD 
     The present disclosure relates to a safety performance evaluation apparatus, a safety performance evaluation method, an information processing apparatus, and an information processing method. 
     BACKGROUND ART 
     In recent years, various sensors have been mounted on a vehicle. A driving assistance system (hereinafter, also referred to as a driving assistance processing unit) that performs driving assistance by performing wireless communication with surrounding vehicles and infrastructure facilities while using output information of this type of sensor has been studied. In order to improve safety performance of the vehicle, the driving assistance system is expected to be more and more developed and spread in the future. 
     In order to further improve the safety performance of the driving assistance system described above, it is necessary to provide a high-performance sensor, a processor with high processing capability, and the like, and thus, an equipment cost increases. For this reason, although it is known that the safety performance is further improved, there is a concern that the equipment cost becomes a bottleneck which hinders the spread of the driving assistance processing unit having high safety performance. 
     Meanwhile, a user of the vehicle is required to necessarily purchase an insurance. In order to reduce a burden of insurance premiums, a service in which an insurance premium is discounted according to a travel distance and a past violation history of a driver is performed. In addition, a service in which the insurance premium is decided according to quality of driving of the driver and a driving situation has also been proposed (See Patent Documents 1 and 2). 
     CITATION LIST 
     Patent Document 
     
         
         Patent Document 1: Japanese Patent Application Laid-Open No. 2002-297910 
         Patent Document 2: Japanese Patent Application Laid-Open No. 2006-39642 
       
    
     SUMMARY OF THE INVENTION 
     Problems to be Solved by the Invention 
     In a case where it is possible to discount the insurance premium of the vehicle equipped with a driving assistance function having high safety performance, there is a possibility that motivation to introduce the driving assistance system having high safety performance is enhanced and the spread of the driving assistance system is promoted. In order to discount the insurance premium of the vehicle equipped with the driving assistance function having high safety performance, a measure for evaluating safety performance of the driving assistance function that the vehicle is equipped with is required. 
     An aspect of the present disclosure provides a safety performance evaluation apparatus, a safety performance evaluation method, an information processing apparatus, and an information processing method, which enable evaluation of safety performance of a driving assistance function. 
     Solutions to Problems 
     In order to solve the above-described problems, an aspect of the present disclosure provides a safety performance evaluation apparatus including: 
     an acquisition unit that acquires information regarding a driving assistance function of a mobile object; and 
     an evaluation unit that evaluates safety performance of the driving assistance function of the mobile object on the basis of the acquired information. 
     The information regarding the driving assistance function of the mobile object may include identification information of a driving assistance processing unit mounted on the mobile object, and 
     the evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object on the basis of the identification information of the driving assistance processing unit. 
     The information regarding the driving assistance function of the mobile object may include safety performance information of the driving assistance processing unit, and 
     the evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object on the basis of the identification information and the safety performance information of the driving assistance processing unit. 
     The safety performance information may include at least one of identification information or output information of a sensor built in or connected to the driving assistance processing unit. 
     The safety performance information may include at least one of identification information of a signal processing large scale integrated circuit (LSI) that implements a function of the driving assistance processing unit, version information of software that implements the function of the driving assistance processing unit, or accident information of the mobile object. 
     The evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object on the basis of detection capability of a sensor built in or connected to the driving assistance processing unit. 
     The evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object on the basis of time difference information from a time when the sensor built in or connected to the driving assistance processing unit detects a target object at a reference point to a time when the mobile object passes through the reference point. 
     The safety performance evaluation apparatus may further include 
     a number-of-times measurement unit that measures the number of times a specific message has been transmitted by the driving assistance processing unit, 
     in which the evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object on the basis of the number of times measured by the number-of-times measurement unit. 
     The evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object on the basis of the output information of the sensor built in or connected to the driving assistance processing unit when the mobile object transmits a message. 
     The safety performance evaluation apparatus may further include: 
     an area setting unit that sets a predetermined area; and 
     an information extraction unit that extracts the information regarding the driving assistance function of the mobile object acquired within the predetermined area by the acquisition unit, 
     in which the evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object on the basis of the information extracted by the information extraction unit. 
     The safety performance evaluation apparatus may further include: 
     a time zone setting unit that sets a predetermined time zone; and 
     an information extraction unit that extracts the information regarding the driving assistance function of the mobile object acquired within the predetermined time zone by the acquisition unit, 
     in which the evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object on the basis of the information extracted by the information extraction unit. 
     The safety performance evaluation apparatus may further include a deciding unit that decides an insurance premium for the mobile object on the basis of the safety performance evaluated by the evaluation unit. 
     The safety performance evaluation apparatus may further include: 
     a safety performance standard determination unit that determines whether or not the safety performance evaluated by the evaluation unit has reached a predetermined standard; and 
     a maintenance alert unit that urges maintenance of the driving assistance function of the mobile object in a case where it is determined by the safety performance standard determination unit that the predetermined standard has not been reached. 
     Another aspect of the present disclosure provides a safety performance evaluation method including: 
     acquiring information regarding a driving assistance function of a mobile object; and 
     evaluating safety performance of the driving assistance function of the mobile object on the basis of the acquired information is provided. 
     Another aspect of the present disclosure provides an information processing apparatus including: 
     a driving assistance processing unit that generates information regarding safety performance evaluation for a driving assistance function; and 
     a communication unit that transmits the information, 
     in which the information transmitted from the communication unit includes first identification information for identifying the driving assistance processing unit and second identification information for identifying a mobile object on which the driving assistance processing unit and the communication unit are mounted. 
     One or more sensors may be built in or connected to the driving assistance processing unit, and 
     the information may include output information of the one or more sensors and third identification information for identifying the one or more sensors. 
     The information may include at least one of identification information of a signal processing LSI that implements a function of the driving assistance processing unit, version information of software that implements the function of the driving assistance processing unit, or accident information of the mobile object. 
     The driving assistance processing unit may dynamically set a type of a specific message according to at least one of an area in which the mobile object is positioned or a time zone in which the communication unit performs communication. 
     The information processing apparatus may further include: 
     a first determination unit that determines whether or not a predetermined event has occurred; and 
     a second determination unit that determines whether or not the mobile object is traveling in a predetermined area or in a predetermined time zone, 
     in which the driving assistance processing unit generates dynamic information regarding safety performance corresponding to the event in a case where it is determined that the predetermined event has occurred, and 
     in a case where it is determined that the predetermined event has occurred and it is determined that the mobile object is traveling in the predetermined area or the predetermined time zone, the transmission unit transmits the dynamic information corresponding to the event. 
     Another aspect of the present disclosure provides an information processing method including: 
     generating information regarding safety performance evaluation for a driving assistance function of a mobile object; and 
     transmitting a plurality of messages and the information from a communication unit, 
     in which the information transmitted from the communication unit in a case where the communication unit transmits a specific message among the plurality of messages includes first identification information for identifying a driving assistance processing unit mounted on the mobile object and second identification information for identifying the mobile object on which the driving assistance processing unit and the communication unit are mounted. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a block diagram illustrating a schematic configuration of a safety performance evaluation system including a safety performance evaluation apparatus and an information processing apparatus according to a first embodiment. 
         FIG. 2  is a diagram illustrating a first example of safety performance information of a first contract vehicle and a second contract vehicle registered in a server. 
         FIG. 3  is a diagram illustrating a second example of the safety performance information of the first contract vehicle and the second contract vehicle registered in the server. 
         FIG. 4  is a diagram illustrating a third example of the safety performance information of the first contract vehicle and the second contract vehicle registered in the server. 
         FIG. 5  is a diagram illustrating a fourth example of the safety performance information of the first contract vehicle and the second contract vehicle registered in the server. 
         FIG. 6  is a block diagram illustrating an internal configuration of the server on which the safety performance evaluation apparatus is mounted according to the first embodiment. 
         FIG. 7  is a block diagram illustrating a schematic configuration of the information processing apparatus mounted on the first contract vehicle and the second contract vehicle. 
         FIG. 8  is a block diagram illustrating an example of a detailed configuration of an information processing unit of  FIG. 7 . 
         FIG. 9  is a block diagram illustrating an example of a detailed configuration of a control unit of  FIG. 7 . 
         FIG. 10  is a diagram illustrating use conditions, trigger conditions, and end conditions for transmitting a decentralized environmental notification message (DENM). 
         FIG. 11  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus according to the first embodiment mounted on the server. 
         FIG. 12  is a block diagram illustrating an internal configuration of a server on which a safety performance evaluation apparatus according to a second embodiment is mounted. 
         FIG. 13  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus according to the second embodiment mounted on the server. 
         FIG. 14  is a block diagram illustrating an internal configuration of a server on which a safety performance evaluation apparatus according to a third embodiment is mounted. 
         FIG. 15  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus according to the third embodiment mounted on the server. 
         FIG. 16  is a diagram illustrating a first example of a processing procedure of Step S 24  of  FIG. 15 . 
         FIG. 17  is a diagram illustrating a second example of the processing procedure of Step S 24  of  FIG. 15 . 
         FIG. 18  is a diagram illustrating an example of data distribution related to an object detection speed based on an output of a sensor. 
         FIG. 19  is a diagram illustrating an example in which a detection speed of an advanced driver-assistance systems (ADAS)/autonomous driving (AD) system (ADAS/AD system) is calculated in consideration of a speed of a contract vehicle. 
         FIG. 20  is a diagram illustrating an example in which safety performance of the ADAS/AD system is evaluated by using a length of a relative distance with respect to a reference point A. 
         FIG. 21  is a flowchart illustrating an example of a detailed processing operation of an insurance premium deciding unit. 
         FIG. 22  is a block diagram illustrating an internal configuration of a safety performance evaluation apparatus according to a fourth embodiment. 
         FIG. 23  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus according to the fourth embodiment. 
         FIG. 24  is a block diagram illustrating an internal configuration of a safety performance evaluation apparatus according to a fifth embodiment. 
         FIG. 25  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus according to the fifth embodiment. 
         FIG. 26  is a block diagram illustrating a schematic configuration of an information processing apparatus according to a sixth embodiment. 
         FIG. 27  is a flowchart illustrating a processing operation of the information processing apparatus according to the sixth embodiment. 
         FIG. 28  is a block diagram illustrating a schematic configuration of a modified example of the information processing apparatus according to the sixth embodiment. 
         FIG. 29  is a flowchart illustrating a processing operation of the information processing apparatus of  FIG. 28 . 
         FIG. 30  is a block diagram illustrating an internal configuration of a server on which a safety performance evaluation apparatus according to a seventh embodiment is mounted. 
         FIG. 31  is a block diagram illustrating an internal configuration of a server on which a safety performance evaluation apparatus according to an eighth embodiment is mounted. 
         FIG. 32  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus according to the eighth embodiment. 
         FIG. 33  is a block diagram illustrating an internal configuration of a server on which a safety performance evaluation apparatus according to a ninth embodiment is mounted. 
         FIG. 34  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus according to the ninth embodiment. 
         FIG. 35  is a block diagram illustrating a schematic configuration of an information processing apparatus  2   c  according to the ninth embodiment. 
         FIG. 36  is a block diagram illustrating an example of a detailed configuration of a control unit  46   a  of  FIG. 35 . 
         FIG. 37  is a flowchart illustrating an operation of the control unit  46   a  of  FIG. 36 . 
         FIG. 38  is a block diagram illustrating a hardware configuration example of a computer that executes a program to perform a series of pieces of processing of the safety performance evaluation apparatus, the information processing apparatus, and the safety performance evaluation system. 
     
    
    
     MODE FOR CARRYING OUT THE INVENTION 
     Hereinafter, embodiments of a safety performance evaluation apparatus and an information processing apparatus will be described with reference to the drawings. Hereinafter, main components of the safety performance evaluation apparatus and the information processing apparatus will be mainly described, but the safety performance evaluation apparatus and the information processing apparatus can have components and functions that are not illustrated or described. The following description does not exclude components and functions that are not illustrated or described. 
     Hereinafter, an example in which the safety performance evaluation apparatus is mounted on a server and the information processing apparatus is mounted on a vehicle will be mainly described, but the information processing apparatus can also be mounted on various mobile objects other than a vehicle, for example, an aircraft, a ship, a drone, a robot, and the like. Furthermore, the safety performance evaluation apparatus can be mounted on various computer devices such as a device capable of performing communication with the information processing apparatus, for example, a personal computer, a workstation, or the like. Hereinafter, a contract vehicle that has purchased any vehicle insurance will be described as an example of the vehicle on which the information processing apparatus is mounted. 
     First Embodiment 
       FIG. 1  is a block diagram illustrating a schematic configuration of a safety performance evaluation system  3  including a safety performance evaluation apparatus  1  and an information processing apparatus  2  according to a first embodiment. The safety performance evaluation system  3  of  FIG. 1  includes a first contract vehicle  4   a  and a second contract vehicle  4   b  each on which the information processing apparatus  2  is mounted, and a server  5  on which the safety performance evaluation apparatus  1  is mounted. The first contract vehicle  4   a  and the second contract vehicle  4   b  are vehicles having an insurance contract with an insurance company. Specific contents and types of the insurance are not limited. For example, any insurance related to a vehicle, such as a personal injury liability insurance, a property damage liability insurance, a personal injury insurance, and a vehicle insurance can be covered. Further, although only two contract vehicles are illustrated in  FIG. 1 , the number of contract vehicles that performs communication with the server  5  is arbitrary. 
     An advanced driver-assistance systems (ADAS)/autonomous driving (AD) system that implements a driving assistance function is mounted on each of the first contract vehicle  4   a  and the second contract vehicle  4   b.  The ADAS/AD systems mounted on the first contract vehicle  4   a  and the second contract vehicle  4   b  are different from each other, and have different safety performance. The server  5  receives, for example, safety performance information of the ADAS/AD system from each contract vehicle through wireless communication via a base station  6  or a road side unit (RSU)  7 , and registers and holds the safety performance information. As described later, the server  5  has a function of evaluating safety performance of each contract vehicle on the basis of the safety performance information received from each contract vehicle. The server  5  can decide an insurance premium of each contract vehicle on the basis of a result of evaluating the safety performance of each contract vehicle. For example, a contract vehicle having more excellent safety performance can get a higher discount rate for a basic insurance premium, that is, the insurance premium can be reduced. 
     Here, the safety performance information includes static safety performance information that does not depend on a time, a situation, and the like, and dynamic safety performance information that changes according to a time, a situation, and the like. In the present embodiment, the safety performance of the ADAS/AD system is evaluated on the basis of the static safety performance information. 
     The static safety performance information includes information such as a specification of the ADAS/AD system mounted on each contract vehicle and specifications of various facilities mounted on each contract vehicle and affecting the safety performance. More specifically, the static safety performance information includes identification information of each sensor connected to the ADAS/AD system mounted on each contract vehicle, identification information of the ADAS/AD system, identification information of each contract vehicle, and the like. In addition, the static safety performance information may include identification information of a signal processing large scale integrated circuit (LSI) that implements the function of the ADAS/AD system and information of its kind, and a type and version information of software that implements the function of the ADAS/AD system. 
     An example of the static safety performance information regarding the sensor is information regarding a type of the sensor. Examples of the sensor include a position information sensor, a camera module (including an image sensor), a light detection and ranging or laser imaging detection and ranging (LiDAR), a radar, and the like. In addition, the static safety performance information may include information of a manufacturer of each sensor and a specification of the sensor. For example, the specification of the sensor is the number of pixels or an angle of view in a case of the camera module (image sensor) or the LiDAR. In a case of the radar, the specification of the sensor is resolution (azimuth resolution/range resolution). 
     Further, in a case where a contractor or a user of the contract vehicle makes an insurance contract for the contract vehicle, information of a sensor reported as being mounted on the contract vehicle may be registered in the server  5  as the static safety performance information. Further, the static safety performance information may include a product model number of each sensor, or may include unique identification information allocated to each product model number of each sensor. 
     In addition to the identification information of the sensor, the static safety performance information included in the safety performance information includes, for example, an identification number of the vehicle on which the ADAS/AD system is mounted, the identification information of the ADAS/AD system, the identification information of the signal processing LSI that implements the function of the ADAS/AD system, the version information of the software that implements the function of the ADAS/AD system, and the like. Here, the identification information of the vehicle on which the ADAS/AD system is mounted may be, for example, a vehicle type name or a model name of the vehicle. 
     In addition, in a case where a general-purpose communication device such as a vehicle-to-everything (V2X) module cooperating with the ADAS/AD system is mounted on the vehicle, identification information such as a model name of the V2X module or the like can be included in the static safety performance information. 
       FIG. 1  illustrates an example in which the ADAS/AD system of the first contract vehicle  4   a  has more excellent safety performance than the ADAS/AD system of the second contract vehicle  4   b.  The first contract vehicle  4   a  performs cellular wireless communication with the base station  6 , whereas the second contract vehicle  4   b  performs wireless communication with the RSU  7  installed on a traffic light  8 , a road sign (not illustrated), or the like. Note that the first contract vehicle  4   a  may have a function of performing wireless communication with the RSU  7  installed on the traffic light  8 , a road sign (not illustrated), or the like, in addition to the function of performing cellular wireless communication with the base station  6 . 
