Map generation device for automatic driving

Abstract

Disclosed is a map generation device for automatic driving. Provided is a map generation device for automatic driving, which, when generating a high-precision map for automatic driving in a loading / unloading area, reflects the relative positions of a fixed body marker that shields a fixed body on the high-precision map and a moving body marker that corresponds to a moving body during movement on the basis of the fixed position of the fixed body, and generates a map for automatic driving on the basis of the relative positions of the fixed body marker and the moving body marker. And the positioning accuracy of the automatic driving vehicle in the loading and unloading area is improved.

Description

Technical Field

[0001] One embodiment of the present invention relates to a map generating device for automatic driving. Background Art

[0002] The following content only provides background technology related to the present embodiment and does not constitute conventional technology.

[0003] The autonomous driving system does not require the driver's will to participate. It can identify the surrounding conditions and vehicle status to drive automatically until it reaches the pre-specified destination. The autonomous driving system consists of perception, judgment, path generation, and vehicle control steps. The path generation step perceives the changes in obstacles and generates an avoidance path in real time to generate a path that reflects the vehicle's mechanical movement characteristics.

[0004] In particular, in the path generation step, when an autonomous vehicle changes lanes in a city center, congested area, or on a highway that changes in real time, various dangerous situations may occur, so it is necessary to generate a stable driving path by taking into account collisions with surrounding dynamic obstacles. Therefore, we are continuing to study how to generate a driving path that allows an autonomous vehicle to change lanes stably.

[0005] Usually, an autonomous vehicle identifies the lane lines on both sides of the lane it is driving in and drives along the center of the identified lane lines on both sides. The autonomous vehicle considers surrounding vehicles or obstacles, generates a candidate path in the lane, and in order to avoid collision with obstacles and ensure safety, it selects a local path and drives towards the center of the lane without leaving the lane line (the dividing line of the driving lane).

[0006] Usually, self-driving vehicles store high-precision maps of the area to facilitate driving in a specific area, and compare their own position with external identifiers. However, when the external identifiers are blocked by structures in a specific area, there is a problem that the vehicle cannot accurately locate its own position. Summary of the invention

[0007] Issues to be solved

[0008] The purpose of this embodiment is to provide a map generating device for autonomous driving, which, when generating a high-precision map for autonomous driving in a loading and unloading area, reflects the relative positions of fixed body markers of hidden fixed bodies and mobile body markers corresponding to moving bodies on the high-precision map based on the fixed positions of fixed bodies, thereby improving the positioning accuracy of autonomous driving vehicles in the loading and unloading area.

[0009] Problem Solution

[0010] One aspect of this embodiment provides a map generating device for autonomous driving, comprising:

[0011] A fixed-body-based map generation unit generates a high-precision map reflecting autonomous driving based on a fixed position corresponding to the fixed body;

[0012] A first mobile body-based map generating unit, which identifies a fixed body marker corresponding to the fixed body based on a first mobile body radar provided by the first mobile body, and generates a secondary high-precision map reflected in the autonomous driving;

[0013] A second mobile body-based map generating unit, which identifies a first mobile body marker corresponding to the first mobile body based on a second mobile body radar provided by the second mobile body, and generates a third-order high-precision map reflected in the automatic driving; and

[0014] The automatic driving providing unit transmits the secondary high-precision map to the first mobile body to reflect it in the automatic driving, and transmits the tertiary high-precision map to the second mobile body to reflect it in the automatic driving.

[0015] Another aspect of the present embodiment provides a map generating device for autonomous driving, comprising:

[0016] an integrated map generating unit, which reflects a fixed position corresponding to a fixed body on an integrated high-precision map for autonomous driving, reflects the fixed body position of a first moving body based on a fixed body marker corresponding to the fixed body recognized by a first moving body radar possessed by the first moving body, reflects the position of a second moving body based on the first moving body marker recognized by a second moving body radar possessed by the second moving body, and reflects the position of the second moving body based on the second moving body marker recognized by a second moving body radar; and

[0017] An automatic driving providing unit transmits the integrated high-precision map to the first mobile body and the second mobile body, and reflects it in the automatic driving.

