Information processing apparatus, non-transitory computer readable-storage medium storing a program, and vehicle system

A non-transitory computer-readable medium storing a program that is executed by an information processing apparatus comprising:

• a first system and a second system to perform a control process causing
• the first system to carry out:
• a first acquisition step of acquiring sensor information that is information regarding an environment of a predetermined mobile object, the information being acquired by one or more sensors installed in the mobile object;
• and
• a first output step of outputting auxiliary information for assisting determination of control information for controlling an action of the mobile object, on a basis of the sensor information, and
• the second system to carry out:
• a second acquisition step of acquiring partial sensor information from at least one sensor of the one or more sensors installed in the mobile object;
• a third acquisition step of acquiring the auxiliary information output by the first output step;
• and
• a second output step of outputting the control information, using at least part of the partial sensor information or the auxiliary information.

A vehicle system comprising:

• a vehicle sensor;
• and
• an information processing apparatus including:
• a first system and a second system, wherein
• the first system includes:
• first acquisition circuitry configured to acquire sensor information that is information regarding an environment of a predetermined mobile object, the information being acquired by the vehicle sensor installed in the mobile object;
• and
• first output circuitry configured to output auxiliary information for assisting determination of control information for controlling an action of the mobile object, on a basis of the sensor information,
• the second system includes:
• second acquisition circuitry configured to acquire partial sensor information from the vehicle sensor installed in the mobile object;
• third acquisition circuitry configured to acquire the auxiliary information output by the first output circuitry;
• and
• second output circuitry configured to output the control information, using at least part of the partial sensor information or the auxiliary information.