     The server  5  registers the safety performance information of the ADAS/AD system mounted on the first contract vehicle  4   a  and the safety performance information of the ADAS/AD system mounted on the second contract vehicle  4   b  in a distinguishable manner. The ADAS/AD systems having different safety performance functions are mounted on the first contract vehicle  4   a  and the second contract vehicle  4   b,  respectively. In the present specification, the ADAS/AD system may be collectively referred to as a driving assistance processing unit. The driving assistance processing unit performs various types of driving assistance processing. For example, the driving assistance processing unit performs various types of driving assistance processing such as a function of predicting a collision with an obstacle ahead and issuing an alarm or automatically applying a brake, a function of assisting a steering wheel operation so as to travel while keeping the lane, a function of maintaining a constant inter-vehicle distance, a function of automatically parking the vehicle in a parking space, or a function of assisting the driver at the time of parking the vehicle in a parking space. The driving assistance processing unit according to the present embodiment generates information regarding safety performance evaluation for the driving assistance function. 
     The server  5  according to the present embodiment evaluates the safety performance of the ADAS/AD system on the basis of the static safety performance information of the ADAS/AD system mounted on each contract vehicle.  FIG. 2  is a diagram illustrating a first example of the static safety performance information of the first contract vehicle  4   a  and the second contract vehicle  4   b  registered in the server  5 . In the example of  FIG. 2 , a product model number of each sensor such as a LiDAR, a radar, a front camera, a rear camera, or the like is registered. Note that, although  FIG. 2  illustrates an example in which the product model number of each mounted sensor is registered for each contract vehicle, the product model number of each sensor may be registered for each piece of unique identification information assigned to each contract vehicle by the insurance company. The identification information of each contract vehicle may be a number uniquely assigned to identify a vehicle body, a chassis number, a vehicle registration number plate, or a vehicle number plate. Here, the product model number of each sensor is registered for each contract vehicle. However, the product model number of each sensor may also be registered for each vehicle type. 
       FIG. 3  is a diagram illustrating a second example of the safety performance information of the first contract vehicle  4   a  and the second contract vehicle  4   b  registered in the server  5 . Similarly to  FIG. 2 , in the example of  FIG. 3 , for each contract vehicle, each sensor is classified for each type, and unique identification information with the same number of digits is given to each sensor. 
       FIG. 4  is a diagram illustrating a third example of the safety performance information of the first contract vehicle  4   a  and the second contract vehicle  4   b  registered in the server  5 . In the example of  FIG. 4 , the product model number of the V2X module cooperating with the ADAS/AD system and information regarding whether or not each sensor corresponds to the V2X module are registered.  FIG. 4  illustrates that the sensor with a check mark corresponds to the V2X module. In addition, as the safety performance information other than the sensor, a product model number of the signal processing LSI that implements the function of the ADAS/AD system and a version number of the software that implements the function of the ADAS/AD system are registered. Both the product model number of the signal processing LSI and the version number of the software are identification information for identifying the signal processing LSI and the software. Note that, more specifically, the signal processing LSI is a generic name of a semiconductor circuit that performs a processing operation for implementing the function of the ADAS/AD system, and is interpreted including a board on which a plurality of LSIs is mounted. Further, the signal processing LSI may have a processing function including image processing and further including image recognition processing. 
       FIG. 5  is a diagram illustrating a fourth example of the safety performance information of the first contract vehicle  4   a  and the second contract vehicle  4   b  registered in the server  5 . In the example of  FIG. 5 , the product model number of each sensor connected to each V2X module is registered. Further, similarly to  FIG. 4 , the product model number of the signal processing LSI that implements the function of the ADAS/AD system and the version number of the software that implements the function of the ADAS/AD system are registered. 
       FIGS. 2 to 5  merely illustrate the safety performance information of each contract vehicle registered in the server  5 , and various variations are conceivable. For example, in a case where the type of the mounted ADAS/AD system is different for each model name of the vehicle, the model name of the vehicle or the identification information thereof may be included in the safety performance information. 
       FIG. 6  is a block diagram illustrating an internal configuration of the server  5  on which the safety performance evaluation apparatus  1  according to the first embodiment is mounted. The server  5  of  FIG. 6  includes an information acquisition unit  11 , a registered information holding unit  12 , a safety performance evaluation unit  13 , an insurance premium deciding unit  14 , and an insurance premium holding unit  15 . Among them, the information acquisition unit  11  and the safety performance evaluation unit  13  are essential constituent units, and the others are optional constituent units that can be appropriately omitted. 
     The information acquisition unit  11  acquires information from each contract vehicle through wireless communication via the base station  6  or the RSU  7 . The information acquired by the information acquisition unit  11  is information regarding the driving assistance function of the contract vehicle, and includes the static safety performance information described above. The information acquisition unit  11  acquires the static safety performance information that does not depend on a time, a situation, and the like. 
     The registered information holding unit  12  holds the static safety performance information included in the safety performance information. For example, the registered information holding unit  12  holds information that does not change according to an environment, a time, and a traveling state, such as information regarding the specification of the ADAS/AD system. Note that the registered information holding unit  12  may pre-register information regarding the ADAS/AD system mounted on each contract vehicle. In addition, the information acquisition unit  11  may regularly or irregularly acquire the information regarding the ADAS/AD system, and the pre-registered information may be updated with the static safety performance information acquired by the information acquisition unit  11 . The information held in the registered information holding unit  12  is a part of the safety performance information, and is transmitted to the safety performance evaluation unit  13  as necessary. 
       FIGS. 2 to 5  described above illustrate the static safety performance information held in the registered information holding unit  12 . The registered information holding unit  12  may classify and register each sensor according to a type, an installation place, or the like of each sensor connected to the ADAS/AD system. At this time, the registered information holding unit  12  may identify each sensor by the product model number, or may hold identification information in a format common to all sensors. As described above, a data format of the information registered in the registered information holding unit  12  is arbitrary. 
     The safety performance evaluation unit  13  evaluates the safety performance of the ADAS/AD system mounted on each contract vehicle on the basis of the static safety performance information held in the registered information holding unit  12 . The evaluation result is transmitted to the insurance premium deciding unit  14  as a safety performance evaluation level. More specifically, the safety performance evaluation unit  13  evaluates the safety performance of the ADAS/AD system on the basis of the driving assistance function of the ADAS/AD system mounted on each contract vehicle. In a case where a plurality of sensors is connected to the ADAS/AD system, the safety performance may be evaluated for each sensor. In addition, the identification information of the signal processing LSI that implements the function of the ADAS/AD system, the version information of the software that implements the function of the ADAS/AD system, and the like can also be elements for evaluating the safety performance of the ADAS/AD system. 
     Furthermore, the safety performance evaluation unit  13  may evaluate the safety performance of the ADAS/AD system on the basis of whether or not a specific type of sensor is connected to the ADAS/AD system. For example, the safety performance evaluation unit  13  evaluates the safety performance of the ADAS/AD system as being higher in a case where a sensor having higher safety performance different from a sensor provided as standard equipment in the ADAS/AD system is optionally connected to the ADAS/AD system. 
     For example, evaluation information of a safe driving facility of the vehicle evaluated in the new car assessment programme (NCAP) may be prepared in advance and held in the safety performance evaluation unit  13 , and a safety performance level of the ADAS/AD system of each contract vehicle may be decided on the basis of the evaluation result. In addition, a result obtained by analyzing an evaluation result of the NCAP according to the type of the mounted sensor, the type and version of the software, or the like may be prepared, and the safety performance level of the ADAS/AD system of each contract vehicle may be decided on the basis of the analysis result according to the type of the used sensor. It is a matter of course that not only the evaluation result obtained by the NCAP but also evaluation results obtained by other groups may be used. 
     Furthermore, in a case where a plurality of sensors is connected to the ADAS/AD system, the safety performance may be evaluated for each of the plurality of sensors connected to the ADAS/AD system, and the safety performance level may be decided by comprehensively considering the safety performance evaluation results of the respective sensors. At that time, priority may be given to the plurality of sensors, and the safety performance level may be decided comprehensively with more emphasis on safety performance of a sensor having a high safety priority. 
     The insurance premium deciding unit  14  decides an insurance cost of the vehicle, that is, the insurance premium on the basis of the safety performance level of the ADAS/AD system evaluated by the safety performance evaluation unit  13 . The insurance premium deciding unit  14  increases a discount rate for the basic insurance premium as the ADAS/AD system having more excellent safety performance is mounted on the contract vehicle. As described above, motivation to mount the ADAS/AD system having excellent safety performance is enhanced and the ADAS/AD system having excellent safety performance can be spread by actively discounting the insurance premium of the contract vehicle on which the ADAS/AD system having excellent safety performance is mounted. 
     In a case where the safety performance evaluation unit  13  evaluates that the safety performance is high, the insurance premium deciding unit  14  increases the discount rate for the basic insurance premium. For example, in a case where a sensor having safety performance more excellent than usual is connected to the ADAS/AD system and the safety performance is evaluated as being high by the safety performance evaluation unit  13 , the insurance premium deciding unit  14  increases the discount rate for the basic insurance premium. 
       FIG. 7  is a block diagram illustrating a schematic configuration of the information processing apparatus  2  mounted on the first contract vehicle  4   a  and the second contract vehicle  4   b.  The information processing apparatus  2  of  FIG. 7  includes an input unit  31 , a data acquisition unit  32 , a communication unit  33 , an in-vehicle device  34 , an output control unit  35 , an output unit  36 , a drive system control unit  37 , a drive system  38 , a body system control unit  39 , a body system  40 , a storage unit  41 , and a driving assistance processing unit  42 . 
     The respective units in the information processing apparatus  2  are connected to one another via a communication network  43 . As the communication network  43 , for example, an in-vehicle communication network according to any protocol such as a controller area network (CAN), a local interconnect network (LIN), a local area network (LAN), a FlexRay (registered trademark), or the like, a bus, or the like can be used. Note that at least some constituent units in the information processing apparatus  2  may be directly connected to one another without the communication network  43 . Note that, hereinafter, even in a case where each unit of the information processing apparatus  2  performs communication via the communication network  43 , the description of the communication network  43  may be omitted. 
     The input unit  31  includes an apparatus used by a passenger for inputting various data, instructions, and the like. For example, the input unit  31  includes an operation device such as a touch panel, a button, a microphone, a switch, a lever, or the like, an operation device capable of performing input using a voice, a gesture, a change in viewpoint, or the like by a method other than a manual operation, and the like. Furthermore, for example, the input unit  31  may be a remote control apparatus using infrared rays or other electric waves, or an external connection device such as a mobile device, a wearable device, or the like corresponding to the operation of the information processing apparatus  2 . The input unit  31  generates an input signal on the basis of data, an instruction, or the like input by the passenger, and supplies the input signal to each unit of the information processing apparatus  2 . 
     Various sensors are connected to the data acquisition unit  32 . The data acquisition unit  32  acquires output information of these sensors. The output information of each sensor acquired by the data acquisition unit  32  is supplied to each unit of the information processing apparatus  2 . 
     For example, the data acquisition unit  32  acquires the output information of various sensors for detecting the state of the vehicle and the like. There are various sensors acquired by the data acquisition unit  32 . In  FIG. 7 , a position information sensor  32   a,  an image capturing unit  32   b,  a LiDAR  32   c,  and a radar  32   d  are illustrated as representative sensors, but the sensor whose output information is acquired by the data acquisition unit  32  is not limited to the illustrated sensors. 
     The position information sensor  32   a  is a sensor that receives a global navigation satellite system (GNSS) signal from a GNSS satellite represented by a global positioning system (GPS). Position information may be detected by a method other than or in combination with a method of receiving the GNSS signal to detect the position information. For example, the position information may be detected by performing map matching with a vehicle speed sensor. Here, map information used for the map matching may be a dynamic map, and furthermore, image information captured by the image capturing unit  32   b  may be used. 
     The image capturing unit  32   b  includes, for example, an image sensor such as a complementary metal oxide semiconductor (CMOS) sensor, a charge coupled device (CCD) sensor, or the like. Furthermore, the image capturing unit  32   b  may be various apparatuses in which the image sensor is built, such as a Time of Flight (ToF) camera, a stereo camera, a monocular camera, an infrared camera, other cameras, and the like. 
     The LiDAR  32   c  radiates light such as ultraviolet rays, visible rays, or near-infrared rays, and measures a distance to a target object on the basis of a time until reflected light thereof is received. The radar  32   d  measures a distance to a target object by using an electromagnetic wave having a wavelength (for example, 40 GHz band) shorter than that of the LiDAR  32   c.    
     Note that other sensors may also be used as the sensor whose output information is to be acquired by the data acquisition unit  32 . For example, the data acquisition unit  32  may acquire output information of a gyro sensor, an acceleration sensor, and an inertial measurement unit (IMU). Alternatively, the data acquisition unit  32  may acquire output information of a sensor for detecting an operation amount of an accelerator pedal, an operation amount of a brake pedal, a steering angle of a steering wheel, an engine speed, a motor speed, a wheel rotation speed, or the like. 
     Furthermore, the data acquisition unit  32  may acquire output information of an environment sensor for detecting climate, weather, or the like, or a surrounding information detection sensor for detecting an object around the vehicle. Examples of the environmental sensor may include a raindrop sensor, a fog sensor, a sunshine sensor, a snow sensor, and the like. Examples of the surrounding information detection sensor may include an ultrasonic sensor, a sonar, and the like in addition to the LiDAR  32   c  and the radar  32   d  described above. In addition, in a case where weather information is reported, the data acquisition unit  32  may acquire the reported information and acquire information regarding an environment. 
     Furthermore, for example, the data acquisition unit  32  may acquire output information of various sensors for detecting information inside the vehicle. For example, the data acquisition unit  32  may acquire output information of an image capturing apparatus that captures an image of the driver, a biological sensor that detects biological information of the driver, a microphone that collects sound in a passenger compartment, and the like. The biological sensor is provided at, for example, a seat surface, a steering wheel, or the like, and detects biological information of the passenger sitting on a seat or the driver holding the steering wheel. 
     The communication unit  33  performs communication with the in-vehicle device  34 , various devices outside the vehicle, the server  5 , the base station  6 , and the like, transmits data supplied from each unit of the information processing apparatus  2 , and supplies received data to each unit of the information processing apparatus  2 . Note that a communication protocol supported by the communication unit  33  is not particularly limited. Further, the communication unit  33  can support a plurality of types of communication protocols. 
     For example, the communication unit  33  performs wireless communication with the in-vehicle device  34  by long term evolution (LTE), a fifth generation mobile communication system (5G), device-to-device (D2D) communication, wireless LAN, Bluetooth (registered trademark), near field communication (NFC), wireless USB (WUSB), or the like. Furthermore, for example, the communication unit  33  performs wired communication with the in-vehicle device  34  via a connecting terminal (not illustrated) (and, if necessary, via a cable) by using a universal serial bus (USB), a high-definition multimedia interface (HDMI), a mobile high-definition link (MHL), or the like. 
     Moreover, for example, the communication unit  33  may perform communication with a device (for example, an application server or a control server) present on an external network (for example, the Internet, a cloud network, or a company-specific network) through, for example, the base station  6  or an access point. Furthermore, for example, the communication unit  33  may perform communication with a terminal (for example, a terminal of a pedestrian or a shop, or a machine type communication (MTC) terminal) present in the vicinity of the vehicle by using a peer-to-peer (P2P) technology. Moreover, for example, the communication unit  33  performs V2X communication such as vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-home communication, vehicle-to-network (base station  6 ) communication, vehicle-to-pedestrian communication, and the like. The V2X communication can be implemented by providing the V2X module in the communication unit  33 . Note that a message transmitted and received by the vehicle is not necessarily limited to a V2X message. There may also be messages transmitted and received using a protocol other than a protocol used for the V2X communication. For example, the communication unit  33  includes a beacon receiving unit, receives electric waves or electromagnetic waves sent from a wireless station installed on a road, or the like, and acquire information such as a current position, a traffic jam, a traffic regulation, a time required, or the like. In the present specification, an example in which the vehicle mainly transmits and receives the V2X message will be described. Here, the V2X message refers to a message that is transmitted by using a protocol for performing the V2X communication when a specific event occurs. 
     The in-vehicle device  34  includes, for example, a mobile device or a wearable device of the passenger, an information device carried in or attached to the vehicle, a navigation device that searches for a route to an arbitrary destination, and the like. 
     The output control unit  35  controls output of various types of information to the passenger of the vehicle or to the outside of the vehicle. For example, the output control unit  35  controls output of visual information and auditory information from the output unit  36  by generating an output signal including at least one of the visual information (for example, image data) or the auditory information (for example, sound data) and supplying the output signal to the output unit  36 . For example, the output control unit  35  combines image data captured by different image capturing devices of the data acquisition unit  32  to generate a bird&#39;s-eye view image, a panoramic image, or the like, and supplies an output signal including the generated image to the output unit  36 . Furthermore, for example, the output control unit  35  generates sound data including a warning sound, a warning message, or the like for danger such as a collision, a contact, or an entry into a danger zone, and supplies an output signal including the generated sound data to the output unit  36 . 
     The output unit  36  includes an apparatus capable of outputting the visual information or auditory information to the passenger of the vehicle or to the outside of the vehicle. For example, the output unit  36  includes a display apparatus, an instrument panel, an audio speaker, a headphone, a wearable device such as a glasses-type display worn by the passenger, a projector, a lamp, and the like. The display apparatus included in the output unit  36  may be a normal display, or may display visual information in the field of view of the driver, such as a head-up display, a transmissive display, an augmented reality (AR) display apparatus, or the like. Furthermore, the display apparatus included in the output unit  36  may be a transmissive display provided on a shield of a helmet. 
     The drive system control unit  37  controls the drive system  38  by generating various control signals and supplying the control signals to the drive system  38 . In addition, the drive system control unit  37  supplies a control signal to each unit other than the drive system  38  as necessary, and makes a notification of a control state of the drive system  38  and the like. In addition, the drive system control unit  37  controls the drive system  38  by generating various control signals on the basis of output data from the driving assistance processing unit  42  and supplying the control signals to the drive system  38 . For example, in a case where a distance to an obstacle in a traveling direction or a preceding vehicle is short, a control signal for applying a brake is generated to perform a brake control. 