[0018] Effects of the Invention

[0019] As described above, when this embodiment generates a high-precision map for autonomous driving in the loading and unloading area, the fixed body markers of hidden fixed bodies and the relative positions of the mobile body markers corresponding to the moving mobile bodies are reflected on the high-precision map based on the fixed positions of the fixed bodies, thereby improving the positioning accuracy of the autonomous driving vehicles in the loading and unloading area. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the autonomous driving map generation system described in this embodiment.

[0021] Figure 2a It is a schematic diagram of the map generating device for automatic driving according to the first embodiment.

[0022] Figure 2b It is a schematic diagram of a map generating device for automatic driving according to a second embodiment.

[0023] Figure 3 It is a view of the fixed body, the first movable body, and the second movable body in the loading and unloading area described in this embodiment.

[0024] Figure 4 It is a view of the first high-precision map, the second high-precision map, and the third high-precision map described in the first embodiment.

[0025] Figure 5 This is a view of the high-precision map described in the second embodiment.

[0026] * Reference Numbers *

[0027] 110: fixed body 120: first moving body

[0028] 130: Second moving body 200: Map generation device for automatic driving DETAILED DESCRIPTION

[0029] Hereinafter, the present embodiment is described in detail with reference to the accompanying drawings.

[0030] Figure 1 Schematic diagram of the autonomous driving map generation system described in this embodiment.

[0031] The autonomous driving map generating device of this embodiment includes a fixed body 110, a first moving body 120, a second moving body 130, and an autonomous driving map generating device 200. The components included in the autonomous driving map generating device are not necessarily limited to these.

[0032] The fixed body 110 includes a lighting tower and includes a fixed body marker 112. The fixed body 110 includes a lighting tower and has fixed GPS longitude and latitude values.

[0033] The loading and unloading area has a fixed body 110 (eg, a lighting tower). Assuming that the fixed body 110 is a lighting tower, the lighting tower plays a role of illuminating the entire loading and unloading area. The fixed body 110 includes a fixed body marker 112.

[0034] The first moving body 120 includes a gantry crane or a mobile crane. The first moving body 120 moves slowly. The first moving body 120 is attached with a first moving body marker 122 for identifying a position.

[0035] The gantry crane and the mobile crane included in the first moving body 120 can also perform automatic driving based on the secondary high-precision map. The first moving body 120 can locate its own position based on the fixed body marker 112 corresponding to the fixed body 110, and perform automatic driving based on the secondary high-precision map.

[0036] Gantry Crane refers to a large crane with a bracket. Gantry Crane is a lifting device with cantilever beams and columns that moves along tracks or on tires to transport goods.

[0037] Gantry cranes consist of a tower, a jib, and a hoisting system. The tower refers to the column that holds the crane. The jib is a device that extends the hoist as far as possible, extending horizontally from the crane. The hoist moves with the jib and is a device that uses cables, winches, and pulleys to lift and move cargo (Containers). Cargo refers to standard metal boxes used to transport cargo, such as containers.

[0038] A mobile crane is a crane that can be moved to an unspecified location. A mobile crane also includes a tower, a boom, and a lift.

[0039] Gantry cranes or mobile cranes stack the cargo to form cargo blocks.

[0040] The second moving body 130 includes a yard truck, a trailer truck, and a reach stacker that can be driven automatically in a state of pulling cargo. The second moving body 130 is attached with a second moving body marker 132 that can be used to identify the position.

[0041] The second mobile body 130 recognizes the fixed body marker 112 of the fixed body 110 for the first time, and recognizes the first mobile body marker 122 of the first mobile body 120 for the second time to locate its own position.

[0042] The yard truck is an autonomous vehicle that moves goods only in the loading and unloading area. The yard truck is attached to the trailer and tows the trailer to facilitate the moving of goods. The yard truck loads goods on the trailer. The yard truck drives in a state of being attached to the second mobile radar 134 to achieve autonomous driving.

[0043] The yard truck travels between the piled goods. The yard truck travels in the loading and unloading area by automatic driving. The yard truck locates its own position based on the marker that can be recognized by the second mobile radar 134.

