Apparatus and method for integrating map of vehicle

Abstract

The invention relates to an apparatus and a method for integrating a map of a vehicle. The apparatus for integrating a map of a vehicle includes a processor to classify a pre-stored high-definition map into a plurality of layers to transform the high-definition map to include a format to integrate with a standard-definition map, and generate an integrated map obtained by integrating the standard-definition map with the high-definition map; and a memory for storing the integrated map.

Description

[0001] Related Applications

[0002] This application claims priority to Korean Patent Application No. 10-2023-0180174, filed on December 12, 2023, the entire contents of which are incorporated herein by reference for all purposes. Technical Field

[0003] The present disclosure relates to an apparatus and method for integrating maps of a vehicle, and more particularly, to an apparatus and method for integrating a standard definition map (SD map) with a high definition map to provide an accurate service for route guidance. Background Art

[0004] Navigation uses a standard definition map (SD map) stored in a vehicle to provide various options for searching for routes (such as the shortest distance and least time to a destination), and provides optimal route guidance information by allowing a driver to select the SD map.

[0005] In addition to providing road guidance information through navigation, to facilitate a driver, an advanced driver assistance system (ADAS) function is provided to assist the driver in driving, and the vehicle can use an ADAS map to recognize and judge the surrounding environment while driving, so as to minimize the driver's manipulation and safely operate the ADAS function.

[0006] Recently, with the development of autonomous driving technology, a vehicle can automatically determine the surrounding environment to perform lane changes or obstacle avoidance. For this purpose, a high definition map that provides more accurate information than an ADAS map is used.

[0007] Generally, a vehicle stores a navigation map, an ADAS map, or an accurate map, and each map is generated by a separate controller for information, which makes limitations in increasing the storage capacity for storing maps and slowing down the processing speed of the controller.

[0008] The information included in this background of the present disclosure is only for enhancing the overall understanding of the present disclosure, and should not be regarded as an admission or suggestion in any form that this information constitutes the prior art known to those skilled in the art. Summary of the Invention

[0009] Aspects of the present disclosure are directed to providing an apparatus and method for integrating maps of a vehicle, the apparatus and method being configured to integrate a standard definition map for an autonomous vehicle with a high definition map, and store the integration result to optimize the map capacity, thereby facilitating map management and expanding the services provided for navigation.

[0010] Another aspect of the present disclosure provides an apparatus and method for integrating vehicle maps, which are configured to classify a pre-stored high-definition map into multiple layers, transform the high-definition map into a format for integration with a standard-definition map, and generate a map formed by integrating the standard-definition map with the high-definition map.

[0011] Another aspect of the present disclosure provides an apparatus and method for integrating vehicle maps, which are configured to generate information for searching for a route to a destination when the destination is input, the route including a driving lane for driving a vehicle to the destination, so as to provide accurate information for guiding the way.

[0012] The technical problems to be solved by the present disclosure are not limited to the above problems, and those skilled in the art to which the present disclosure pertains will clearly understand any other technical problems not mentioned herein from the following description.

[0013] According to an aspect of the present disclosure, an apparatus for integrating vehicle maps may include: a processor configured to classify a pre-stored high-definition map into multiple layers, transform the high-definition map into a format for integration with a standard-definition map, and generate an integrated map obtained by integrating the standard-definition map with the high-definition map; and a memory configured to store the integrated map.

[0014] According to an exemplary embodiment of the present disclosure, the processor may set one of a plurality of divided parts obtained by dividing an image into a predetermined number as a map tile, and classify information included in the one map tile into multiple layers, the image being output by an output device operatively connected to the processor.

[0015] According to an exemplary embodiment of the present disclosure, the processor may classify the information included in the one map tile into multiple layers including a lane layer, a standard-definition (SD) matching layer, a positioning layer, a local matching layer, and a route layer.

[0016] According to an exemplary embodiment of the present disclosure, the processor is configured to perform classification such that the lane layer includes road links, road nodes, lane sides, lane links, and boundary road links included in the one map tile.

[0017] According to an exemplary embodiment of the present disclosure, the processor is configured to perform classification such that the SD matching layer includes a core matching table and a core node matching table.