     The drive system  38  includes various apparatuses related to a drive system of the vehicle. For example, the drive system  38  includes a driving force generation apparatus for generating a driving force such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to wheels, a steering mechanism for adjusting a steering angle, a braking apparatus for generating a braking force, an antilock brake system (ABS), an electronic stability control (ESC), an electric power steering apparatus, and the like. 
     The body system control unit  39  controls the body system  40  by generating various control signals and supplying the control signals to the body system  40 . Furthermore, the body system control unit  39  generates a signal for making a notification of a control state of the body system  40  and the like as necessary, and supplies the signal to each unit other than the body system  40 . 
     The body system  40  includes various body apparatuses mounted on the vehicle body. For example, the body system  40  includes a keyless entry system, a smart key system, a power window apparatus, a power seat, a steering wheel, an air conditioner, various lamps (for example, a head lamp, a back lamp, a brake lamp, a blinker, a fog lamp, and the like), and the like. 
     The storage unit  41  includes, for example, a read only memory (ROM), a random access memory (RAM), a magnetic storage device such as a hard disc drive (HDD), a semiconductor storage device, an optical storage device, a magneto-optical storage device, and the like. The storage unit  41  stores various programs, data, and the like used by each unit of the information processing apparatus  2 . For example, the storage unit  41  stores map data such as a three-dimensional high-precision map such as a dynamic map, a global map that is less accurate than the high-precision map and covers a wide area, a local map including information regarding the surrounding of the vehicle, and the like. 
     The driving assistance processing unit  42  performs, for example, signal processing for implementing the ADAS/AD system, and controls driving assistance such as collision prevention or the like. More specifically, the driving assistance processing unit  42  performs various driving assistance controls such as a control for preventing a collision with an obstacle ahead, a steering wheel operation control, constant inter-vehicle spacing control, and a parking guidance control. In addition, the driving assistance processing unit  42  generates information to be used for safety performance evaluation, including a plurality of V2X messages related to the driving assistance. The generated information to be used for the safety performance evaluation is transmitted to the server  5  through vehicle-to-infrastructure (V2I) communication or the like. Alternatively, the generated information to be used for the safety performance evaluation may be transmitted to the server  5  via another vehicle through vehicle-to-vehicle (V2V) communication. Data transmitted from the communication unit  33  when the information (including the V2X message) used for the safety performance evaluation is transmitted includes first identification information for identifying the driving assistance processing unit  42  and second identification information for identifying the vehicle on which the driving assistance processing unit  42  and the communication unit  33  are mounted. The first identification information is used to evaluate the safety performance of the ADAS/AD system. The second identification information is used to specify that the vehicle on which the driving assistance processing unit  42  is mounted is an insurance contract vehicle. The second identification information can be used to evaluate the safety performance of the ADAS/AD system. Further, in addition to the data acquisition unit  32  described above, the driving assistance processing unit  42  includes an information processing unit  45  and a control unit  46 . 
     In addition, if necessary for the processing in the server  5 , when the information to be used for the safety performance evaluation is transmitted, vehicle position information (/GPS information), time information (time information at the time of data transmission, time information at the time of event detection, and the like), information regarding a sensor that greatly contributes to the event detection, and the like may be transmitted together. 
     The information processing unit  45  performs various types of information processing on the basis of the output information of each sensor acquired by the data acquisition unit  32 . For example, the information processing unit  45  uses the output information of each sensor to calculate the position information of the contract vehicle on which the driving assistance processing unit  42  is mounted. The position information is, for example, information of latitude, longitude, and altitude. The position information can be calculated, for example, on the basis of a GPS signal from the position information sensor  32   a.  Further, the position information may be information of a relative position with respect to three-dimensional map information that is called a dynamic map held by the contract vehicle in advance. During autonomous driving, it is necessary to control a traveling position of the vehicle so that the above-described information of the relative position is minimized. 
     In addition, the information processing unit  45  senses a target object that becomes an obstacle while the contract vehicle on which the driving assistance processing unit  42  is mounted is traveling, and calculates a distance to the target object. 
     The control unit  46  performs a control to generate the V2X message to be transmitted to a surrounding vehicle and the like, a control to perform autonomous driving, a control to avoid an emergency, and the like on the basis of the processing result of the information processing unit  45 . The control unit  46  accesses the base station  6  or the like via the communication unit  33  and regularly or irregularly updates the dynamic map used by the information processing unit  45  to calculate the relative position information with respect to the target object. Furthermore, the control unit  46  generates the V2X message to be broadcast or unicast to the surroundings on the basis of the processing result of the information processing unit  45 . The V2X message generated by the control unit  46  is transmitted to other vehicles, the base station  6 , the RSU  7 , and the like via the communication unit  33 . Furthermore, the control unit  46  receives the V2X message transmitted from another vehicle or the RSU  7 , and performs a control of the driving assistance according to the type of the received V2X message. The control of the driving assistance in this case is, for example, a control such as deceleration, stop, direction change, or the like. 
     In addition, the control unit  46  generates the safety performance information of the ADAS/AD system mounted on the own vehicle on the basis of the type, identification information, and the like of each sensor acquired by the data acquisition unit  32 . The safety performance information generated by the control unit  46  is transmitted to the server  5  via the communication unit  33 . 
     In addition, a plurality of sensors is connected to the driving assistance processing unit  42 . In the example of  FIG. 7 , the position information sensor  32   a,  the image capturing unit  32   b,  the LiDAR  32   c,  and the radar  32   d  are connected to the driving assistance processing unit  42 . At least some of these sensors may be built in the driving assistance processing unit  42 , or sensors other than these sensors may be connected to or built in the driving assistance processing unit  42 . 
       FIG. 8  is a block diagram illustrating an example of a detailed configuration of the information processing unit  45  in the driving assistance processing unit  42  of  FIG. 7 . The information processing unit  45  of  FIG. 8  includes, for example, an input unit  51 , a first information acquisition unit  52 , an object identification processing unit  53 , a distance measurement unit  54 , an integrated processing unit  55 , an information holding unit  56 , an obstacle determination unit  57 , an output unit  58 , and an information processing control unit (not illustrated). 
     The output information of each sensor acquired by the data acquisition unit  32  of  FIG. 7  is input to the input unit  51 . The first information acquisition unit  52  acquires the output information of each sensor input to the input unit  51 . Specifically, the output information is output information from the image capturing unit  32   b,  the LiDAR  32   c,  and the radar  32   d.  In addition, the first information acquisition unit  52  also acquires information other than that from the sensor, such as the identification information of the signal processing LSI that implements the function of the ADAS/AD system and the version information of the software that implements the function of the ADAS/AD system. The information acquired by the first information acquisition unit  52  is transmitted to the object identification processing unit  53 , the distance measurement unit  54 , and the output unit  58  according to the information. 
     The object identification processing unit  53  acquires captured image information of the image capturing unit  32   b  and extracts an object candidate from the captured image of the image capturing unit  32   b.  Object candidate information is transmitted to the integrated processing unit  55 . Note that the object candidate information includes information indicating a position and an attribute (a vehicle, a person, a bicycle, a motorcycle, or the like) of the object candidate. 
     The distance measurement unit  54  calculates position information of a reflective object and information regarding a distance to the reflective object on the basis of the signals from the LiDAR  32   c  and the radar  32   d.  In addition, the object candidate is extracted by using a signal intensity of a reflection signal detected by the radar  32   d  and the LiDAR  32   c.  Then, the position information/distance information of the object candidate is output to the integrated processing unit  55  as the object candidate information. 
     The integrated processing unit  55  acquires object candidate information (first object candidate information) from the image capturing unit  32   b  and object candidate information (second object candidate information) from the distance measurement unit  54 . Then, the integrated processing unit  55  integrates the first object candidate information and the second object candidate information, and estimates, as the object, an object candidate that has a high certainty of being the object. 
     For example, the integrated processing unit  55  allocates an identification parameter (for example, a 1 , a 2 , a 3 , or the like) for identifying each object candidate extracted by the image capturing unit  32   b  or the distance measurement unit  54  and a numerical value (for example, 0.155, 0.125, 0.576, or the like) proportional to the certainty of being the object to each object candidate. At this time, the numerical value proportional to the certainty of being the object may be a vector value. The integrated processing unit  55  calculates a correlation for determining that the object candidate calculated by the distance measurement unit  54  and the object candidate extracted by the object identification processing unit  53  are the same object. In a case where a magnitude of the correlation exceeds a threshold value, the integrated processing unit  55  determines that object candidates based on the output information of each sensor are the same, estimates (detects) the object candidates as the object, and reallocates the same identification parameter. Note that, here, the object is estimated on the basis of whether or not both object candidates are the same object, but the object may also be estimated by deleting an object candidate having a low certainty of being the object. 
     Note that it goes without saying that the attribute of the object includes not only a person, a vehicle, a bicycle, and a motorcycle but also a wide concept including a street tree, a guardrail, a sign, a traffic light, freezing of a road, depression of a road, a falling object placed on a road, and the like. 
     The identification parameter and the numerical value proportional to the certainty of being the object for the object estimated by the integrated processing unit  55 , the position information of the estimated object, and the attribute information of the estimated object are transmitted to the information holding unit  56 . 
     The information holding unit  56  holds a time when the object estimated by the integrated processing unit  55  is detected, the identification parameter, the numerical value proportional to the certainty of being the object, the position information, the attribute information, and time-series data output from each sensor. 
     The obstacle determination unit  57  determines whether or not the object is an obstacle on the traveling course of the vehicle on the basis of the position information of the object held in the information holding unit  56 . For the object determined as being an obstacle, an identification parameter thereof is output to the output unit  58 . 
     The output unit  58  outputs, on the basis of the identification parameter received from the obstacle determination unit  57 , information regarding the time when the object determined as being an obstacle by the obstacle determination unit  57  is detected, information regarding the position of the obstacle, a relative speed with respect to the vehicle, or information regarding an absolute speed of the vehicle and an absolute speed of the obstacle. Note that the relative speed with respect to the vehicle is obtained by time differentiation of a distance to the detected object. The speed of the vehicle is obtained by acquiring information of a speedometer of the vehicle. The absolute speed of the obstacle is obtained from the relative speed and the absolute speed of the vehicle. 
     Here, information regarding the obstacle (a position, a size, an attribute, a speed, a detection time, or the like) among the detected objects is output, but information regarding the detected object (a position, a size, an attribute, a speed, a detection time, or the like) may be output regardless of the obstacle determination. 
     In addition, the output unit  58  outputs the time-series data of each sensor held in the information holding unit  56  for a certain period including a time point at which the obstacle determination unit  57  determines that the object is an obstacle. Furthermore, the output unit  58  outputs information regarding the position and speed of the vehicle at a constant cycle or a dynamically variable cycle in order to generate a specific V2X message expected to be regularly transmitted. 
     Furthermore, in addition to the regular outputting, the output unit  58  may appropriately perform the outputting on the basis of a request from another processing block. For example, when the control unit  46  generates the V2X message, in a case where the V2X message is the specific V2X message, the control unit  46  may instruct the information processing unit  45  to output related sensor information. For example, once the information processing unit  45  receives this instruction from the control unit  46 , the information processing control unit (not illustrated) extracts, from the information holding unit  56 , the time-series data output from each sensor within a certain period including a determination time point of each sensor used for the determination of the obstacle that has activated the generation of the specific V2X message. The extracted time-series data output from the sensor is supplied to the control unit  46  via the output unit  58 . 
     In a case where a plurality of object candidates extracted by the object identification processing unit  53  or the distance measurement unit  54  is close to each other within a set distance, the integrated processing unit  55  may combine the plurality of object candidates into one group and handle the one group as one object candidate. In a case of treating the plurality of object candidates as a group, an identification parameter of the group, an identification parameter of each object candidate constituting the group, a numerical value of each object candidate proportional to a certainty of being the object, position information of each object candidate estimated as the object, and attribute information of the estimated object are generated as information related to the group in the integrated processing unit  55  and are transmitted to the information holding unit  56 . 
     Here, the position information may be allocated to the group as position information representing position information of one object among the plurality of object candidates included in the group. The representative position may be a position of an object in the group that is the closest to the own vehicle. Alternatively, the representative position may be a barycentric position of positions of the plurality of object candidates in the group. Note that the set distance of the respective object candidates in the group for which closeness is determined can be dynamically set or updated for each area, time zone, group, or the like. 
     In addition, constituent elements of the object candidates included in the group estimated by the integrated processing unit  55  can be dynamically changed. For example, in a case where a bicycle and a pedestrian are waiting within a set distance in front of a crosswalk, the bicycle and the pedestrian can be estimated as the object candidates of one group. Meanwhile, in a case where the bicycle and the pedestrian thereafter start crossing the crosswalk at different speeds and the bicycle deviates from within the distance set for the group including the pedestrian, the bicycle is excluded from the constituent elements of the group, and processing of estimating the bicycle as one new object candidate is separately performed. 
     In this case, the obstacle determination unit  57  determines whether or not the object is an obstacle on the traveling course of the vehicle on the basis of the position information of the object (alternatively, the group) held in the information holding unit  56 . Then, for the object determined as being an obstacle, the identification parameter thereof is output to the output unit  58 . 
     Further, the information transmitted from the integrated processing unit  55  to the information holding unit  56  may include history information in addition to the object candidate information described above. The history information is information regarding a group constituted by the object candidate in the past, and is generated when the object candidate is separated from the group. The history information includes an identification parameter of the group, a numerical value of the object candidate proportional to a certainty of being the object (a numerical value at the time of separation from the group), position information (position information at the time of separation from the group), and attribute information (attribute information at the time of separation from the group). In a case where the number of object candidates constituting one group is changed from two to one by the separation processing, information regarding the group may be treated as information regarding one of the two object candidates. 
     The processing of grouping the object candidates and the processing of separating the object candidate from the group in the integrated processing unit  55  have been described above. Similarly, the obstacle determination unit  57  may also perform processing of grouping obstacles or processing of classifying obstacles from a group. 
     In a case where a plurality of objects determined as being obstacles by the obstacle determination unit  57  is close to each other within a set distance, the obstacle determination unit  57  may handle the plurality of objects (obstacles) as one group. For example, in a case where a person is pushing or pulling a bicycle, the person and the bicycle are close to each other, and thus are handled as obstacles of one group. In this case, as information regarding the group, a position, a size, an attribute, a speed, a detection time, and the like are generated for each object (obstacle) constituting the group. These pieces of information are output to the information holding unit  56  or the output unit  58 . Note that the distance as a threshold value for determining the closeness can be dynamically set or updated for each area, time zone, group, or the like. 
     In addition, the obstacle determination unit  57  can dynamically change the constituent elements of the objects (obstacles) included in the group. For example, in a case where a bicycle and a pedestrian are waiting within a set distance in front of a crosswalk, the bicycle and the pedestrian can be handled as the objects (obstacles) of one group. Meanwhile, in a case where the bicycle and the pedestrian thereafter start crossing the crosswalk at different speeds and the bicycle deviates from within the distance set for the group including the pedestrian, the bicycle is excluded from the constituent elements of the group, and is separately handled as one new object (obstacle). In this case, in a case where there is position information of each constituent object as the information regarding the group, the processing of performing separation from the group is performed using the position information. In a case where there is no position information of each constituent object as the information regarding the group, although not illustrated, the position information of each object is separately acquired from the distance measurement unit  54 , and the processing of performing separation from the group is performed. 
     The information output from the obstacle determination unit  57  to the information holding unit  56  and the output unit  58  may include history information for one new obstacle separated from the group in addition to the above-described information. The history information is information regarding the group to which the object (obstacle) belonged in the past, and is generated when the object is separated from the group. The history information includes an identification parameter of the group, a numerical value proportional to a certainty of being the object (obstacle) (a numerical value at the time of separation from the group), position information (position information at the time of separation from the group), and attribute information (attribute information at the time of separation from the group). In a case where the number of objects (obstacles) constituting one group is changed from two to one by the separation processing, information regarding the group may be treated as information regarding one of the two objects (obstacles). 
     Note that, in the integrated processing unit  55  and the obstacle determination unit  57 , a distance as a threshold value for determining that objects are in the same group and a distance as a threshold value for determining that an arbitrary object is separated from constituent elements in one group may be the same value or different values. In a case of different values, for example, in order to avoid frequent processing of performing grouping and separation from the constituent elements in the group, one threshold value to which a positive or negative offset is given may be used as the other threshold value to apply hysteresis. 
     In addition, the object identification processing unit  53  may perform not only detection of each object candidate but also processing of detecting a group including a plurality of close object candidates. In this case, information regarding the group is output as the output of the object identification processing unit  53 . For example, in a case where a person is pushing or pulling a bicycle, the person and the bicycle are close to each other, and thus are handled as object candidates of one group. That is, a plurality of attributes is allocated to this group. Note that the distance as a threshold value for determining the closeness can be dynamically set or updated for each area, time zone, group, or the like. 
     In addition, constituent elements of the object candidates included in the group extracted by the object identification processing unit  53  can be dynamically changed. For example, in a case where a bicycle and a pedestrian are waiting within a set distance in front of a crosswalk, the bicycle and the pedestrian can be handled as the object candidates of one group. Meanwhile, in a case where the bicycle and the pedestrian thereafter start crossing the crosswalk at different speeds and the bicycle deviates from within the distance set for the group including the pedestrian, the bicycle is excluded from the constituent elements of the group, and is separately handled as one new object candidate. Here, the fact that one new object candidate was a constituent element of the group in the past may be held as the history information. 