[0044] The yard truck uses the second mobile radar 134 to read the fixed body marker 112 of the fixed body 110 at a fixed position to realize automatic driving. The yard truck confirms whether the fixed body marker 112 of the fixed body 110 is consistent with the object on the high-precision map based on the fixed body marker 112 of the fixed body 110 and implements automatic driving.

[0045] The yard truck uses the second moving body radar 134 to read the first moving body marker 122 of the second moving body 130 to realize automatic driving. The yard truck verifies whether the first moving body marker 122 of the first moving body 120 is consistent with the object on the high-precision map based on the first moving body marker 122 and realizes automatic driving.

[0046] When the yard truck determines that there are three or more fixed body markers 112 and first movable body markers 122 after comparison with the high-precision map, it locates its own position based on the three or more fixed body markers 112 and the first movable body marker 122 .

[0047] Because yard trucks can drive autonomously in loading and unloading areas even without GPS signals.

[0048] The yard truck receives a precise map of a 5km to 10km radius surrounding the loading and unloading area where the truck is traveling from the automatic driving map generating device 200. The yard truck continues to receive a high-precision map from the automatic driving map generating device 200 while traveling.

[0049] Figure 2a It is a schematic diagram of the map generating device for automatic driving according to the first embodiment.

[0050] In the loading and unloading area, gantry cranes or mobile cranes are used to stack cargo in 5 to 8 layers. The cargo stacked in the loading and unloading area is repeatedly stacked and moved as the cargo moves. In order to stack cargo blocks, multiple cranes can be used.

[0051] Therefore, the piled cargo disappears or accumulates into a new form in a preset unit (for example, one week). According to the number of layers and the number of piled cargo, the several cargo blocks piled in the loading and unloading area can form different forms and widths. Because the cargo is piled high, there is a problem that the fixed body marker 112 of the fixed lighting tower cannot be seen.

[0052] Each object located in the loading and unloading area will be a marker, and therefore, the automatic driving map generating device 200 performs labeling and assigns the marker. The automatic driving map generating device 200 transmits the marker to the vehicle that performs automatic driving in the loading and unloading area.

[0053] The automatic driving map generating device 200 reflects the position of the first moving object 120 and the position of the second moving object 130 on the high-precision map, generates data that can be read by the second moving object 130 , and transmits the data to the second moving object 130 .

[0054] The automatic driving map generating device 200 generates a primary high-precision map based on the fixed position of the fixed body 110 based on the fixed body marker 112. The automatic driving map generating device 200 generates a secondary high-precision map based on the position of the first moving body 120 based on the first moving body marker 122. The automatic driving map generating device 200 generates a tertiary high-precision map based on the position of the second moving body 130 based on the second moving body marker 132.

[0055] The automatic driving map generating device 200 recognizes the fixed body marker 112 of the fixed body 110 using the first moving body radar 124 provided to the first moving body 120. In other words, the cargo piled up in the loading and unloading area may cover the fixed body marker 112 of the fixed body 110, and the automatic driving map generating device 200 recognizes the fixed body marker 112 of the fixed body 110 using the first moving body radar 124 provided to the first moving body 120. The automatic driving map generating device 200 can align the position of the first moving body 120 based on the fixed body marker 112.

[0056] The automatic driving map generating device 200 reflects the position of the first moving object 120 on the secondary high-precision map. The automatic driving map generating device 200 can recognize the fixed object marker 112 attached to the fixed object 110 using the first moving object radar 124 to locate its own position.

[0057] There are multiple first mobile bodies 120 around the fixed body 110 in the loading and unloading area. Therefore, the map generating device 200 for automatic driving uses the first mobile body radar 124 to identify the fixed body marker 112, locate the position of the first mobile body 120, and reflect the position of the first mobile body 120 on the secondary high-precision map.

[0058] The map generating device 200 for autonomous driving can utilize the second mobile body radar 134 of the yard truck to identify the second mobile body marker 132 of the second mobile body 130, generate a third high-precision map, and utilize the third high-precision map to accurately locate the position of the yard truck.

[0059] The automatic driving map generating device 200 reflects the first moving body marker 122 corresponding to the first moving body 120 and the second moving body marker 132 corresponding to the second moving body 130 in the database, and generates a high-precision map.