[0018] According to an exemplary embodiment of the present disclosure, the processor may allow the core matching table to include: road links matched in the standard-definition map and the high-definition map, and identifiers (IDs) of map tiles including the road links.

[0019] According to an exemplary embodiment of the present disclosure, the processor may allow the core matching table to include: information related to nodes matched in the standard definition map and the high definition map, and the identification (ID) of the map tile including the nodes.

[0020] According to an exemplary embodiment of the present disclosure, the processor is configured to perform classification such that the positioning layer includes information related to road signs, road markings, road edge portions, traffic lights, traffic signs, road facilities, and poles.

[0021] According to an exemplary embodiment of the present disclosure, the processor may allow the local matching layer to include a lane local matching table.

[0022] According to an exemplary embodiment of the present disclosure, the processor is configured to perform classification such that the lane local matching table includes information matched between the lane layer and the positioning layer.

[0023] According to an exemplary embodiment of the present disclosure, the processor is configured to perform classification such that the route layer includes information related to links, nodes, boundary links, and safety.

[0024] According to an exemplary embodiment of the present disclosure, the device may further include an output device for outputting an integrated map.

[0025] According to an exemplary embodiment of the present disclosure, when the autonomous driving mode is activated, the processor may output, via the output device, information related to the host vehicle, surrounding vehicles, and driving lanes.

[0026] According to an exemplary embodiment of the present disclosure, the processor is configured to generate, based on the integrated map, information for searching for a route to a destination when a destination is input.

[0027] According to an exemplary embodiment of the present disclosure, the processor is configured to generate information for searching for a route that includes a driving lane for driving a vehicle to a destination.

[0028] According to an exemplary embodiment of the present disclosure, when information for searching for a route is generated, the processor may output, via the output device, the information for searching for a route based on the integrated map.

[0029] According to an exemplary embodiment of the present disclosure, when the information for searching for a route is output, the processor may output, via the output device, an image for guiding a lane change based on the traffic volume of the driving lane.

[0030] According to an exemplary embodiment of the present disclosure, when the information for searching for a route is output, the processor may output, via the output device, an image for guiding an allowed driving lane.

[0031] According to an exemplary embodiment of the present disclosure, the output device may include an augmented reality head-up display device.

[0032] According to another aspect of the present disclosure, a method for integrating a map of a vehicle may include: classifying a pre-stored high-definition map into a plurality of layers to transform the high-definition map into a format for storage in a memory including a standard-definition map, and generating an integrated map obtained by integrating the standard-definition map and the high-definition map.

[0033] According to an exemplary embodiment of the present disclosure, the method may further include storing the integrated map in a memory.

[0034] The method and apparatus of the present disclosure have other features and advantages that will be apparent from or more particularly set forth in the accompanying drawings and the following detailed description, which are incorporated herein to explain specific principles of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a view schematically showing a configuration of an apparatus for integrating a map of a vehicle according to an exemplary embodiment of the present disclosure;

[0036] Figure 2 schematically shows a pre-stored standard-definition map according to an exemplary embodiment of the present disclosure;

[0037] Figure 3 schematically shows a pre-stored high-definition map according to an exemplary embodiment of the present disclosure;

[0038] Figure 4 is a view schematically showing a plurality of layers obtained from a classification operation according to an exemplary embodiment of the present disclosure;

[0039] Figure 5 is a view schematically showing information used when generating information for searching a route according to an exemplary embodiment of the present disclosure;

[0040] Figure 6 、 Figure 7 and Figure 8 are views exemplarily showing an image output according to an exemplary embodiment of the present disclosure;

[0041] Figure 9 is a view exemplarily showing an operation of an apparatus for integrating a map of a vehicle according to an exemplary embodiment of the present disclosure;

[0042] Figure 10 is a view exemplarily showing a method for integrating a map of a vehicle according to an exemplary embodiment of the present disclosure; and

[0043] Figure 11 is a view exemplarily showing a configuration of a computing system for implementing a method according to an exemplary embodiment of the present disclosure.

[0044] It will be appreciated that the drawings are not necessarily to scale and present a somewhat simplified representation of various features illustrating the basic principles of the present disclosure. Specific design features of the present disclosure as included herein (including, for example, specific dimensions, orientations, positions, and shapes) will be determined in part by the specific intended application and use environment.