     Furthermore, although the object detection/recognition function and the distance measurement function of the information processing unit  45  have been described, signal processing related to environment estimation such as situation determination for the object as to whether or not the detected object is stopped, traffic jam detection processing based on the situation of the detected object, or the like may be further performed to perform environment estimation/situation determination. 
       FIG. 9  is a block diagram illustrating an example of a detailed configuration of the control unit  46  of  FIG. 7 . The control unit  46  of  FIG. 9  includes, for example, an input unit  61 , a second information acquisition unit  62 , a V2X message generation unit  63 , an output unit  64 , a driving assistance auxiliary data acquisition unit  65 , a driving assistance control unit  66 , and an environment information generation unit  67 . 
     The second information acquisition unit  62  acquires information regarding an obstacle and information of each sensor from the information processing unit  45  via the input unit  61 . 
     The V2X message generation unit  63  generates a V2X message of an appropriate type on the basis of a predefined activation condition of each V2X message on the basis of the information regarding the obstacle or the information of each sensor acquired by the second information acquisition unit  62 . The generated V2X message is output via the output unit  64  according to the activation condition. In addition, in a case where a specific V2X message is generated, the V2X message generation unit  63  instructs the first information acquisition unit  52  via the output unit  64  to extract time-series data output from each sensor used for determining the obstacle that has activated the generation of the V2X message. 
     In addition, the V2X message generation unit  63  may dynamically switch the type or content of the V2X message to be transmitted on the basis of at least one of a time zone in which the contract vehicle travels or an area in which the contract vehicle is positioned. The contract vehicle performs communication with a surrounding vehicle and the like, and transmits and receives the V2X message as necessary. An accident occurrence rate and a traffic volume also change depending on the time zone or the area in which the contract vehicle travels. Therefore, the V2X message generation unit  63  can improve safety performance by dynamically switching the type of the V2X message to be transmitted to the surroundings depending on the time zone or the area. In addition, the V2X message generation unit  63  may switch the predefined activation condition of each V2X message depending on the time zone or the area. 
     The driving assistance auxiliary data acquisition unit  65  acquires, via the input unit  61 , the V2X message transmitted from another vehicle or the RSU  7 , and further acquires a 3D map called a dynamic map as auxiliary data for assisting autonomous driving. 
     The driving assistance control unit  66  generates control information for driving assistance or autonomous driving by utilizing the information regarding the obstacle and the information of each sensor acquired by the second information acquisition unit  62 , the V2X message transmitted by another vehicle or the RSU  7  acquired from the driving assistance auxiliary data acquisition unit  65 , the dynamic map, and the like. 
     Here, the control information for driving assistance or autonomous driving is, for example, control information to be supplied to a power system, such as acceleration and deceleration, control information to be supplied to the braking apparatus, such as deceleration and stop, and control information to be supplied to the steering apparatus, such as xx [cm] to the left and yy [cm] to the right. These pieces of control information for driving assistance are output to the drive system control unit  37  via the output unit  64 . 
     The drive system control unit  37  controls a drive system apparatus of the own vehicle on the basis of the information for driving assistance. As a result, in a case where there is a possibility of collision between the own vehicle and the obstacle (alternatively, a group constituted by obstacles) detected by the driving assistance processing unit  42 , processing of causing the own vehicle to avoid the obstacle (alternatively, a group constituted by obstacles) (processing of changing the traveling direction of the own vehicle), processing of decelerating the speed of the own vehicle by a brake operation, and processing of stopping the own vehicle are performed. 
     The environment information generation unit  67  generates environment information including output information of various sensors of the ADAS/AD system and output information of the ADAS/AD system (including a signal analysis result in the ADAS/AD system) on the basis of the output information of the information processing unit  45 , the output information of each sensor, and the like acquired by the second information acquisition unit  62 . Further, if necessary, the environment information may include the static safety performance information. The environment information is output from the output unit  64  and transmitted to the server  5  via the communication unit  33 , for example. The environment information is information included in the dynamic safety performance information. 
     If necessary, the V2X message generation unit  63  may transmit the V2X message together with the vehicle position information (/GPS information) at the time of the event detection, the time information (the time information at the time of data transmission, the time information at the time of the event detection, and the like), the information regarding a sensor that greatly contributes to the event detection, and the like. Further, the V2X message may include information regarding a distance to the detected object or a direction with respect to the own vehicle, information regarding an estimated position of the detected object, the speed of the own vehicle, a time when the own vehicle passes near the estimated position of the detected object, or the position information of the own vehicle. 
     Furthermore, if necessary, the environment information generation unit  67  may transmit the V2X message together with the vehicle position information (/GPS information) at the time of the event detection, the time information (the time information at the time of data transmission, the time information at the time of the event detection, and the like), the information regarding a sensor that greatly contributes to the event detection, and the like. Further, the environment information may include the information regarding the distance to the detected object or the direction with respect to the own vehicle, the information regarding the estimated position of the detected object, the speed of the own vehicle, the time when the own vehicle passes near the estimated position of the detected object, or the position information of the own vehicle. 
     The V2X module cooperating with the driving assistance processing unit  42  can transmit and receive the V2X messages that are called a decentralized environmental notification message (DENM), a cooperative awareness message (CAM), and a basic safety message (BSM), in order to implement the ADAS/AD system and autonomous driving. For example, the DENM with a specific use condition, for example, a condition for activating the DENM in a case of a dangerous spot or falling is dangerous spot detection or heavy rain or heavy snow detection by the vehicle. The V2X message generation unit  63  generates the V2X message on the basis of the type and performance of the sensor mounted on the contract vehicle. Furthermore, at the time of the generation of the V2X message, the second information acquisition unit  62  can acquire information such as a time when the detection is made by the sensor, information regarding a detection position, a type of the sensor that has instructed the generation of the V2X message, time-series data of the sensor, and the like. Note that the CAM is a technical specification of ETSI TS 102 637-2 and CAR 2 CAR Communication Consortium (C2CCC). Furthermore, the BSM is defined by a message standard SAE J2735. 
       FIG. 10  is a diagram illustrating use conditions, trigger conditions, and end conditions for transmitting the DENM described in a standard with Standardization No. 102637-3 of the Cooperative-Intelligent Transport Systems (C-ITS) of the European Telecommunications Standards Institute (ETSI). In  FIG. 10 , trigger conditions for activating the transmission of the V2X message and end conditions for the transmission of the V2X message are defined for each use condition such as an emergency electronic brake lamp, a wrong road warning, an accident of a stopped vehicle, a problem of a stopped vehicle, a traffic jam warning, a traffic signal violation warning, a road construction warning, a collision risk warning, a dangerous spot, a precipitation amount, road slipperiness, visibility, or wind. The type of the V2X message transmitted according to each use condition and each trigger condition specified in  FIG. 10  depends on the type of the sensor connected to the driving assistance processing unit  42 . 
     In addition, the control unit  46  transmits, for example, sensor information including the type of the activated sensor to the server  5  via the communication unit  33  as the safety performance information of the contract vehicle. 
     The control unit  46  may group the DENM, the ADAS, the BSM, or each independently implemented V2X message by an arbitrary index. For example, the V2X messages may be classified into a regularly transmitted V2X message and a V2X message for an event/trigger. Furthermore, for example, a dangerous spot, falling, and road slipperiness may be further grouped for the V2X messages triggered in association with the situation of the road surface among the V2X messages for an event/trigger. Furthermore, for example, a traffic jam warning, a field of view, and wind may be grouped for the V2X messages triggered according to the environment. This grouping may be utilized to sort a group for which processing of determining whether or not an event is triggered is to be preferentially performed depending on the area and the time zone. 
       FIG. 11  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus  1  according to the first embodiment mounted on the server  5 . The flowchart of  FIG. 11  is performed, for example, for each insurance contract vehicle at each insurance premium renewal timing. Note that a timing and an interval at which the processing of the flowchart of  FIG. 11  is performed are arbitrary. First, the information acquisition unit  11  acquires the static safety performance information for each contract vehicle, and holds the acquired static safety performance information in the registered information holding unit  12  (Step S 1 ). The registered information holding unit  12  can hold not only the static safety performance information acquired by the information acquisition unit  11  but also static safety performance information of each contract vehicle set in advance without passing through the information acquisition unit  11 . 
     Next, the safety performance evaluation unit  13  evaluates the safety performance of the ADAS/AD system mounted on each contract vehicle on the basis of the static safety performance information of each contract vehicle held in the registered information holding unit  12  (Step S 2 ). More specifically, the safety performance evaluation unit  13  evaluates, for each contract vehicle, the safety performance of the ADAS/AD system on the basis of the static safety performance information including at least one of the identification information of each contract vehicle, the identification information of the ADAS/AD system, the identification information of each sensor connected to the ADAS/AD system, the identification information of the signal processing LSI that implements the function of the ADAS/AD system, or the version information of the software that implements the function of the ADAS/AD system. Then, the safety performance evaluation level is decided as the evaluation result. 
     Next, the insurance premium deciding unit  14  decides the insurance premium for each contract vehicle on the basis of the safety performance evaluation level evaluated by the safety performance evaluation unit  13  (Step S 3 ). In a case where it is determined that the safety performance is high on the basis of the safety performance evaluation level, a discount amount is increased and the insurance premium is reduced. 
     As described above, in the first embodiment, the safety performance of the ADAS/AD system mounted on each contract vehicle can be evaluated on the basis of the static safety performance information of each contract vehicle in the data transmitted from each contract vehicle to the server  5 . This evaluation can be performed by the server  5  on which the safety performance evaluation apparatus  1  is mounted. Each contract vehicle transmits the static safety performance information to the server  5  via the V2X module. In the server  5 , the safety performance of the ADAS/AD system can be easily and quickly evaluated by receiving the static safety performance information from each contract vehicle. In addition, the server  5  can easily calculate the discount rate for the basic insurance premium on the basis of the evaluated safety performance evaluation level. As a result, for the contract vehicle on which the driving assistance processing unit  42  having high safety performance is mounted, it is possible to increase the discount amount for the basic insurance premium, enhance motivation to mount the ADAS/AD system having high safety performance on the vehicle, and promote the spread of the ADAS/AD system having high safety performance. 
     In addition, since the safety performance of each contract vehicle can be evaluated on the basis of the identification information of the signal processing LSI that implements the function of the ADAS/AD system and the version information of the software that implements the function of the ADAS/AD system, it is possible to evaluate that a contract vehicle on which an ADAS/AD system having a more excellent function has higher safety performance and to further increase the discount rate of the insurance premium. As a result, the spread of the ADAS/AD system on which the high-performance signal processing LSI is mounted can be promoted, and the contractor can be made to recognize the importance of constantly updating the software to the latest version. 
     Moreover, in a case where a higher-performance sensor is connected to the ADAS/AD system, the safety performance can be evaluated as being higher, such that it is also possible to enhance motivation to optionally connect a higher-performance sensor than a standard product. 
     Second Embodiment 
     In each of second and subsequent embodiments described below, safety performance of an ADAS/AD system is evaluated on the basis of dynamic safety performance information or on the basis of the dynamic safety performance information and static safety performance information. However, in the second embodiment, not only the static safety performance information but also the dynamic safety performance information is transmitted from each contract vehicle to a server  5   a.    
     The dynamic safety performance information is safety performance information that changes according to a time, a situation, and the like. Specifically, the dynamic safety performance information includes output information of various sensors connected to an ADAS/AD system, output information of the ADAS/AD system (including a signal analysis result in the ADAS/AD system), a V2X message generated by each contract vehicle, and the like. The server  5   a  can manage the dynamic safety performance information in association with the static safety performance information such as identification information (third identification information) of each sensor, identification information of the ADAS/AD system, identification information of each contract vehicle, or the like. In order to perform such management, the server  5   a  may receive the dynamic safety performance information associated with the static safety performance information from each contract vehicle. 
     An example of the dynamic safety performance information regarding the sensor included in the safety performance information is sensor output information. The sensor related to the safety performance information of the ADAS/AD system is not limited to the above-described sensors, and includes any sensor that can affect the safety performance of the vehicle, for example, an acceleration sensor, a gyro sensor, an atmospheric pressure sensor, and the like. Each contract vehicle transmits an output of each sensor mounted on the own vehicle to the server  5   a  via a base station  6  or an RSU  7 . The server  5   a  registers each sensor output transmitted from each contract vehicle in association with the corresponding contract vehicle. In a case where a plurality of sensors of the same type is provided in one contract vehicle, the server  5   a  may classify sensors of the same type for each installation place and register each sensor output. In addition, the server  5   a  may classify each sensor by a product model number and register each sensor output for each product model number. Moreover, the server  5   a  may register the identification information and output information of each sensor for each manufacturing time of each sensor. 
     In addition, the dynamic safety performance information includes, for example, a time when a specific V2X message is detected, information regarding a position where the specific V2X message is detected, the specific V2X message, and the like. In addition, the server  5   a  may acquire the dynamic safety performance information together with the static safety performance information related to the dynamic safety performance information, such as information for identifying the specific V2X message or the like. Further, the dynamic safety performance information may include information such as a position of a detected object, a type of the detected object, a distance between the detected object and the contract vehicle, a time when the detected object is detected, a position where the detected object is detected, and the like. 
     Moreover, a control unit  46  may transmit, to the server  5   a,  the dynamic safety performance information that includes the output information of each sensor and a speed of the contract vehicle when the specific V2X message is transmitted. 
     Note that information regarding the type of the sensor that has activated the V2X message may be included in, for example, the static safety performance information such as a product model number of the sensor, an identifier allocated to the product model number, or the like, and be transmitted to the server  5   a.    
     In a safety performance evaluation system  3  according to the second embodiment, a part of an internal configuration of a safety performance evaluation apparatus  1   a  mounted on the server  5   a  is different from that in  FIG. 6 , and an information processing apparatus  2  mounted on each contract vehicle has a configuration similar to that in  FIGS. 7 to 9 . 
       FIG. 12  is a block diagram illustrating the internal configuration of the safety performance evaluation apparatus  1   a  according to the second embodiment mounted on the server  5   a.  The safety performance evaluation apparatus  1   a  of  FIG. 12  includes a collected information holding unit  16  in addition to the configuration of the safety performance evaluation apparatus  1  of  FIG. 6 . The collected information holding unit  16  holds the dynamic safety performance information acquired by the information acquisition unit  11 . The dynamic safety performance information includes, for example, an output of each sensor mounted on each contract vehicle. As a result, the server  5   a  can grasp the fact that the contract vehicle is disabled from the output of each sensor mounted on the contract vehicle. In addition, the server  5   a  can also grasp the fact that the contract vehicle has entered an accident-prone area from position information output from a specific sensor mounted on the contract vehicle or the V2X message transmitted by the contract vehicle. Note that it is assumed that a location in the accident-prone area is known in advance on the basis of accident occurrence information. As described above, since the dynamic safety performance information such as the output of the sensor, the V2X message, or the like affects the safety performance of the contract vehicle, the dynamic safety performance information is transmitted from the collected information holding unit  16  to a safety performance evaluation unit  13   a  in the server  5   a.  The dynamic safety performance information held in the collected information holding unit  16  may be appropriately deleted or updated with new information after being transmitted to the safety performance evaluation unit  13   a.    
     Furthermore, the safety performance evaluation unit  13   a  in the safety performance evaluation apparatus  1   a  of  FIG. 12  is different from the safety performance evaluation unit  13  of  FIG. 6 . The safety performance evaluation unit  13   a  of  FIG. 12  appropriately refers not only to the dynamic safety performance information held in the collected information holding unit  16  but also to the static safety performance information held in a registered information holding unit  12  to evaluate the safety performance of the ADAS/AD system mounted on each contract vehicle. More specifically, the safety performance evaluation unit  13   a  of  FIG. 12  includes a number-of-times measurement unit  17  and a safety performance determination unit  18 . 
     The number-of-times measurement unit  17  measures the number of times the driving assistance processing unit  42  has transmitted the specific V2X message. For example, the specific V2X message is a message for notifying that an obstacle exists. Since it can be determined that the larger the number of times the specific V2X message has been transmitted, the higher the safety performance is, the safety performance determination unit  18  determines that the safety performance of a driving assistance processing unit  42  is high in a case where the number of times measured by the number-of-times measurement unit  17  is large. Alternatively, another example of the specific V2X message is a specific V2X message transmitted from the contract vehicle to a surrounding vehicle among a plurality of types of V2X messages that can be transmitted and received between the contract vehicle and the surrounding vehicle or the like. 
     Note that the server  5   a  is notified of the fact that the contract vehicle has transmitted the specific V2X message via the base station  6  or the RSU  7  that has received the V2X message, for example. That is, the V2X message is transmitted through vehicle-to-vehicle communication via the base station  6  or the RSU  7 , and is also transmitted to the server  5   a  including the safety performance evaluation apparatus  1   a  by the base station  6  or the RSU  7 . 
     In addition, the driving assistance processing unit  42  connected to a V2X module mounted on the contract vehicle may notify the server  5   a  of the number of times the contract vehicle has transmitted the specific V2X message. 
     The safety performance determination unit  18  determines the safety performance of the driving assistance processing unit on the basis of the number of times of transmission of the specific V2X message per unit time. The number of times of transmission of the specific V2X message per unit time can be calculated by statistical processing such as averaging or the like. The registered information holding unit  12  holds information regarding the number of times of transmission of the V2X message for a plurality of contract vehicles. Therefore, the safety performance determination unit  18  compares the number of times of transmission of the V2X message measured by the number-of-times measurement unit  17  for a specific contract vehicle with the number of times of transmission of the V2X message of another contract vehicle, determines the safety performance of the ADAS/AD system mounted on the specific contract vehicle, and sets a safety performance level. The safety performance level is set to a higher level as the number of times the specific V2X message has been transmitted per unit time increases. 
