An infrastructure inspection system comprising an infrastructure inspection apparatus and a vehicle, wherein the vehicle includes: a first sensor (11, 103) configured to measure information of an infrastructure used by a vehicle and first drive assisting information, including measuring a range between the vehicle and a forward vehicle or a backward vehicle, used to perform a driving assisting operation of the vehicle during infrastructure inspection; a first transmitter configured to transmit, to the infrastructure inspection apparatus, the information of the infrastructure when the first sensor has measured the information of the infrastructure; a first receiver configured to receive, from the infrastructure inspection apparatus second drive assisting information used to perform the drive assisting operation of the vehicle when the first sensor has measured the information of the infrastructure; and circuitry (102, 105) configured to perform operations, the operations including performing the drive assisting operation of the vehicle in response to the first drive assisting information when the first sensor has measured the first drive assisting information; and performing the drive assisting operation of the vehicle in response to the second drive assisting information when the first sensor has measured the information of the infrastructure; wherein the infrastructure inspection apparatus includes: a second sensor (21, 201) configured to measure the second drive assisting information; a second transmitter configured to transmit the second drive assisting information to the vehicle, if the vehicle is capable of measuring the information of the infrastructure, a second receiver configured to receive from the vehicle the information of the infrastructure measured by the vehicle; and a second circuitry configured to perform operations, the operations including inspecting the infrastructure using the received information of the infrastructure, determining whether the vehicle is capable of measuring the information of the infrastructure, and wherein the transmitter is configured to transmit the second drive assisting information to the vehicle if the vehicle is capable of measuring the information of the infrastructure. a first sensor (11, 103) configured to measure information of an infrastructure used by a vehicle and first drive assisting information, including measuring a range between the vehicle and a forward vehicle or a backward vehicle, used to perform a driving assisting operation of the vehicle during infrastructure inspection; a first transmitter configured to transmit, to the infrastructure inspection apparatus, the information of the infrastructure when the first sensor has measured the information of the infrastructure; a first receiver configured to receive, from the infrastructure inspection apparatus second drive assisting information used to perform the drive assisting operation of the vehicle when the first sensor has measured the information of the infrastructure; and circuitry (102, 105) configured to perform operations, the operations including performing the drive assisting operation of the vehicle in response to the first drive assisting information when the first sensor has measured the first drive assisting information; and performing the drive assisting operation of the vehicle in response to the second drive assisting information when the first sensor has measured the information of the infrastructure; wherein the infrastructure inspection apparatus includes: a second sensor (21, 201) configured to measure the second drive assisting information; a second transmitter configured to transmit the second drive assisting information to the vehicle, if the vehicle is capable of measuring the information of the infrastructure, a second receiver configured to receive from the vehicle the information of the infrastructure measured by the vehicle; and a second circuitry configured to perform operations, the operations including inspecting the infrastructure using the received information of the infrastructure, determining whether the vehicle is capable of measuring the information of the infrastructure, and a second sensor (21, 201) configured to measure the second drive assisting information; a second transmitter configured to transmit the second drive assisting information to the vehicle, if the vehicle is capable of measuring the information of the infrastructure, a second receiver configured to receive from the vehicle the information of the infrastructure measured by the vehicle; and a second circuitry configured to perform operations, the operations including inspecting the infrastructure using the received information of the infrastructure, determining whether the vehicle is capable of measuring the information of the infrastructure, and wherein the transmitter is configured to transmit the second drive assisting information to the vehicle if the vehicle is capable of measuring the information of the infrastructure.