Sensor evaluation system, sensor evaluation device, and vehicle

A sensor evaluation device which evaluates a sensor provided in a vehicle and which is used for detecting an environment around the vehicle, the sensor evaluation device comprising:

• a memory that stores a program;
• and
• a processor coupled to the memory,
• wherein the processor is configured to, when executing the program, execute:
• a process of acquiring detection information of the sensor;
• a process of acquiring, from an infrastructure device installed outside the vehicle, first feature point position information which is information on positions of one or more feature points, each indicating a characteristic portion of the environment around the vehicle;
• a feature point detection process of detecting the one or more feature points in the environment around the vehicle based on the detection information of the sensor;
• a second feature point position calculation process of calculating second feature point position information which is information on positions of the one or more feature points, detected in the feature point detection process;
• a difference calculation process of calculating a difference between the first feature point position information and the second feature point position information associated with the same one or more feature points;
• and
• a function evaluation process of evaluating a function of the sensor based on a magnitude of the difference.

A vehicle comprising:

• a sensor that detects an environment around the vehicle;
• and
• an information processing device,
• wherein the information processing device is configured to execute:
• a process of acquiring detection information from the sensor;
• a process of acquiring first feature point position information which is information on positions of one or more feature points, each indicating a characteristic portion of the environment around the vehicle, from an infrastructure device installed outside the vehicle;
• a feature point detection process of detecting the one or more feature points in the environment around the vehicle based on the detection information of the sensor;
• a second feature point position calculation process of calculating second feature point position information which is information on positions of the one or more feature points;
• a difference calculation process of calculating a difference between the first feature point position information and the second feature point position information associated with the same one or more feature points;
• and
• a function evaluation process of evaluating a function of the sensor based on a magnitude of the difference.