     The safety performance level set by the safety performance determination unit  18  is input to an insurance premium deciding unit  14  as an evaluation result of the safety performance evaluation unit  13   a.  The insurance premium deciding unit  14  decides, on the basis of the safety performance level, a discount rate so as to increase the discount rate for a basic insurance premium as the number of times the specific V2X message has been transmitted increases. 
       FIG. 13  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus  1  according to the second embodiment mounted on the server  5   a.  First, the number of times the specific V2X message has been received within a predetermined time is measured for each contract vehicle (Step S 11 ). In Step S 11 , the number-of-times measurement unit  17  in the safety performance evaluation unit  13   a  measures the number of times. For example, the number-of-times measurement unit  17  starts to measure the number of times at a timing at which the specific V2X message has first been received for each contract vehicle, and measures the number of times the specific V2X message has been received within the predetermined time from the timing. Alternatively, the number of times the specific V2X message has been received between a first time and a second time that are set in advance may be measured for each contract vehicle. 
     Next, the safety performance determination unit  18  in the safety performance evaluation unit  13   a  determines the safety performance of the ADAS/AD system on the basis of the number of times of measurement (Step S 12 ). It is considered that the larger the number of times of measurement of the specific V2X message, the higher the sensing capability of the sensor that causes generation of the specific V2X message. Therefore, the safety performance determination unit  18  determines that the safety performance of the contract vehicle is high in a case where the number of times of measurement is large. In addition, the safety performance determination unit  18  may determine the safety performance of the contract vehicle that is an evaluation target by performing comparison with the number of times of transmission of the specific V2X message in another contract vehicle. 
     Next, the insurance premium deciding unit  14  decides an insurance premium on the basis of the safety performance evaluation level as the safety performance evaluation result (Step S 13 ). The processing in Step S 13  is the same as Step S 2  and the like in  FIG. 11 . 
     As described above, in the second embodiment, it can be said that the safety performance of the ADAS/AD system is evaluated and the capability to detect a specific event is evaluated on the basis of the number of times the contract vehicle has transmitted the specific V2X message. In addition, in a case where the safety performance of the ADAS/AD system is evaluated on the basis of the number of times the contract vehicle has transmitted the V2X message to the surroundings, the safety performance of the ADAS/AD system can be evaluated on the basis of whether or not the V2X message for calling attention is more actively transmitted to the surrounding vehicle or the like. 
     Third Embodiment 
     In a safety performance evaluation system  3  according to a third embodiment, a part of an internal configuration of a safety performance evaluation apparatus  1   b  mounted on a server  5   b  is different from those in  FIGS. 6 and 12 , and an information processing apparatus  2  mounted on each contract vehicle has a configuration similar to that in  FIGS. 7 to 9 . However, in the third embodiment, not only static safety performance information but also dynamic safety performance information is transmitted from each contract vehicle to the server  5   b.    
       FIG. 14  is a block diagram illustrating the internal configuration of the safety performance evaluation apparatus  1   b  according to the third embodiment mounted on the server  5   b.  A safety performance evaluation unit  13   b  in the safety performance evaluation apparatus  1   b  of  FIG. 14  is partially different from the safety performance evaluation unit  13   a  of  FIG. 12 . The safety performance evaluation unit  13   b  evaluates safety performance of an ADAS/AD system on the basis of a characteristic, that is, a detection capability of a sensor connected to the ADAS/AD system of each contract vehicle. More specifically, the safety performance evaluation unit  13   b  can evaluate safety performance of a driving assistance function of the contract vehicle on the basis of time difference information from detection of a target object at a reference point to the passage of the contract vehicle through the reference point or a position where the target object at the reference point is detected, on the basis of the sensor connected to the ADAS/AD system of the contract vehicle. More specifically, the safety performance evaluation unit  13   b  of  FIG. 14  includes a detection sensitivity calculation unit  19  and a safety performance determination unit  18   a.    
     The detection sensitivity calculation unit  19  calculates a detection sensitivity in object detection of the ADAS/AD system based on an output of a specific sensor for each contract vehicle. 
     The safety performance determination unit  18   a  compares an object detection speed of the ADAS/AD system based on the output of the evaluation target sensor calculated for each contract vehicle by the detection sensitivity calculation unit  19 , and determines the safety performance of the ADAS/AD system mounted on each contract vehicle. The safety performance evaluation unit  13   b  outputs the determination result of the safety performance determination unit  18   a  as an evaluation result of the safety performance of the ADAS/AD system. 
       FIG. 15  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus  1   b  according to the third embodiment mounted on the server  5   b.  The processing of  FIG. 15  is started in a case where the V2X message transmitted from any of the contract vehicles is received by the server  5   b.  The server  5   b  starts the processing of  FIG. 15  when the specific V2X message is received. 
     The safety performance evaluation unit  13   b  refers to output information of each sensor held in a collected information holding unit  16  (Step S 21 ). The reference point is specified on the basis of a type of the V2X message generated by a driving assistance processing unit  42  of the contract vehicle (Step S 22 ). For example, since a DENM related to a dangerous point is a V2X message generated by sensing a certain dangerous point, it is considered that a similar V2X message is transmitted in association with the dangerous point. That is, the safety performance evaluation unit  13   b  specifies the dangerous point as the reference point on the basis of DENM related to the dangerous point. Note that the safety performance evaluation unit  13   b  may specify, as the reference point, only a point where a sufficient number of population parameters can be obtained for statistical processing to be performed later. 
     Next, the safety performance evaluation unit  13   b  specifies an evaluation target sensor on the basis of the type of the generated V2X message (Step S 23 ). In Step S 23 , for example, the type of the sensor such as a LiDAR  32   c,  a radar  32   d,  an image capturing unit  32   b,  or the like may be specified, or some sensors classified for each product model number may be specified. 
     Next, the safety performance evaluation unit  13   b  calculates the object detection speed (object detection sensitivity) of the ADAS/AD system based on the output of the sensor on the basis of the specified reference point and the output information of the specified sensor (Step S 24 ). 
       FIG. 16  is a diagram illustrating a first example of a processing procedure of Step S 24  of  FIG. 15 .  FIG. 16  illustrates points where three contract vehicles  4   c,    4   d,  and  4   e  have detected an obstacle  30  at a reference point A.  FIG. 16  illustrates an example in which the contract vehicle  4   c  detects the obstacle  30  at a point B closest to the reference point A, the contract vehicle  4   d  detects the obstacle  30  at a point C farther from the reference point A than the point B, and the contract vehicle  4   e  detects the obstacle  30  at a point D farther from the reference point A than the point C. In the example of  FIG. 16 , a distance between the detection point and the reference point is used as the object detection speed (object detection sensitivity) of the ADAS/AD system based on the outputs of the sensors of the contract vehicles  4   c  to  4   e  in Step S 24  of  FIG. 15 . Here, it is assumed that the sensor of the contract vehicle  4   e  farthest from the reference point A has the highest safety performance. In this way, a safety performance level of the ADAS/AD system that is an evaluation target is decided on the basis of the distance from the detection point to the reference point A. 
       FIG. 16  illustrates an example of using the distance between the detection point and the reference point as an example of calculating the object detection speed (object detection sensitivity) of the ADAS/AD system based on the output of each sensor. However, the object detection speed may be calculated according to a time. 
       FIG. 17  is a diagram illustrating a second example of the processing procedure of Step S 24  of  FIG. 15 .  FIG. 17  illustrates a case where the contract vehicles  4   c  and  4   d  are traveling on a highway or the like at a substantially constant speed. In Step S 24  of  FIG. 15 , a time difference (T 2 −T 1 ) from a time T 1  when the contract vehicle  4   c  detects the obstacle  30  at the reference point A and transmits the V2X message to a time T 2  when the contract vehicle  4   c  passes through the reference point A is calculated. In addition, a time difference (T 4 −T 3 ) from a time T 3  when the contract vehicle  4   d  detects the obstacle  30  at the reference point A and transmits the V2X message to a time T 4  when the contract vehicle  4   d  passes through the reference point A is calculated. Since the time difference (T 4 −T 3 ) is larger than the time difference (T 2 −T 1 ), the sensor of the contract vehicle  4   d  can secure a longer time margin for responding as compared with the contract vehicle  4   c,  and thus it is determined that the safety performance is high. 
       FIG. 18  is a diagram illustrating an example of data distribution related to the object detection speed based on the output of the sensor. In  FIG. 18 , a horizontal axis represents a time period from a time when the ADAS/AD system (the ADAS/AD system based on the output of the evaluation target sensor) of the contract vehicle detects the obstacle  30  at the reference point A to a time when the contract vehicle passes through the reference point A, and a vertical axis represents the number of cases of object detection. The distribution diagram of  FIG. 18  illustrates an example in which an average amount of the above-described time of the ADAS/AD system is 10 seconds. In the example of  FIG. 18 , the detection speed of the ADAS/AD system of the contract vehicle  4   d  (the ADAS/AD system based on the output of the evaluation target sensor) is about 13 seconds, whereas the detection speed of the ADAS/AD system of the contract vehicle  4   c  (the ADAS/AD system based on the output of the evaluation target sensor) is about 9 seconds. Therefore, the ADAS/AD system of the contract vehicle  4   d  is evaluated as having higher safety performance than the contract vehicle  4   c.  The distribution diagram of  FIG. 18  illustrates data distribution for a plurality of contract vehicles. The data distribution may be created using only data of the same location transmitted from the contract vehicle, or may be created using data of a plurality of locations. A time zone or a period in which the data is generated may be limited to a predetermined time zone or a predetermined period, and the data distribution may be created using the data without such limitation. 
       FIG. 17  illustrates an example in which the detection speed of the ADAS/AD system is calculated on the basis of the time difference from a time when the ADAS/AD system of each contract vehicle detects the obstacle  30  at the reference point to a time when the contract vehicle passes through the reference point. However, the detection speed of the ADAS/AD system (the ADAS/AD system based on the output of the evaluation target sensor) may be calculated in consideration of the speed of the contract vehicle. For example, in  FIG. 19 , the speed of the contract vehicle  4   c  is v 1 , and the speed of the contract vehicle  4   d  is v 2 . In a case where a distance v 1  (T 2 −T 1 ) represented by the product of the speed v 1  of the contract vehicle  4   c  and the above-described time difference (T 2 −T 1 ) is smaller than a distance v 2  (T 4 −T 3 ) represented by the product of the speed v 2  of the contract vehicle  4   d  and the above-described time difference (T 4 −T 3 ), it may be evaluated that the safety performance of the sensor of the contract vehicle  4   d  is higher than that of the contract vehicle  4   c.    
     Furthermore, as for the detection speed of the ADAS/AD system based on the evaluation target sensor, as illustrated in  FIG. 20 , the reference point A set at an arbitrary position, for example, a point corresponding to an average value of the detection speed of the evaluation target sensor may be set as the reference point A, and the safety performance of the ADAS/AD system (the ADAS/AD system based on the output of the evaluation target sensor) may be evaluated on the basis of a length of a relative distance with respect to the reference point A. For example, in the example of  FIG. 20 , a length of a relative distance of the point B where the ADAS/AD system of the contract vehicle  4   c  has detected the obstacle  30  at a point E with respect to the reference point A is −X. Furthermore, a length of a relative distance of the point C where the ADAS/AD system of the contract vehicle  4   d  has detected the obstacle  30  at the point E with respect to the reference point A is Y. Moreover, a length of a relative distance of the point D where the ADAS/AD system of the contract vehicle  4   e  has detected the obstacle  30  at the point E with respect to the reference point A is Z. Therefore, it is evaluated that the safety performance of the ADAS/AD system of the contract vehicle  4   e  having the longest relative distance is the highest, the safety performance of the ADAS/AD system of the contract vehicle  4   d  is the second highest, and the safety performance of the ADAS/AD system of the contract vehicle  4   c  is the lowest. 
     Once the processing in Step S 24  of  FIG. 15  ends, the safety performance evaluation unit  13   b  then performs statistical processing on the basis of the numerical values calculated in Step S 24  (Step S 25 ). The statistical processing performed in Step S 25  includes, for example, processing of calculating an average value and a standard deviation of the numerical values calculated in Step S 24 . The safety performance evaluation unit  13   b  performs the processing of  FIG. 15  every arbitrary period, for example, every day or every month, and updates and holds a numerical value after the statistical processing of Step S 25 . In the statistical processing, data from a plurality of contract vehicles is used. At this time, data distribution may be created using only data of the same location transmitted from the contract vehicle, or may be created using data of a plurality of locations. In addition, as the data used for the statistical processing, a time zone or a period in which the data is generated may be limited to a predetermined time zone or a predetermined period, and the data distribution may be created using the data without such limitation. 
     In Step  26 , the safety performance of the ADAS/AD system of the contract vehicle for which an insurance premium is to be calculated is evaluated on the basis of the held numerical value, and the safety performance level is calculated (Step S 26 ). Specifically, the standard deviation is acquired for the frequency distribution of the detection speed of the ADAS/AD system based on the output of the evaluation target sensor, and different safety performance levels such as 0 to +σ, +σ to +2σ, +2σ to +3σ, +3σ to +4σ, and the like are set in a stepwise manner on the basis of the standard deviation. 
     Next, the insurance premium is calculated on the basis of a value representing the evaluation result of the safety performance (Step S 27 ). 
     When the processing in Step S 23  of  FIG. 15  is performed, the evaluation target sensor may be specified in consideration of not only the type of the V2X message but also other conditions. For example, under a condition that visibility is poor such as nighttime or the like, weighting may be performed so that the radar  32   d  or the LiDAR  32   c  is selected in preference to the image capturing unit  32   b.  Furthermore, the weighting for the target sensor may be set for each time zone or each area. For example, in a case where a result indicating that an accident of a contract vehicle on which a sensor of a specific type or a sensor with a specific product model number is mounted occurs less at a specific intersection or the like is obtained as a result of the statistical processing, an evaluation result of a system using a sensor of a specific type or a sensor with a specific product model number may be weighted in an arbitrary area including the intersection. 
       FIG. 21  is a flowchart illustrating an example of a detailed processing operation of the insurance premium deciding unit  14 . The flowchart of  FIG. 21  is an example of the processing operation of Step S 27  in  FIG. 15 . 
     First, the insurance premium deciding unit  14  acquires the safety performance level as evaluation information of the ADAS/AD system (the ADAS/AD system based on the output of the evaluation target sensor) connected to the contract vehicle for which the insurance premium is to be decided (Step S 31 ). Here, information indicating a result of evaluation performed by the safety performance evaluation unit  13   b  (hereinafter, referred to as the safety performance level) is acquired. In deciding the insurance premium, the insurance premium deciding unit  14  may select one main sensor or may reflect evaluation information of a plurality of sensors by weighting. For example, in a case where the image capturing unit  32   b  is selected as one main sensor and the detection speed is evaluated on the basis of a detection distance, the magnitude of the discount amount may be calculated on the basis of the length of the detection distance in a forward direction with respect to an average distance. 
     Different discount amounts of 500 yen, 750 yen, 1000 yen, 1250 yen, and the like are set for the respective safety performance levels in a stepwise manner on the basis of the respective safety performance levels (Step S 32 ). In this case, a discount amount of b yen is applied to a monthly standard insurance premium of A yen, and an insurance premium of a certain month is calculated as (A−b) yen (Step S 33 ). The discount amount may be different for each month on the basis of evaluation information of the previous month, or a discount amount of an insurance period may be set to a fixed amount by averaging the evaluation information or the like. 
     As described above, in the third embodiment, the evaluation target ADAS/AD system (the ADAS/AD system based on the output of the evaluation target sensor) mounted on the contract vehicle is specified on the basis of the object detection information transmitted by the contract vehicle, and the safety performance is evaluated on the basis of the object detection speed (object detection sensitivity) of the specified ADAS/AD system. Then, the safety performance is evaluated in consideration of the performance of the ADAS/AD system, and the insurance premium of the contract vehicle can be decided on the basis of the evaluation result. 
     Here, an example of performing safety performance evaluation for the ADAS/AD system based on the output of the evaluation target sensor has been described. On the other hand, in a case of a system that performs object detection by integrating outputs of a plurality of sensors of the ADAS/AD system without limiting the evaluation target sensor, the safety performance evaluation of the ADAS/AD system may be performed on the basis of the output of the object detection result of the ADAS/AD system based on the plurality of sensors. 
     Fourth Embodiment 
     In a safety performance evaluation system  3  according to a fourth embodiment, a part of an internal configuration of a safety performance evaluation apparatus  1   c  mounted on a server  5   c  is different from those in  FIGS. 6, 12, and 14 , and an information processing apparatus  2  mounted on each contract vehicle has a configuration similar to that in  FIGS. 7 to 9 . However, in the fourth embodiment, not only static safety performance information but also dynamic safety performance information is transmitted from each contract vehicle to the server  5   c.    
     In the fourth embodiment, safety performance of an ADAS/AD system mounted on each contract vehicle is evaluated while limiting an area. 
       FIG. 22  is a block diagram illustrating the internal configuration of the safety performance evaluation apparatus  1   c  according to the fourth embodiment mounted on the server  5   c.  The safety performance evaluation apparatus  1   c  of  FIG. 22  includes an area setting unit  20  and an information extraction unit  21  in addition to an information acquisition unit  11 , a registered information holding unit  12 , a collected information holding unit  16 , a safety performance evaluation unit  13   c,  an insurance premium deciding unit  14 , and an insurance premium holding unit  15 . 