[0060] Even if the cargo piled up in the loading and unloading area obscures the fixed body marker 112 corresponding to the fixed body 110, the map generating device 200 for autonomous driving uses the first mobile body marker 122 corresponding to the first mobile body 120 in the loading and unloading area to locate the position of the second mobile body 130, i.e., the yard truck.

[0061] The automatic driving map generating device 200 generates a primary high-precision map determined for each storage yard. The automatic driving map generating device 200 generates a primary high-precision map including position information of the fixed body marker 112 of the fixed body 110 .

[0062] The automatic driving map generating device 200 uses the first moving body radar 124 of the first moving body 120 (plural cargo trailers) to identify the fixed body marker 112 of the fixed body 110 based on the primary high-precision map, and reflects it on the secondary high-precision map. The automatic driving map generating device 200 detects the position of the first moving body 120 based on the fixed body marker 112, and then reflects the position of the first moving body 120 on the secondary high-precision map.

[0063] The automatic driving map generating device 200 generates a secondary high-precision map by reflecting the positions of the fixed body 110 and even the first moving body 120. The automatic driving map generating device 200 recognizes the first moving body marker 122 of the first moving body 120 by using the second moving body radar 134 provided in the second moving body 130, and grasps the position of the second moving body 130.

[0064] The automatic driving map generating device 200 reflects the position of the second moving object 130 on the secondary high-precision map, and generates a tertiary high-precision map.

[0065] The automatic driving map generating device 200 described in the first embodiment includes a fixed body-based map generating unit 210, a first mobile body-based map generating unit 220, a second mobile body-based map generating unit 230, and an automatic driving providing unit 240. The components included in the automatic driving map generating device 200 are not necessarily limited thereto.

[0066] The various components of the autonomous driving map generation device 200 can communicate with each other using a communication path for connecting software modules or hardware modules in the device. Such components communicate using one or more communication buses or signal lines.

[0067] Figure 2a Each component of the map generating device 200 for autonomous driving is a unit for processing at least one function or action, and can be implemented as a software module, a hardware module, or a combination of software and hardware.

[0068] The fixed-body-based map generation unit 210 generates a primary high-precision map to be reflected in the autonomous driving based on the fixed position corresponding to the fixed body 110 .

[0069] The fixed-body-based map generation unit 210 adds the fixed positions corresponding to the fixed bodies 110 on the loading and unloading area to the map according to different yards, so as to generate a high-precision map reflected in the autonomous driving.

[0070] The first mobile object-based map generation unit 220 generates a secondary high-precision map by recognizing the fixed object marker 112 corresponding to the fixed object 110 based on the first mobile object radar 124 provided to the first mobile object 120 , and reflects it in the autonomous driving.

[0071] The first mobile body-based map generation unit 220 identifies the fixed body marker 112 corresponding to the fixed body 110 based on the first mobile body radar 124. The first mobile body-based map generation unit 220 identifies the hidden fixed body marker 112 corresponding to the fixed body 110 hidden by the cargo piled up in the loading and unloading area based on the first mobile body radar 124. The first mobile body-based map generation unit 220 generates a secondary high-precision map, which adds the position of the fixed body 110 based on the fixed body marker 112 and the position of the hidden fixed body 110 based on the hidden fixed body marker 112 to the primary high-precision map, and reflects it in the automatic driving.

[0072] The first mobile body-based map generation unit 220 identifies a plurality of first mobile body markers 122 corresponding to the plurality of first mobile bodies 120, respectively, based on the first mobile body radar 124. The first mobile body-based map generation unit 220 generates a secondary high-precision map, which adds each position of the plurality of first mobile bodies 120 based on the plurality of first mobile body markers 122 to the primary high-precision map, and reflects it in the autonomous driving.

[0073] The second moving body-based map generation unit 230 generates a tertiary high-precision map that recognizes the first moving body marker 122 corresponding to the first moving body 120 based on the second moving body radar 134 provided to the second moving body 130 and reflects it in the automatic driving.