     The area setting unit  20  sets a predetermined area. The predetermined area is an area in which the contract vehicle transmits the dynamic safety performance information such as a V2X message, an output of a sensor, or the like, and is, for example, an area having a high accident occurrence rate, a specific intersection with poor visibility, an area with many pedestrians and bicycles, or the like. 
     The information extraction unit  21  extracts the dynamic safety performance information such as the V2X message, the output of the sensor, or the like generated in the predetermined area among pieces of information acquired by the information acquisition unit  11 . Since the V2X message, the output of the sensor, or the like is received by the server  5   c  via a base station  6  or an RSU  7 , the information extraction unit  21  can extract the dynamic safety performance information such as the V2X message, the output of the sensor, or the like generated in the predetermined area depending on a location of the base station  6  or the RSU  7  that has received the V2X message or the output of the sensor. 
     The safety performance evaluation unit  13   c  evaluates the safety performance of the ADAS/AD system mounted on the contract vehicle that has transmitted the output of the sensor, the V2X message, or the like on the basis of the dynamic safety performance information extracted by the information extraction unit  21  (safety performance information generated in the predetermined area). As a specific processing content of the safety performance evaluation unit  13   c,  similar processing as that of the safety performance evaluation unit  13   a  or  13   b  according to the second or third embodiment may be performed in a state of being limited to a predetermined area. That is, the safety performance evaluation unit  13   c  may evaluate the safety performance of the ADAS/AD system on the basis of the number of times of transmission of the V2X message in a state of being limited to the predetermined area. Alternatively, the safety performance evaluation unit  13   c  may evaluate the safety performance on the basis of a detection speed of the ADAS/AD system based on an output of an evaluation target sensor in a state of being limited to the predetermined area. 
       FIG. 23  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus  1   c  according to the fourth embodiment mounted on the server  5   c.  First, the area setting unit  20  sets the predetermined area (Step S 41 ). 
     Next, for each contract vehicle, it is determined whether or not the received dynamic safety performance information such as the V2X message, the output of the sensor, or the like is information that has been generated in the predetermined area (Step S 42 ). The determination processing of Step S 42  is performed by the safety performance evaluation unit  13   c  on the basis of the information extracted by the information extraction unit  21 . The information extraction unit  21  extracts the dynamic safety performance information such as the V2X message, the output of the sensor, or the like generated in the predetermined area on the basis of information regarding the location of the base station  6  or the RSU  7  that receives the V2X message, the output of the sensor, or the like. Alternatively, in a case where information regarding the area is included as attached information of the V2X message or the like, it may be determined whether or not the V2X message or the like is information that has been generated in the predetermined area on the basis of the information. The safety performance evaluation unit  13   c  determines that the information extracted by the information extraction unit  21  is information that has been generated in the predetermined area. 
     Next, the safety performance evaluation unit  13   c  evaluates the safety performance of the ADAS/AD system mounted on the corresponding contract vehicle on the basis of the dynamic safety performance information such as the V2X message, the output of the sensor, or the like generated in the predetermined area. Then, the safety performance evaluation level representing corresponding high safety performance is calculated (Step S 43 ). For example, the safety performance evaluation unit  13   c  evaluates that the ADAS/AD system in which the number of times of output from each sensor or the number of times of transmission of the V2X message in the predetermined area is larger has higher safety performance. In addition, the safety performance evaluation unit  13   c  may evaluate the safety performance on the basis of the object detection speed of the ADAS/AD system based on the output of the evaluation target sensor, similarly to the third embodiment. 
     Next, the insurance premium deciding unit  14  decides the insurance premium of the corresponding contract vehicle on the basis of the safety performance evaluation level of the safety performance evaluation unit  13   c  (Step S 44 ). 
     As described above, in the fourth embodiment, the safety performance of the ADAS/AD system is evaluated on the basis of the dynamic safety performance information such as the V2X message, the output of the sensor, or the like generated in the predetermined area. As a result, the safety performance evaluation apparatus  1   c  can objectively evaluate the safety performance of the ADAS/AD system mounted on each contract vehicle with a small amount of data. 
     Fifth Embodiment 
     In a safety performance evaluation system  3  according to a fifth embodiment, a part of an internal configuration of a safety performance evaluation apparatus  1   d  mounted on a server  5   d  is different from those in  FIGS. 6, 12, and 14 , and an information processing apparatus  2  mounted on each contract vehicle has a configuration similar to that in  FIGS. 7 to 9 . However, in the fifth embodiment, not only static safety performance information but also dynamic safety performance information is transmitted from each contract vehicle to the server. 
     In the fifth embodiment, safety performance of an ADAS/AD system mounted on each contract vehicle is evaluated while limiting a time zone. 
       FIG. 24  is a block diagram illustrating the internal configuration of the safety performance evaluation apparatus  1   d  according to the fifth embodiment mounted on the server  5   d.  The safety performance evaluation apparatus  1   d  of  FIG. 24  includes a time zone setting unit  22  and an information extraction unit  21   a  in addition to an information acquisition unit  11 , a registered information holding unit  12 , a collected information holding unit  16 , a safety performance evaluation unit  13   d,  an insurance premium deciding unit  14 , and an insurance premium holding unit  15 . 
     The time zone setting unit  22  sets a predetermined time zone. The predetermined time zone is arbitrary, and is, for example, a time zone with a large traffic volume such as a rush hour, an evening time zone with poor visibility, a daytime time zone on weekdays, or the like. 
     The information extraction unit  21   a  extracts the dynamic safety performance information such as an output of each sensor, a V2X message, or the like generated in the predetermined time zone among information acquired by the information acquisition unit  11 . The dynamic safety performance information such as the output of each sensor, the V2X message, or the like is received by the server  5   d  via a base station  6  or an RSU  7 . The information extraction unit  21   a  can extract the dynamic safety performance information such as the output of the sensor, the V2X message, or the like generated in the predetermined time zone on the basis of received time information of the base station  6  or the RSU  7  that has received the dynamic safety performance information and time information in the vehicle. 
     The safety performance evaluation unit  13   d  evaluates the safety performance of the ADAS/AD system mounted on the contract vehicle that has transmitted the dynamic safety performance information on the basis of the dynamic safety performance information generated in the predetermined time zone extracted by the information extraction unit  21   a.  As processing of the safety performance evaluation unit  13   d  of the present embodiment, processing similar to that of the safety performance evaluation unit  13   a  or  13   b  according to the second or third embodiment may be performed in a state of being limited to the predetermined time zone. 
       FIG. 25  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus  1   d  according to the fifth embodiment mounted on the server  5   d.  First, the time zone setting unit  22  sets the predetermined time zone (Step S 51 ). 
     Next, for each contract vehicle, it is determined whether or not the received dynamic safety performance information such as the V2X message, the output of the sensor, or the like is information that has been generated in the predetermined time zone (Step S 52 ). The determination processing of Step S 52  is performed by the safety performance evaluation unit  13   d  on the basis of the information extracted by the information extraction unit  21   a.  The information extraction unit  21   a  extracts the dynamic safety performance information such as the V2X message, the output of the sensor, or the like generated in the predetermined time zone on the basis of received time information of the base station  6  or the RSU  7  that receives the V2X message or the output of the sensor, and time information in the vehicle. The safety performance evaluation unit  13   d  determines that the information extracted by the information extraction unit  21   a  is information that has been generated in the predetermined time zone. 
     Next, the safety performance evaluation unit  13   d  evaluates the safety performance of the ADAS/AD system mounted on the corresponding contract vehicle on the basis of the dynamic safety performance information such as the V2X message, the output of the sensor, or the like generated in the predetermined time zone, and determines a safety performance level corresponding to the evaluated performance (Step S 53 ). For example, the safety performance evaluation unit  13   d  evaluates that the ADAS/AD system in which the number of times of output from each sensor or the number of times of transmission of the V2X message in the predetermined time zone is larger has higher safety performance. In addition, the safety performance evaluation unit  13   d  may evaluate the safety performance on the basis of the object detection speed (object detection sensitivity) of the ADAS/AD system based on the output of the evaluation target sensor, similarly to the third embodiment. 
     Next, a travel time or a travel distance of the corresponding contract vehicle in the set time zone is measured. The safety performance level is corrected on the basis of the safety performance level determined in Step S 53  and the travel time or the travel distance in the set time zone. For example, in a case where the set time zone is a time zone having a high accident occurrence rate such as an evening time zone or the like, the correction is made so that the longer the travel time or the travel distance in the set time zone with respect to the entire travel time or the entire travel distance, the lower the safety performance level (Step S 54 ). Next, the insurance premium deciding unit  14  decides an insurance premium of the corresponding contract vehicle on the basis of the corrected safety performance level (Step S 55 ). For example, in a case where the set time zone is a time zone having a high accident occurrence rate such as an evening time zone, the longer the travel time or the travel distance in the set time zone, the lower the discount rate for a basic insurance premium. 
     Here, although the insurance premium is decided on the basis of the corrected safety performance level in Step S 55 , calculation of the insurance premium/calculation of the insurance premium discount rate may be performed on the basis of the safety performance level decided in Step S 53  without performing the processing of Step S 54 . 
     As described above, in the fifth embodiment, the safety performance of the ADAS/AD system is evaluated on the basis of the dynamic safety performance information such as the V2X message, the output of the sensor, or the like generated in the predetermined time zone. As a result, the safety performance evaluation apparatus  1   d  can objectively evaluate the safety performance of the ADAS/AD system mounted on each contract vehicle with a small amount of data. 
     Sixth Embodiment 
     In a case where a server  5  receives all V2X messages generated by each contract vehicle, a load of communication between each contract vehicle and the server  5  may be too large. In addition, in a case where the number of V2X messages received by the server  5  is large, a long time is required to search for a desired V2X message from the V2X messages. From such a background, in the fourth to fifth embodiments described above, an example in which the number of V2X messages or the number of outputs of the sensor received by the server  5  is reduced by limiting the area and the time zone has been described. On the other hand, in the sixth embodiment, the number of V2X messages transmitted by each contract vehicle is limited. 
     A safety performance evaluation system  3  according to the sixth embodiment includes an information processing apparatus  2   a  different from the information processing apparatus  2  of  FIG. 7 . Note that the server  5  may have a configuration similar to that of  FIG. 6 , or may have a configuration similar to that of  FIG. 12, 14, 22 , or  24 . 
       FIG. 26  is a block diagram illustrating a schematic configuration of the information processing apparatus  2   a  according to the sixth embodiment mounted on each contract vehicle. A communication unit  33   a  of  FIG. 26  transmits dynamic safety performance information such as a V2X message or the like generated when a predetermined event occurs in a case where the contract vehicle is traveling in a predetermined area. Therefore, even in a case where the dynamic safety performance information such as the V2X message or the like is generated due to the occurrence of an event, the communication unit  33   a  does not transmit the dynamic safety performance information in a case where the contract vehicle is not traveling in the predetermined area. As a result, it is possible to suppress the number of times each contract vehicle transmits the dynamic safety performance information such as the V2X message or the like. 
     Here, the predetermined event is, for example, a case where an obstacle is found in front of the own vehicle in a traveling direction, or the like. The event may be the trigger condition for transmission of the DENM of  FIG. 10 , for example. The number of events is not necessarily limited to one. Whether or not the event has occurred is determined on the basis of output information of an arbitrary sensor connected to a driving assistance processing unit  42 . 
     An arbitrary area is set as the predetermined area. For example, an area with a high event occurrence rate may be set as the predetermined area. 
     In a case where it is determined that the own vehicle is traveling in the predetermined area after the occurrence of the event is detected, a V2X message generation unit  63  in a control unit  46  supplies the V2X message to an output unit  64 . The V2X message is transmitted to a base station  6  or an RSU  7  via the communication unit  33   a.    
       FIG. 27  is a flowchart illustrating a processing operation of the information processing apparatus  2   a  according to the sixth embodiment mounted on each contract vehicle. The information processing apparatus  2   a  of each contract vehicle repeatedly performs processing of the flowchart of  FIG. 27  while an engine is running. 
     First, it is determined whether or not the predetermined event has occurred (Step S 61 : first determination unit). In a case where no event has occurred, the processing of Step S 61  is repeated. 
     In a case where the predetermined event has occurred, a V2X message corresponding to the occurred event is generated (Step S 62 ). In Step S 62 , it is assumed that the generated V2X message is different for each type of event. 
     Next, it is determined whether or not the vehicle is traveling in the predetermined area (Step S 63 : second determination unit). Whether or not the vehicle is traveling in the predetermined area is determined by, for example, a position information sensor  32   a  or the like. In a case where the vehicle is traveling in the predetermined area, the V2X message generated in Step S 62  is transmitted (Step S 64 ), and in a case where the vehicle is not traveling in the predetermined area, the processing of  FIG. 27  ends. 
     In this manner, in the flowchart of  FIG. 27 , the V2X message generated in response to the predetermined event is transmitted while the vehicle is traveling in the predetermined area. As a result, the number of times of transmission of the V2X message, that is, a transmission frequency can be reduced. Therefore, the server  5  can evaluate the safety performance of each contract vehicle on the basis of the V2X message from each contract vehicle traveling in the preset area. For example, in a case where the predetermined area is an accident-prone area, the server  5  can evaluate the safety performance of the ADAS/AD system mounted on each contract vehicle on the basis of the number of times each contract vehicle has transmitted the V2X message in the predetermined area. 
     According to the present embodiment, the amount of communication between each contract vehicle and the base station  6  or the RSU  7  can be reduced, and the amount of communication between the base station  6  or the RSU  7  and the server  5  can also be reduced. In addition, the number of V2X messages held in the server  5  can be reduced, and the server  5  can easily search for a desired V2X message. 
       FIG. 27  illustrates an example in which a specific V2X message is generated and transmitted in a case where each contract vehicle is traveling in the predetermined area set in advance when the predetermined event has occurred. However, the specific V2X message may also be generated and transmitted in a case where each contract vehicle is traveling in a specific time zone when the predetermined event has occurred. A block configuration of the information processing apparatus  2   b  in this case is, for example, as illustrated in  FIG. 28 . 
     A communication unit  33   b  of  FIG. 28  transmits the V2X message generated when the predetermined event has occurred in a case where the contract vehicle is traveling in the predetermined time zone. Therefore, even in a case where the V2X message is generated due to the occurrence of the event, the communication unit  33   b  does not transmit the V2X message in a case where the contract vehicle is not traveling in the predetermined time zone. As a result, the number of V2X messages transmitted by each contract vehicle can be reduced. 
       FIG. 29  is a flowchart illustrating a processing operation of the information processing apparatus  2   b  of  FIG. 28 . The processing of Step S 73  in  FIG. 29  is different from the processing of Step S 63  in  FIG. 27 . After the V2X message is generated due to the occurrence of the predetermined event (Step S 72 ), in Step S 73 , it is determined whether or not the own vehicle is traveling in the predetermined time zone (Step S 73 ). In a case where the vehicle is traveling in the predetermined time zone, the V2X message is transmitted (Step S 74 ), and in a case where the vehicle is not traveling in the predetermined time zone, the processing of  FIG. 28  ends. 
     As described above, in the sixth embodiment, once the predetermined event occurs in each contract vehicle, a V2X message corresponding to the event is generated, and in a case where the corresponding contract vehicle is traveling in the predetermined area or is traveling in the predetermined time zone, the generated V2X message is transmitted. As a result, the number of V2X messages received by the server  5  can be limited, and the server  5  can easily manage the V2X messages. As a result, the server  5  can evaluate the safety performance of the contract vehicle that has transmitted the V2X message by using a small number of V2X messages. 
     Seventh Embodiment 
     In a seventh embodiment, an insurance premium is decided by evaluating safety performance of an ADAS/AD system in consideration of accident information of a contract vehicle. 
       FIG. 30  is a block diagram illustrating an internal configuration of a server  5   e  on which a safety performance evaluation apparatus  1   e  according to the seventh embodiment is mounted. In  FIG. 30 , components common to those in  FIG. 6  are denoted by the same reference signs, and differences will be mainly described below. The server  5   e  of  FIG. 30  includes an accident information acquisition unit  23 , an accident history information holding unit  24 , a registered information holding unit  12 , a safety performance evaluation unit  13   e,  an insurance premium deciding unit  14 , and an insurance premium holding unit  15 . In addition, in addition to the configuration of  FIG. 30 , a number-of-times measurement unit  17  and a safety performance determination unit  18  similar to those in  FIG. 12  may be provided, a detection sensitivity calculation unit  19  and a safety performance determination unit  18   a  similar to those in  FIG. 14  may be provided, an area setting unit  20  and an information extraction unit  21  similar to those in  FIG. 22  may be provided, or a time zone setting unit  22  and an information extraction unit  21   a  similar to those in  FIG. 24  may be provided. 
     The accident information acquisition unit  23  acquires accident information. In a case where the contract vehicle has an accident, an indemnification or compensation may be paid from the insurance depending on seriousness of the accident. Meanwhile, for the contract vehicle that has had an accident, the insurance premium of the following year may be increased. In the present embodiment, the insurance premium of the contract vehicle is decided in consideration of whether or not the contract vehicle has had an accident. In a case where the contract vehicle has had an accident, the accident information acquisition unit  23  acquires information regarding the accident. The acquired accident information includes a date or place where the accident has occurred, a content of the accident, whether or not the insurance has been paid, the amount of indemnification or compensation, and the like. 
     The accident information regarding the contract vehicle acquired by the accident information acquisition unit  23  may be information input by an entity that owns the contract vehicle having an insurance contract with an insurance company, or an insurance company that has received a call or the like from a driver of the contract vehicle after confirming the accident. Furthermore, the information may also be information input by a person at a repair shop when repair of the vehicle having the accident is finished. Moreover, the occurrence of the accident may be detected using various sensors mounted on the contract vehicle, and the accident information acquisition unit  23  may acquire the accident information transmitted to the server  5   e  via the base station  6  or the RSU  7  through, for example, wireless communication. 
     The accident history information holding unit  24  holds past accident history information in addition to the accident information acquired by the accident information acquisition unit  23 . In addition, the accident history information holding unit  24  acquires, from the registered information holding unit  12 , information of each sensor mounted on the contract vehicle that has had the accident, and holds the information. The reason why the information of each sensor is acquired is that an accident occurrence frequency and the type of the accident may change depending on the type of the sensor mounted on the contract vehicle. In general, a contract vehicle on which a sensor having high safety performance is mounted is considered to have a low accident occurrence frequency. 
     The safety performance evaluation unit  13   e  generates statistical information of each sensor and an accident occurrence rate on the basis of the accident history information and the information of each sensor mounted on the contract vehicle, evaluates the safety performance of the ADAS/AD system mounted on the contract vehicle on the basis of the generated statistical information, and sets a safety performance level. Here, the accident occurrence rate is calculated, for example, for each product model number of the sensor. The insurance premium deciding unit  14  decides a discount amount for a basic insurance premium on the basis of the safety performance level set by the safety performance evaluation unit  13   e.    
     The server  5   e  having a function combining the first to sixth embodiments and the seventh embodiment may be provided by adding the information acquisition unit  11  and the collected information holding unit  16  of  FIG. 12  and the like to the server  5   e  of  FIG. 30 . That is, the server  5   e  may acquire safety performance information of a driving assistance processing unit  42  mounted on the contract vehicle and acquire the accident information. In this case, the safety performance evaluation unit  13   e  can evaluate the safety performance of the ADAS/AD system mounted on the contract vehicle in comprehensive consideration of the safety performance information of the contract vehicle and the accident history information, and decide the insurance premium on the basis of the evaluation result. 
     As described above, in the seventh embodiment, the information of the sensor mounted on the contract vehicle is acquired together with the accident information of the contract vehicle, the statistical information of the sensor and the accident occurrence rate is generated, and the safety performance of the ADAS/AD system mounted on the contract vehicle is evaluated on the basis of the statistical information to decide the discount amount for the insurance premium. As a result, the insurance premium can be decided in consideration of the accident occurrence rate and the like, and it is possible to promote the spread of the ADAS/AD system having high safety performance capable of reducing the accident occurrence rate. 
     Eighth Embodiment 
     In an eighth embodiment, the server  5 ,  5   a,    5   b,    5   c,    5   d,  or  5   e  having the function of any one of the first to fifth and seventh embodiments further has an additional function related to maintenance. In the eighth embodiment, not only static safety performance information but also dynamic safety performance information is transmitted from each contract vehicle to a server  5   f.    
       FIG. 31  is a block diagram illustrating an internal configuration of the server  5   f  on which a safety performance evaluation apparatus if according to the eighth embodiment is mounted. The safety performance evaluation apparatus if of  FIG. 31  includes an information acquisition unit  11 , a collected information holding unit  16 , a registered information holding unit  12 , a safety performance evaluation unit  13   f,  an insurance premium deciding unit  14 , and an insurance premium holding unit  15 . The safety performance evaluation unit  13   f  includes, for example, a number-of-times measurement unit  17  similar to that of  FIG. 12 , a detection sensitivity calculation unit  19  similar to that of  FIG. 13 , and a safety performance determination unit  18 . Furthermore, the safety performance evaluation apparatus if of  FIG. 31  includes an area setting unit  20  similar to that of  FIG. 22 , a time zone setting unit  22  similar to that of  FIG. 23 , and an information extraction unit  21   b.  Although omitted in  FIG. 31 , the safety performance evaluation unit  13   f  may include the number-of-times measurement unit  17  and the safety performance determination unit  18  of  FIG. 12 , or may include the detection sensitivity calculation unit  19  and the safety performance determination unit  18   a  of  FIG. 14 . Note that the area setting unit  20 , the time zone setting unit  22 , or the information extraction unit  21   b  can be omitted as appropriate. In addition, the safety performance evaluation apparatus if of  FIG. 31  includes a safety performance standard determination unit  25  and a maintenance alert unit  26 . 
     The safety performance standard determination unit  25  determines whether or not a safety performance level evaluated by the safety performance evaluation unit  13   f  reaches a predetermined standard. The predetermined standard is a standard for determining whether or not maintenance of a driving assistance processing unit  42  is necessary. For example, the safety performance evaluation unit  13   f  can quantify safety performance of an ADAS/AD system by an output of each sensor connected to the driving assistance processing unit  42  as the safety performance level, compare an additional value or an average value of numerical values of the safety performance of all the sensors of the driving assistance processing unit  42  with a reference value for each contract vehicle, and determine whether or not the predetermined standard has been reached. Instead of evaluating the safety performance of the ADAS/AD system for each sensor output, the safety performance evaluation unit  13   f  may evaluate the safety performance of the entire ADAS/AD system and set the safety performance level as a whole. 
     Note that processing performed by the safety performance evaluation unit  13   f  is processing of a combination of the pieces of processing performed by the safety performance evaluation units  13   c  and  13   d  described in Examples 4 and 5. 
     The safety performance standard determination unit  25  may provide a plurality of reference values and classify and determine the safety performance of the contract vehicle into a plurality of levels. 
     In a case where the safety performance standard determination unit  25  determines that the predetermined standard has not been reached, the maintenance alert unit  26  urges maintenance of the driving assistance processing unit  42 . For example, the maintenance of the driving assistance processing unit  42  may be requested to an owner or user of the contract vehicle on which the driving assistance processing unit  42  is mounted. In this case, it is assumed that contact information of the owner or user of the contract vehicle is held in advance. 
     In addition, in a case where the safety performance standard determination unit  25  determines that the contract vehicle does not reach the predetermined standard while traveling, the maintenance alert unit  26  may issue an instruction to the target contract vehicle from the server  5   f  to present an alert to the driver. 
     In addition, in a case where the safety performance standard determination unit  25  determines that the contract vehicle does not reach the predetermined standard while traveling, the maintenance alert unit  26  may issue an instruction to the target contract vehicle from the server  5   f  to perform a control to move the contract vehicle to a safe place such as a road shoulder or the like to thereby urge the stop of the engine. As described above, in a case where the safety performance standard determination unit  25  provides a plurality of reference values and classifies the safety performance of the contract vehicle into a plurality of levels, the maintenance alert unit  26  can take a maintenance measure according to the classified level. For example, a measure such as forcibly stopping traveling or the like may be performed as described above for a contract vehicle whose safety performance is classified as the lowest level. In addition, in a case where the level of the safety performance is not the lowest level, it may be only required to contact the owner or the user of the contract vehicle. 
       FIG. 32  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus if according to the eighth embodiment. Steps S 81  to S 82  are similar to Steps S 1  to S 2  in  FIG. 11 . Once the insurance premium is determined in Step S 82 , next, it is determined whether or not the safety performance evaluated by the safety performance evaluation unit  13   f  has reached the predetermined standard (Step S 83 ). For example, the safety performance evaluation unit  13   f  sets the safety performance level. More specifically, the safety performance evaluation unit  13   f  outputs, as the safety performance level, numerical value data that increases as the safety performance is improved. In Step S 83 , it is determined whether or not the safety performance level output from the safety performance evaluation unit  13   f  is less than a predetermined reference value. In a case where the safety performance level is equal to or greater than the reference value, it is regarded that the safety performance has reached the standard, and the processing of  FIG. 32  ends. On the other hand, in a case where the safety performance level is less than the reference value, it is regarded that the safety performance has not reached the standard, and processing of urging the maintenance of the driving assistance processing unit  42  is performed (Step S 84 ). Here, the server  5   f  may notify the contract vehicle of a request for the maintenance of the driving assistance processing unit  42  via the base station  6  or the RSU  7 . In this case, for example, a notification of a recommendation of the maintenance of the driving assistance processing unit  42  may be made on a monitor of a dashboard of the contract vehicle. Alternatively, the server  5   f  may make a notification to cause an insurance company to request the contract vehicle for the maintenance of the driving assistance processing unit  42 . In this case, the insurance company notifies the contractor or the user of the contract vehicle of the request for the maintenance of the driving assistance processing unit  42  by mail, e-mail, or the like. Here, the request for the maintenance of the driving assistance processing unit  42  notified from the insurance company to the contractor or the user of the contract vehicle may include, for example, a place or contact of a candidate maintenance factory, a candidate time zone for maintenance reception, and the like. 
     Note that the safety performance standard determination unit  25  and the maintenance alert unit  26  may be added inside the server  5  of  FIG. 6 , the server  5   a  of  FIG. 12 , the server  5   b  of  FIG. 14 , the server  5   c  of  FIG. 22 , or the server  5   d  of  FIG. 24 , and processing similar to Steps S 93  to S 94  of  FIG. 32  may be added to the flowchart of  FIG. 13 ,  FIG. 15 ,  FIG. 21 ,  FIG. 23 , or  FIG. 25 . 
     As described above, in the eighth embodiment, in a case where the safety performance of the ADAS/AD system mounted on the contract vehicle does not reach the predetermined standard, the maintenance of the ADAS/AD system is urged, such that it is possible to prevent the contract vehicle from continuing traveling in a state where the maintenance of the ADAS/AD system is insufficient. In addition, in a case where the safety performance of the ADAS/AD system is originally low, replacement with an ADAS/AD system having high safety performance can be urged. For example, when urging the maintenance of the ADAS/AD system, it is possible to promote the spread of the ADAS/AD system having high safety performance by presenting how much the insurance premium is reduced by the replacement with the ADAS/AD system having high safety performance. 
     Note that, in the first to eighth embodiments described above, the ADAS/AD system does not have to be activated for a vehicle on which an in-vehicle system having low safety performance is mounted. Further, in a case where a vehicle on which an in-vehicle system having low safety performance is traveling, the vehicle may be safely stopped by a remote vehicle control or the like. In this case, although not illustrated, a control command is transmitted from the server  5  to the vehicle via the network. The vehicle receives the control command through the communication unit  33  of  FIG. 7 . The vehicle is controlled by the drive system control unit  37  on the basis of the control command, and is stopped in a safety zone such as a road shoulder or the like. 
     Ninth Embodiment 
     In a ninth embodiment, the server  5 ,  5   a,    5   b,    5   c,    5   d,    5   e,  or  5   f  having the function of any one of the first to fifth, seventh, and eighth embodiments further has an additional function related to transmission of control information to the vehicle. 
       FIG. 33  is a block diagram illustrating an internal configuration of a server  5   g  on which a safety performance evaluation apparatus  1   g  according to the ninth embodiment is mounted. Similarly to the safety performance evaluation apparatus if of  FIG. 31 , the safety performance evaluation apparatus  1   g  of  FIG. 33  includes an information acquisition unit  11 , a collected information holding unit  16 , a registered information holding unit  12 , a safety performance evaluation unit  13   f,  an insurance premium deciding unit  14 , and an insurance premium holding unit  15 , an area setting unit  20 , a time zone setting unit  22 , and a safety performance standard determination unit  25 . 
     In addition, the safety performance evaluation apparatus  1   g  of  FIG. 33  includes a control information transmission unit  27  instead of the maintenance alert unit  26  of  FIG. 31 . Note that the maintenance alert unit  26  may be additionally provided in the safety performance evaluation apparatus  1   g  of  FIG. 33 . The control information transmission unit  27  transmits control information for limiting an autonomous driving function or not permitting autonomous driving to a vehicle whose evaluated safety performance is determined as not reaching a predetermined standard. For example, the vehicle that has received the control information indicating that the autonomous driving is not permitted makes a notification for a driver so as to perform switching to manual driving in a case where the autonomous driving is being performed. In a case of not switching to the manual driving, the vehicle that has received the control information performs a control to stop on a traveling lane where the vehicle is traveling or a road shoulder. 
     Furthermore, the control information may be information for controlling the vehicle so that low-function autonomous driving (or ADAS processing) can be performed but high-function autonomous driving (or ADAS processing) cannot be performed. In this case, in the vehicle that has received the control information, an autonomous driving level is changed to the low-function autonomous driving in a case where the vehicle is performing the high-function autonomous driving. Then, a passenger such as the driver or the like is notified that the autonomous driving level has been changed to an autonomous driving level in which a level of the performable function (permitted function) is low. In a case where the manual driving is being performed, when switching from the manual driving to the autonomous driving mode is performed, the traveling of the vehicle is controlled by the low-function autonomous driving (/ADAS processing) instead of the high-function autonomous driving (/ADAS processing). In this case, the driver cannot select (or perform) the high-function autonomous driving (/ADAS processing). For example, the vehicle can use an automatic lane change function in the high-function autonomous driving, whereas the vehicle cannot use the automatic lane change function in the low-function autonomous driving. That is, the autonomous driving function may be performed only in the same traveling lane. In addition, in the high-function autonomous driving (/ADAS processing), autonomous driving at a speed faster than that in the low-function autonomous driving (for example, the speed is up to the legal speed) may be performed (permitted), and in the low-function autonomous driving (/ADAS processing), only the automatic driving at a speed (for example, up to 40 km/h) lower than that in the high-function autonomous driving may be performed (permitted). Here, the high-function autonomous driving (/ADAS processing) and the low-function autonomous driving (/ADAS processing) are performed, but the function of the autonomous driving (/ADAS processing) may be divided into three or more levels, and a safety performance evaluation result may be associated with each level. In this case, the association may be performed so that a vehicle evaluated as having high safety performance (as being safer) can perform the high-function autonomous driving (/ADAS processing). 
       FIG. 34  is a flowchart illustrating a processing operation of the safety performance evaluation apparatus  1   g  according to the ninth embodiment. Steps S 91  to S 92  are similar to Steps S 81  to S 82  in  FIG. 32 . Once an insurance premium is determined in Step S 92 , next, it is determined whether or not the control information needs to be transmitted by the control information transmission unit  27  (Step S 93 ). In Step S 93 , it is determined that the control information needs to be transmitted to a vehicle whose evaluated safety is determined as not reaching the predetermined standard, and the control information is transmitted to the vehicle (Step S 94 ). As described above, the control information is, for example, information for switching from the autonomous driving to the manual driving or switching from the high-function autonomous driving to the low-function autonomous driving. On the other hand, in a case where it is determined in Step S 93  that the control information need not be transmitted, the processing of  FIG. 34  ends without transmitting the control information. 
       FIG. 35  is a block diagram illustrating a schematic configuration of an information processing apparatus  2   c  according to the ninth embodiment mounted on each contract vehicle. The information processing apparatus  2   c  of  FIG. 35  has a block configuration similar to that of the information processing apparatus  2   b  of  FIG. 28 , but an operation of a control unit  46   a  in a driving assistance processing unit  42   a  is different from that of the control unit  46  of  FIG. 28 . 
     The control unit  46   a  of  FIG. 35  controls the vehicle on the basis of the control information transmitted from the server  5   g  (safety performance evaluation apparatus  1   g ) of  FIG. 33 . 
       FIG. 36  is a block diagram illustrating an example of a detailed configuration of the control unit  46   a  of  FIG. 35 . The control unit  46   a  of  FIG. 36  has a block configuration similar to that of the control unit  46  of  FIG. 9 , but includes a driving assistance auxiliary data acquisition unit  65   a  and a driving assistance control unit  66   a  that are operated differently from the driving assistance auxiliary data acquisition unit  65  and the driving assistance control unit  66  of  FIG. 9 . 
     The driving assistance auxiliary data acquisition unit  65   a  acquires the control information transmitted from the server  5   g  (safety performance evaluation apparatus  1   g ). The acquired control information is, for example, autonomous driving level control information for controlling an autonomous driving level allowable for the vehicle. In this case, the driving assistance control unit  66   a  generates vehicle control information on the basis of the autonomous driving level allowable on the basis of the autonomous driving level control information. 
     Furthermore, in a case where the acquired control information includes the safety performance evaluation result, the driving assistance control unit  66   a  decides the allowable autonomous driving level on the basis of the safety performance evaluation result, and generates the vehicle control information on the basis of the decided autonomous driving level. For example, the driving assistance control unit  66   a  holds relationship information indicating a correspondence relationship between the allowable autonomous driving level and the safety performance evaluation result, and decides the autonomous driving level from the safety performance evaluation result on the basis of the relationship information. The driving assistance control unit  66   a  can perform driving assistance on the basis of a function corresponding to the allowable autonomous driving level. Furthermore, the driving assistance control unit  66   a  generates the vehicle control information for autonomous driving on the basis of the function corresponding to the allowable autonomous driving level. 
     In a case where the allowable autonomous driving level is not the autonomous driving but the manual driving, and the vehicle is performing autonomous driving, the driving assistance control unit  66   a  urges the driver to perform switching to the manual driving via an in-vehicle device such as a display or a speaker inside the vehicle. In a case where the driver does not perform switching to the manual driving, the driving assistance control unit  66   a  generates the vehicle control information to automatically stop the vehicle or move the vehicle to a safe place such as a road shoulder or the like and stop the vehicle. 
       FIG. 37  is a flowchart illustrating an operation of the control unit  46   a  of  FIG. 36 . First, information regarding the surrounding of the vehicle is acquired (Step S 101 ). Here, information (for example, 3D map information) regarding a situation around the vehicle such as an object recognition result of each sensor or the like is acquired. The information regarding the surrounding of the vehicle may include environment information generated by the environment information generation unit  67  of  FIG. 36 . 