[0074] The second mobile body-based map generation unit 230 identifies a plurality of second mobile body markers 132 corresponding to the plurality of second mobile bodies 130, respectively, based on the second mobile body radar 134. The second mobile body-based map generation unit 230 generates a tertiary high-precision map, which adds each position of the plurality of second mobile bodies 130 based on the plurality of second mobile body markers 132 to the secondary high-precision map, and reflects it in the autonomous driving.

[0075] The automatic driving providing unit 240 transmits the secondary high-precision map to the first mobile body 120 and reflects it in the automatic driving. The automatic driving providing unit 240 transmits the tertiary high-precision map to the second mobile body 130 and reflects it in the automatic driving.

[0076] Figure 2bIt is a schematic diagram of a map generating device for automatic driving according to a second embodiment.

[0077] The autonomous driving map generating device 200 understands the position of the marker hidden by the moving object in real time.

[0078] The automatic driving map generating device 200 described in the second embodiment includes an integrated map generating unit 250 and an automatic driving providing unit 260. The components included in the automatic driving map generating device 200 are not necessarily limited thereto.

[0079] The various components of the autonomous driving map generation device 200 can communicate with each other using a communication path for connecting software modules or hardware modules in the device. Such components communicate using one or more communication buses or signal lines.

[0080] Figure 2b Each component of the map generating device 200 for autonomous driving is a unit for processing at least one function or action, and can be implemented as a software module, a hardware module, or a combination of software and hardware.

[0081] The integrated map generation unit 250 reflects the fixed position corresponding to the fixed body 110 on the integrated high-precision map for autonomous driving. The integrated map generation unit 250 reflects the fixed body position based on the fixed body marker 112 corresponding to the fixed body 110 recognized by the first moving body radar 124 possessed by the first moving body 120 on the integrated high-precision map. The integrated map generation unit 250 reflects the position of the first moving body 120 based on the first moving body marker 122 recognized by the second moving body radar 134 possessed by the second moving body 130 on the integrated high-precision map. The integrated map generation unit 250 reflects the position of the second moving body based on the second moving body marker 132 recognized by the second moving body radar 134 on the integrated high-precision map.

[0082] The integrated map generating unit 250 reflects the fixed positions corresponding to the fixed bodies 110 on the loading and unloading areas on the integrated high-precision map according to different yards.

[0083] The integrated map generation unit 250 identifies the fixed body marker corresponding to the fixed body 110 based on the first mobile body radar 124. The integrated map generation unit 250 identifies the hidden fixed body marker 112 corresponding to the fixed body 110 hidden by the cargo piled up in the loading and unloading area based on the first mobile body radar 124. The integrated map generation unit 250 reflects the position of the fixed body 110 based on the fixed body marker 112 and the position of the hidden fixed body 110 based on the hidden fixed body marker 112 on the integrated high-precision map.

[0084] The integrated map generator 250 recognizes the first moving body markers 122 corresponding to the first moving bodies 120 based on the first moving body radars 124. The integrated map generator 250 reflects the positions of the first moving bodies 120 based on the first moving body markers 122 on the integrated high-precision map.

[0085] The integrated map generator 250 recognizes the second moving body markers 132 corresponding to the second moving bodies 130 based on the second moving body radars 134. The integrated map generator 250 reflects the positions of the second moving bodies 130 based on the second moving body markers 132 on the integrated high-precision map.

[0086] The autonomous driving providing unit 260 transmits the integrated high-precision map to the first mobile body 120 and the second mobile body 130 to be reflected in the autonomous driving.

[0087] Figure 3 It is a view of the fixed body, the first movable body, and the second movable body in the loading and unloading area described in this embodiment.

[0088] Markers are called markers or DNA. Markers are a term for high-precision maps used for autonomous driving and can be expressed by many names.

[0089] In order to realize autonomous driving, the yard truck uses sensors such as radar to grasp the shape of the marker. The yard truck recognizes at least three markers and grasps the current position of the autonomous vehicle.

[0090] The fixed body 110 includes a lighting tower of the loading and unloading area. The fixed body 110 includes a fixed body marker 112 having fixed GPS longitude and latitude values.