     Next, the autonomous driving level control information transmitted from the server  5   g  (safety performance evaluation apparatus  1   g ) is acquired (Step S 102 ). Next, the allowable autonomous driving level is specified on the basis of the information regarding the surrounding of the vehicle and the autonomous driving level control information (Step S 103 ). Next, the vehicle control information is generated on the basis of the specified autonomous driving level (Step S 104 ). Next, a drive system apparatus of the vehicle is controlled on the basis of the generated vehicle control information (Step S 105 ). 
     As described above, in the ninth embodiment, the autonomous driving level control information is generated on the basis of the safety performance of the vehicle evaluated by the server  5   g  (safety performance evaluation apparatus  1   g ) and is transmitted to the vehicle, and in the vehicle, the autonomous driving level is specified on the basis of the received autonomous driving level control information to control the vehicle. As a result, the vehicle can travel more safely, and an accident due to autonomous driving in a situation where the safety performance is not secured can be prevented in advance. 
     As the ninth embodiment, in addition to the above-described example, a server, in which the safety performance standard determination unit  25  to which the safety performance evaluation level or the safety performance level is input from the safety performance determination unit  18  or  18   a  or the safety performance evaluation unit  18  or  18   a,  and the control information transmission unit  27  to which information indicating whether or not the safety performance has reached the predetermined standard is input from the safety performance standard determination unit  25  are added to the server  5 ,  5   a,    5   b,    5   c,    5   d,    5   e,  or  5   f  having the function of any of the first to fifth, seventh, and eighth embodiments, may be used. 
     At least some of the safety performance evaluation apparatuses  1 ,  1   a,    1   b,    1   c,    1   d,    1   e,    1   f,  and  1   g,  the information processing apparatuses  2 ,  2   a,    2   b,  and  2   c,  and the safety performance evaluation system  3  described in the respective embodiments described above may be configured by hardware or software. In a case of being configured by software, a program that implements the functions of at least some of the safety performance evaluation apparatuses  1 ,  1   a,    1   b,    1   c,    1   d,    1   e,    1   f,  and  1   g,  the information processing apparatuses  2 ,  2   a,    2   b,  and  2   c,  and the safety performance evaluation system  3  may be stored in a recording medium such as a semiconductor memory, a hard disk, a flexible disk, a CD-ROM, or the like, and may be read and executed by a computer. In addition, the program that implements the functions of at least some of the safety performance evaluation apparatuses  1 ,  1   a,    1   b,    1   c,    1   d,    1   e,    1   f,  and  1   g,  the information processing apparatuses  2 ,  2   a,    2   b,  and  2   c,  and the safety performance evaluation system  3  may be dynamically downloaded from the base station  6  or the RSU  7  and stored in the recording medium described above. 
       FIG. 38  is a block diagram illustrating a hardware configuration example of a computer  70  that executes the program to perform a series of pieces of processing of the safety performance evaluation apparatuses  1 ,  1   a,    1   b,    1   c,    1   d,    1   e,    1   f,  and  1   g,  the information processing apparatuses  2 ,  2   a,    2   b,  and  2   c,  and the safety performance evaluation system  3  described above. 
     The computer  70  of  FIG. 38  includes a central processing unit (CPU)  72 , a read only memory (ROM)  73 , a random access memory (RAM)  74 , and an input/output interface  75  connected to one another by a bus  71 . 
     An input unit  76 , an output unit  77 , a recording unit  78 , a communication unit  79 , and a drive  80  are connected to the input/output interface  75 . 
     The input unit  76  includes an input switch, a button, a microphone, an image capturing element, or the like. The output unit  77  includes a display, a speaker, or the like. The recording unit  78  includes a hard disk, a nonvolatile memory device, or the like. The communication unit  79  includes a wired or wireless communication interface, and can access a public network such as the Internet or the like, or a dedicated network. The drive  80  is an apparatus that drives a removable medium  81  such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like. 
     The CPU  72  of the computer  70  of  FIG. 38  performs the above-described series of pieces of processing by, for example, loading the program recorded in the recording unit  78  into the RAM  74  via the input/output interface  75  and the bus  71  and executing the program. 
     The program executed by the computer  70 , that is, the CPU  72 , can be provided by being recorded in the removable medium  81  as a package medium or the like, for example. Furthermore, the program can be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting, or a cellular network. 
     The program executed by the computer  70  can be installed in the recording unit  78  via the input/output interface  75  by mounting the removable medium  81  on the drive  80 . Furthermore, the program can be received by the communication unit  79  via a wired or wireless transmission medium and installed in the recording unit  78 . In addition, the program can be installed in the ROM  73  or the recording unit  78  in advance. Moreover, the program may be distributed via a wired line or a wireless line such as the Internet or the like or may be distributed by being stored in the removable medium  81 , in an encrypted, modulated, or compressed state. 
     Note that the program executed by the computer  70  may be a program by which the pieces of processing are performed in time series in the order described in the present specification, or may be a program by which the pieces of processing are performed in parallel or at a necessary timing such as when a call is performed or the like. 
     In addition, in the above description, a system means a set of a plurality of components (apparatuses, modules (parts), or the like), and it does not matter whether or not all the components are in the same housing. Therefore, a plurality of apparatuses housed in separate housings and connected via a network and one apparatus in which a plurality of modules is housed in one housing are both systems. 
     Note that the present technology can have the following configuration. 
     (1) A safety performance evaluation apparatus including: 
     an acquisition unit that acquires information regarding a driving assistance function of a mobile object; and 
     an evaluation unit that evaluates safety performance of the driving assistance function of the mobile object on the basis of the acquired information. 
     (2) The safety performance evaluation apparatus according to (1), 
     in which the information regarding the driving assistance function of the mobile object includes identification information of a driving assistance processing unit mounted on the mobile object, and 
     the evaluation unit evaluates the safety performance of the driving assistance function of the mobile object on the basis of the identification information of the driving assistance processing unit. 
     (3) The safety performance evaluation apparatus according to (2), 
     in which the information regarding the driving assistance function of the mobile object includes safety performance information of the driving assistance processing unit, and 
     the evaluation unit evaluates the safety performance of the driving assistance function of the mobile object on the basis of the identification information and the safety performance information of the driving assistance processing unit. 
     (4) The safety performance evaluation apparatus according to (3), in which the safety performance information includes at least one of identification information or output information of a sensor built in or connected to the driving assistance processing unit. 
     (5) The safety performance evaluation apparatus according to (3) or (4), in which the safety performance information includes at least one of identification information of a signal processing large scale integrated circuit (LSI) that implements a function of the driving assistance processing unit, version information of software that implements the function of the driving assistance processing unit, or accident information of the mobile object. 
     (6) The safety performance evaluation apparatus according to any one of (2) to (5), in which the evaluation unit evaluates the safety performance of the driving assistance function of the mobile object on the basis of detection capability of a sensor built in or connected to the driving assistance processing unit. 
     (7) The safety performance evaluation apparatus according to (6), in which the evaluation unit evaluates the safety performance of the driving assistance function of the mobile object on the basis of time difference information from a time when the sensor built in or connected to the driving assistance processing unit detects a target object at a reference point to a time when the mobile object passes through the reference point. 
     (8) The safety performance evaluation apparatus according to any one of (2) to (5), further including 
     a number-of-times measurement unit that measures the number of times a specific message has been transmitted by the driving assistance processing unit, 
     in which the evaluation unit evaluates the safety performance of the driving assistance function of the mobile object on the basis of the number of times measured by the number-of-times measurement unit. 
     (9) The safety performance evaluation apparatus according to any one of (2) to (5), in which the evaluation unit evaluates the safety performance of the driving assistance function of the mobile object on the basis of the output information of the sensor built in or connected to the driving assistance processing unit when the mobile object transmits a message. 
     (10) The safety performance evaluation apparatus according to any one of (1) to (9), further including: 
     an area setting unit that sets a predetermined area; and 
     an information extraction unit that extracts the information regarding the driving assistance function of the mobile object acquired within the predetermined area by the acquisition unit, 
     in which the evaluation unit evaluates the safety performance of the driving assistance function of the mobile object on the basis of the information extracted by the information extraction unit. 
     (11) The safety performance evaluation apparatus according to any one of (1) to (9), further including: 
     a time zone setting unit that sets a predetermined time zone; and 
     an information extraction unit that extracts the information regarding the driving assistance function of the mobile object acquired within the predetermined time zone by the acquisition unit, 
     in which the evaluation unit evaluates the safety performance of the driving assistance function of the mobile object on the basis of the information extracted by the information extraction unit. 
     (12) The safety performance evaluation apparatus according to any one of (1) to (11), further including a deciding unit that decides an insurance premium for the mobile object on the basis of the safety performance evaluated by the evaluation unit. 
     (13) The safety performance evaluation apparatus according to any one of (1) to (12), further including: 
     a safety performance standard determination unit that determines whether or not the safety performance evaluated by the evaluation unit has reached a predetermined standard; and 
     a maintenance alert unit that urges maintenance of the driving assistance function of the mobile object in a case where it is determined by the safety performance standard determination unit that the predetermined standard has not been reached. 
     (14) A safety performance evaluation method including: 
     acquiring information regarding a driving assistance function of a mobile object; and 
     evaluating safety performance of the driving assistance function of the mobile object on the basis of the acquired information. 
     (15) An information processing apparatus including: 
     a driving assistance processing unit that generates information regarding safety performance evaluation for a driving assistance function; and 
     a communication unit that transmits the information, 
     in which the information transmitted from the communication unit includes first identification information for identifying the driving assistance processing unit and second identification information for identifying a mobile object on which the driving assistance processing unit and the communication unit are mounted. 
     (16) The information processing apparatus according to (15), 
     in which one or more sensors are built in or connected to the driving assistance processing unit, and 
     the information includes output information of the one or more sensors and third identification information for identifying the one or more sensors. 
     (17) The information processing apparatus according to (16), in which the information includes at least one of identification information of a signal processing LSI that implements a function of the driving assistance processing unit, version information of software that implements the function of the driving assistance processing unit, or accident information of the mobile object. 
     (18) The information processing apparatus according to any one of (15) to (17), in which the driving assistance processing unit dynamically sets a type of a specific message according to at least one of an area in which the mobile object is positioned or a time zone in which the communication unit performs communication. 
     (19) The information processing apparatus according to any one of (15) to (18), further including: 
     a first determination unit that determines whether or not a predetermined event has occurred; and 
     a second determination unit that determines whether or not the mobile object is traveling in a predetermined area or in a predetermined time zone, 
     in which the driving assistance processing unit generates dynamic information regarding safety performance corresponding to the event in a case where it is determined that the predetermined event has occurred, and 
     in a case where it is determined that the predetermined event has occurred and it is determined that the mobile object is traveling in the predetermined area or the predetermined time zone, the transmission unit transmits the dynamic information corresponding to the event. 
     (20) An information processing method including: 
     generating information regarding safety performance evaluation for a driving assistance function of a mobile object; and 
     transmitting a plurality of messages and the information from a communication unit, 
     in which the information transmitted from the communication unit in a case where the communication unit transmits a specific message among the plurality of messages includes first identification information for identifying a driving assistance processing unit mounted on the mobile object and second identification information for identifying the mobile object on which the driving assistance processing unit and the communication unit are mounted. 
     (21) A program for causing a computer to perform: 
     acquiring information regarding a driving assistance function of a mobile object; and 
     evaluating safety performance of the driving assistance function of the mobile object on the basis of the acquired information. 
     (22) A program causing a computer to perform: 
     causing a driving assistance processing unit to generate information regarding safety performance evaluation for a driving assistance function; and 
     transmitting the messages and the information from a communication unit, 
     in which the information transmitted from the communication unit in a case where the communication unit transmits a specific message among the plurality of messages includes first identification information for identifying the driving assistance processing unit and second identification information for identifying a mobile object on which the driving assistance processing unit and the communication unit are mounted. 
     (23) An information processing apparatus that assists driving of a mobile object, the information processing apparatus including: 
     a plurality of sensors; 
     an acquisition unit that acquires detection data of the plurality of sensors; 
     a computing unit that performs computation processing on the detection data; 
     a recognition unit that recognizes an object on the basis of the detection data; and 
     a movement control unit that controls movement of the mobile object on the basis of data subjected to the computation processing performed by the computing unit, 
     in which the plurality of sensors includes a first sensor that detects image data of an object that is a first target, and a second sensor that detects information regarding a distance to an object that is a second target, 
     the recognition unit determines whether or not the object that is the first target and the object that is the second target are the same on the basis of the image data and the information regarding the distance, and recognizes the first target and the second target as one object in a case where the objects are determined as being the same, and 
     the computing unit estimates a change in a relative distance between the one object recognized by the recognition unit and the mobile object, and changes at least one of a movement speed or a traveling direction of the mobile object with respect to the movement control unit in a case where it is determined that the mobile object is to collide with the one object. 
     (24) The information processing apparatus according to (23), further including: 
     a threshold value setting unit that sets a first threshold value related to a distance; and 
     a group management unit that manages two or more objects recognized by the recognition unit as one group according to a condition, 
     in which the computing unit calculates a distance between the one object and one different object in a case where the recognition unit recognizes the one different object in addition to the one object, and 
     the group management unit manages the one object and the one different object as the one group in a case where the condition that the distance calculated by the computing unit is equal to or less than the first threshold value is satisfied. 
     (25) The information processing apparatus according to (24), in which the computing unit estimates a change in a relative distance between the one group managed by the group management unit and the mobile object, and changes at least one of the movement speed or the traveling direction of the mobile object with respect to the movement control unit in a case where it is determined that the mobile object is to collide with the one group. 
     (26) The information processing apparatus according to (24) or (25), 
     in which the threshold value setting unit sets a second threshold value, 
     the computing unit calculates a distance between the one group managed by the group management unit and the one object managed as the one group, and 
     the group management unit removes the one object from the one group in a case where the distance is equal to or more than the second threshold value. 
     (27) The information processing apparatus according to (24) or (25), 
     in which the threshold value setting unit sets a second threshold value, and 
     the computing unit calculates a distance between the one object managed as the one group by the group management unit and the one different object, and 
     the group management unit removes the one different object from the one group in a case where the distance between the one object managed as the one group and the one different object is equal to or more than the second threshold value. 
     (28) The information processing apparatus according to (26) or (27), in which the threshold value setting unit sets the second threshold value by adding a positive or negative offset to the first threshold value. 
     (29) The information processing apparatus according to any one of (24) to (28), in which in a case where an object managed as the one group is only the one object or the one different object, the group management unit associates history information indicating a constituent element of an object included in the one group with the one object or the one different object. 
     (30) A safety performance evaluation apparatus including: 
     an acquisition unit that acquires information regarding a driving assistance function of a mobile object; and 
     an evaluation unit that evaluates safety performance of the driving assistance function of the mobile object on the basis of the acquired information, 
     in which autonomous driving level control information regarding an autonomous driving level allowed for the mobile object is generated on the basis of the safety performance. 
     (31) The safety performance evaluation apparatus according to (30), in which the autonomous driving level control information indicates the autonomous driving level allowable for the mobile object. 
     (32) The safety performance evaluation apparatus according to (30), in which the autonomous driving level control information includes a safety performance evaluation result (safety performance evaluation level) used for determination of the autonomous driving level allowable for the mobile object. 
     Aspects of the present disclosure are not limited to the respective embodiments described above, but include various modifications that can be conceived by those skilled in the art, and the effects of the present disclosure are not limited to the above-described contents. That is, various additions, modifications, and partial deletions can be made without departing from the conceptual idea and spirit of the present disclosure derived from the contents defined in the claims and equivalents thereof. 
     REFERENCE SIGNS LIST 
     
         
           1  Safety performance evaluation apparatus 
           2  Information processing apparatus 
           3  Safety performance evaluation system 
           4   a  First contract vehicle 
           4   b  Second contract vehicle 
           5  Server 
           6  Base station 
           7  RSU 
           8  Traffic light 
           11  Information acquisition unit 
           12  Registered information holding unit 
           13 ,  13   a,    13   b,    13   c,    13   d,    13   e,    13   f  Safety performance evaluation unit 
           14  Insurance premium deciding unit 
           15  Insurance premium holding unit 
           16  Collected information holding unit 
           17  Number-of-times measurement unit 
           18 ,  18   a  Safety performance determination unit 
           19  Detection sensitivity calculation unit 
           20  Area setting unit 
           21 ,  21   a,    21   b  Information extraction unit 
           22  Time zone setting unit 
           23  Accident information acquisition unit 
           24  Accident history information holding unit 
           25  Safety performance standard determination unit 
           26  Maintenance alert unit 
           27  Control information transmission unit 
           31  Input unit 
           32  Data acquisition unit 
           33 ,  33   a,    33   b  Communication unit 
           34  In-vehicle device 
           35  Output control unit 
           36  Output unit 
           37  Drive system control unit 
           38  Drive system 
           39  Body system control unit 
           40  Body system 
           41  Storage unit 
           42 ,  42   a  Driving assistance processing unit 
           43  Communication network 
           45  Information processing unit 
           46 ,  46   a  Control unit 
           51  Input unit 
           52  First information acquisition unit 
           53  Object identification processing unit 
           54  Distance measurement unit 
           55  Integrated processing unit 
           56  Information holding unit 
           57  Obstacle determination unit 
           58  Output unit 
           61  Input unit 
           62  Second information acquisition unit 
           63  V2X message generation unit 
           64  Output unit 
           65 ,  65   a  Driving assistance auxiliary data acquisition unit 
           66 ,  66   b  Driving assistance control unit 
           67  Environment information generation unit 
           70  Computer 
           71  Bus 
           72  CPU 
           73  ROM 
           74  RAM 
           75  Input/output interface 
           76  Input unit 
           77  Output unit 
           78  Recording unit 
           79  Communication unit 
           80  Drive 
           81  Removable medium