[0091] The first moving body 120 includes a gantry crane or a transportable crane in the loading and unloading area. The first moving body 120 moves to a preset first speed (e.g., 5 km / h) or less. The first moving body 120 includes a first moving body marker 122 having a relative position value that moves at the preset first speed. The first moving body 120 includes a first moving body radar 124 for identifying the fixed body marker 112, shielding the fixed body marker 112, and the first moving body marker 122.

[0092] The second moving body 130 includes a yard truck, a trailer truck, and a container front crane that automatically travel in the loading and unloading area in a state of pulling goods. The moving speed of the second moving body 130 exceeds the preset second speed. The second moving body 130 includes a second moving body marker 132 with a relative position value that moves at the preset second speed. The second moving body 130 includes a second moving body radar for identifying the fixed body marker 112, the first moving body marker 122, and the second moving body marker 132.

[0093] The second mobile body 130 receives the three-dimensional high-precision map. When the number of fixed body markers 112 and first mobile body markers 122 recognized by the second mobile body radar 134 is three or more, the second mobile body 130 compares the three or more fixed body markers 112 and the first mobile body marker 122 with the three-dimensional high-precision map, locates its own position and reflects it in the automatic driving.

[0094] The first moving body radar 124 is attached to the first moving body 120, which is the largest moving body, and identifies objects through a long-range or medium-range identification sensor. The second moving body radar 134 is attached to the second moving body 130, which is smaller than the first moving body 120, and identifies objects through a short-range identification sensor. The fixed body marker 112 is an identification body attached to a fixed body (fixed position), and is called a marker or DNA.

[0095] The first moving body marker 122 is an identifier of the first moving body (120) attached to the largest moving body, and is called a marker or DNA. The first moving body marker 122 moves together with the first moving body 120.

[0096] The second moving body marker 132 is an identifier attached to the second moving body 130 which is smaller than the first moving body 120 and is called a tag or DNA. The second moving body marker 132 moves together with the second moving body 130 .

[0097] When the autonomous driving map generating device 200 manages the mobile body itself using the high-precision map for autonomous driving, marker information with the same concept as the marker is attached to the mobile body at a fixed position of the existing high-precision map for autonomous driving, so that it is further included in the high-precision map.

[0098] The automatic driving map generating device 200 recognizes the fixed body marker 112 provided on the fixed body 110 and reflects it on the primary high-precision map.

[0099] The automatic driving map generating device 200 uses the first moving object radar 124 provided on the first moving object 120 to recognize the fixed object marker 112 and reflects the real-time actual position of the first moving object 120 on the secondary high-precision map.

[0100] The map generating device 200 for autonomous driving utilizes the second mobile body radar 134 provided on the second mobile body 130 to identify the first mobile body marker 122 of the first mobile body 120. If it is not blocked, it identifies the fixed body marker 112 of the fixed body 110, and reflects the position of the second mobile body 130 on the three-dimensional high-precision map.

[0101] The automatic driving map generating device 200 understands the position of the second moving object 130 in real time based on the fixed object marker 112 and the first moving object marker 122 recognized by the second moving object radar 134 provided on the second moving object 130 .

[0102] For autonomous driving, the yard truck should be able to read the fixed body marker 112 and the first mobile body marker 122 in the loading and unloading area. However, when the surrounding environment (loading) obscures the marker (fixed body marker 112), the autonomous driving map generating device 200 can further identify the marker (first mobile body marker 122) attached to the surrounding mobile bodies and grasp the position of the autonomous driving vehicle in real time.

[0103] Figure 4 It is a view of the first high-precision map, the second high-precision map, and the third high-precision map described in the first embodiment.

[0104] A primary high-precision map refers to a map that only includes the fixed body 110 and the corresponding fixed body marker 112. A primary high-precision map is a high-precision map based on the position of the fixed body 110.

[0105] The secondary high-precision map refers to a map that further includes the first moving body 120 corresponding to the first moving body marker 122 on the primary high-precision map. The secondary high-precision map is a high-precision map that further includes the position of the first moving body 120 on the primary high-precision map.

[0106] The third-order high-precision map refers to a map that further includes the second moving body 130 corresponding to the second moving body marker 132 on the second-order high-precision map. The third-order high-precision map is a high-precision map that further includes the position of the second moving body 130 on the second-order high-precision map.

[0107] The map generating device 200 for autonomous driving described in the first embodiment generates a primary high-precision map, a secondary high-precision map, and a tertiary high-precision map respectively.

[0108] The primary high-precision map, secondary high-precision map, and tertiary high-precision map include x, y, z position information and attribute information corresponding to the fixed body marker 112, the first mobile body marker 122, and the second mobile body marker 132, and have a size of about 5KB to 5MB.

[0109] The automatic driving map generating device 200 of the first embodiment first generates a primary high-precision map based on the fixed body marker 112. The automatic driving map generating device 200 of the first embodiment generates a secondary high-precision map reflecting the first moving body marker 122 corresponding to the first moving body 120 in real time based on the primary high-precision map.

[0110] The automatic driving map generating device 200 according to the first embodiment generates a tertiary high-precision map that reflects in real time the second moving body marker 132 corresponding to the second moving body 130 based on the secondary high-precision map.

[0111] When generating the three-dimensional high-precision map, the map generating device 200 for autonomous driving described in the first embodiment locates each position of the plurality of second mobile bodies 130 and reflects the position on the three-dimensional high-precision map. In other words, from a management perspective, the map generating device 200 for autonomous driving described in the first embodiment locates the positions of all the second mobile bodies 130 for autonomous driving and reflects them on the three-dimensional high-precision map.

[0112] In particular, in addition to the yard truck, the position of the external truck is used to improve the positioning accuracy of all the autonomously driven second mobile bodies 130 in the loading and unloading area.

[0113] Figure 5 This is a view of the high-precision map described in the second embodiment.

[0114] The map generating device 200 for autonomous driving described in the second embodiment reflects the position information of the fixed body 110 based on the fixed body marker 112 on a high-precision map, reflects the position information of the first mobile body 120 based on the fixed body marker 112 and the first mobile body marker 122, and reflects the position information of the second mobile body 130 based on the fixed body marker 112, the first mobile body marker 122, and the second mobile body marker 132.

[0115] The above content merely schematically describes the technical idea of ​​the present embodiment, and any person skilled in the art of the present embodiment can make various modifications and variations without departing from the essential characteristics of the present embodiment. Therefore, the present embodiment is not used to limit but to describe the technical idea of ​​the present embodiment, and such an embodiment does not limit the scope of the technical idea of ​​the present embodiment. The protection scope of the present embodiment shall be interpreted according to the attached claims, and shall be interpreted as that all technical ideas of the equivalent scope shall fall within the scope of the claims of the present embodiment.

Claims

1. A map generating device for automatic driving, characterized in that: include: A fixed-body-based map generation unit generates a high-precision map reflecting autonomous driving based on a fixed position corresponding to the fixed body; A first mobile body-based map generating unit, which identifies a fixed body marker corresponding to the fixed body based on a first mobile body radar provided by the first mobile body, and generates a secondary high-precision map reflected in the autonomous driving; A second mobile body-based map generating unit, which identifies a first mobile body marker corresponding to the first mobile body based on a second mobile body radar provided by the second mobile body, and generates a third-order high-precision map reflected in the automatic driving; and The automatic driving providing unit transmits the secondary high-precision map to the first mobile body to reflect it in the automatic driving, and transmits the tertiary high-precision map to the second mobile body to reflect it in the automatic driving.

2. The map generating device for automatic driving according to claim 1, characterized in that: The fixed-body-based map generation unit generates the primary high-precision map, which adds the fixed positions corresponding to the fixed bodies on the loading and unloading areas to the map according to different yards, and reflects it in the autonomous driving.

3. The map generating device for automatic driving according to claim 1, characterized in that: The map generating unit based on the first mobile body generates the secondary high-precision map, which identifies the fixed body marker corresponding to the fixed body based on the first mobile body radar, identifies the obscured fixed body marker corresponding to the fixed body obscured by the cargo piled up in the loading and unloading area based on the first mobile body radar, adds the position of the fixed body based on the fixed body marker and the position of the obscured fixed body based on the obscured fixed body marker to the primary high-precision map, and reflects them in the automatic driving.

4. The map generating device for automatic driving according to claim 1, characterized in that: The map generation unit based on the first mobile body generates the secondary high-precision map, which identifies multiple first mobile body markers corresponding to multiple first mobile bodies based on the first mobile body radar, adds the respective positions of the multiple first mobile bodies based on the multiple first mobile body markers to the primary high-precision map, and reflects them in the automatic driving.

5. The map generating device for automatic driving according to claim 1, characterized in that: The map generation unit based on the second mobile body generates the third high-precision map, which identifies multiple second mobile body markers corresponding to multiple second mobile bodies based on the second mobile body radar, adds the respective positions of the multiple second mobile bodies based on the multiple second mobile body markers to the secondary high-precision map, and reflects them in the automatic driving.

6. The map generating device for automatic driving according to claim 1, characterized in that: The fixed body includes a lighting tower located in the loading and unloading area, and includes the fixed body marker with fixed GPS longitude and latitude values.

7. The map generating device for automatic driving according to claim 1, characterized in that: The first mobile object includes a gantry crane (Gantry Crane) or a transportable crane (Transportable Crane) located in the loading and unloading area, and the moving speed is less than a preset first speed, including the first mobile body marker with a relative position value moving at the preset first speed, and including a first mobile body radar for identifying the fixed body marker, the shielding fixed body marker, and the first mobile body marker.

8. The map generating device for automatic driving according to claim 1, characterized in that: The second mobile body includes a yard truck, a trailer truck, and a container front crane (Reach Stacker) that automatically drives in the loading and unloading area while towing goods, and the moving speed exceeds a preset second speed, including the second mobile body marker with a relative position value that moves at the preset second speed, and includes a second mobile body radar for identifying the fixed body marker, the first mobile body marker, and the second mobile body marker.

9. The map generating device for automatic driving according to claim 1, characterized in that: The map generating device for automatic driving according to claim 1 is characterized in that: when the second mobile body receives the three-dimensional high-precision map and the number of the fixed body markers and the first mobile body markers identified by the second mobile body radar is more than three, the more than three fixed body markers and the first mobile body marker are compared with the three-dimensional high-precision map to locate its own position and realize automatic driving.

10. A map generating device for automatic driving, characterized in that: include: an integrated map generating unit, which reflects a fixed position corresponding to a fixed body on an integrated high-precision map for autonomous driving, reflects the fixed body position of a first moving body based on a fixed body marker corresponding to the fixed body recognized by a first moving body radar possessed by the first moving body, reflects the position of a second moving body based on the first moving body marker recognized by a second moving body radar possessed by the second moving body, and reflects the position of the second moving body based on the second moving body marker recognized by a second moving body radar; and An automatic driving providing unit transmits the integrated high-precision map to the first mobile body and the second mobile body, and reflects it in the automatic driving.

11. The map generating device for automatic driving according to claim 10, characterized in that: The integrated map generating unit reflects the fixed positions corresponding to the fixed bodies on the loading and unloading areas on the integrated high-precision map according to different yards.

12. The map generating device for automatic driving according to claim 10, characterized in that: The integrated map generating unit identifies the fixed body marker corresponding to the fixed body based on the first mobile body radar, identifies the obscured fixed body marker corresponding to the fixed body obscured by the cargo piled up in the loading and unloading area based on the first mobile body radar, and reflects the position of the fixed body based on the fixed body marker and the position of the obscured fixed body based on the obscured fixed body marker on the integrated high-precision map.

13. The map generating device for automatic driving according to claim 10, characterized in that: The integrated map generation unit identifies a plurality of first moving body markers corresponding to a plurality of first moving bodies respectively based on the first moving body radar, and reflects respective positions of the plurality of first moving bodies based on the plurality of first moving body markers on the integrated high-precision map.

14. The map generating device for automatic driving according to claim 10, characterized in that: The integrated map generation unit identifies a plurality of second mobile body markers corresponding to a plurality of second mobile bodies respectively based on the second mobile body radar, and reflects respective positions of the plurality of second mobile bodies based on the plurality of second mobile body markers on the integrated high-precision map.

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