[0045] In the figures, throughout several views of the drawings, reference numerals refer to the same or equivalent parts of the present disclosure. Detailed Embodiments

[0046] Reference will now be made in detail to various embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings and described below. Although the present disclosure will be described in conjunction with the exemplary embodiments of the present disclosure, it should be understood that this description is not intended to limit the present disclosure to those exemplary embodiments. On the contrary, the present disclosure is intended to cover not only the exemplary embodiments of the present disclosure, but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of the present disclosure as defined by the appended claims.

[0047] Hereinafter, various exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. When adding reference numerals to the components of each figure, it should be noted that the same or equivalent components are denoted by the same reference numerals when shown in other figures. In addition, in the following description of the exemplary embodiments of the present disclosure, detailed descriptions of well-known features or functions will be excluded so as not to unnecessarily obscure the gist of the present disclosure.

[0048] When describing the components of the exemplary embodiments of the present disclosure, terms such as first, second, "A", "B", "(a)", "(b)", etc. may be used. These terms are only intended to distinguish one component from another, and these terms do not limit the nature, sequence, or order of the constitutive components. Unless otherwise defined, all terms used herein (including technical or scientific terms) have the same meaning as commonly understood by those skilled in the art to which the present disclosure pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning equivalent to the background meaning in the relevant technical field and should not be interpreted as having an ideal or overly formal meaning unless explicitly defined as having an ideal or overly formal meaning in the present application.

[0049] Figure 1 is a view exemplarily showing a configuration of a device for integrating maps of a vehicle according to an exemplary embodiment of the present disclosure.

[0050] AsFigure 1 As shown, the apparatus 100 for integrating vehicle maps may include a communication device 160, an input device 110, an output device 120, a memory 130, and a processor 140. According to an exemplary embodiment of the present disclosure, the apparatus 100 for integrating vehicle maps may be installed in a vehicle navigation.

[0051] The input device 110 may receive an input corresponding to a user's touch, movement, or voice and send the input to the processor 140. The processor 140 may be configured to control the operation of the apparatus for integrating vehicle maps in response to the input information. According to an exemplary embodiment of the present disclosure, the input device 110 may include a touch input device or a mechanical input device. According to an exemplary embodiment of the present disclosure, the input device 110 may be implemented by at least one of a motion sensor that detects a user's movement or a voice recognition sensor that detects a user's voice, or any combination thereof.

[0052] The output device 120 may output an image or sound under the control of the processor 140. The output device 120 may output an integrated map under the control of the processor 140. According to an exemplary embodiment of the present disclosure, the output device 120 may be implemented in the form of a display device or a sound output device (speaker). In this case, the display device may include an augmented reality head-up display device or an instrument panel. According to an exemplary embodiment of the present disclosure, the display device may be implemented in the form of a display device that employs a liquid crystal display (LCD) panel, a light emitting diode (LED) panel, an organic light emitting diode (OLED) panel, or a plasma display panel (PDP). The liquid crystal display may include a thin film transistor liquid crystal display (TFT-LCD). The display device may be integrated with a touch screen panel (TSP).

[0053] The memory 130 may store an integrated map obtained by integrating a high-definition map, which is transformed into a format for integration with a standard-definition map, with the standard-definition map. According to an exemplary embodiment of the present disclosure, the memory 130 may store at least one algorithm to calculate or execute various instructions for operating the apparatus for integrating vehicle maps. According to an exemplary embodiment of the present disclosure, the memory 130 may store at least one instruction implemented by the processor 140, and the instruction may allow the apparatus for integrating vehicle maps to operate according to an exemplary embodiment of the present disclosure. The memory 130 may include at least one storage medium that is at least one of a flash memory, a hard disk, a memory card, a read-only memory (ROM), a random access memory (RAM), an electrically erasable and programmable ROM (EEPROM), a programmable ROM (PROM), a magnetic memory, a magnetic disk, or an optical disk.

[0054] The processor 140 may be implemented by various processing devices (such as a microprocessor embedded in the processor 140, where a semiconductor chip operates or implements various instructions), and may be configured to control a device for integrating a map of a vehicle according to an exemplary embodiment of the present disclosure.

[0055] The processor 140 may be electrically connected to the input device 110, the output device 120, the memory 130, and the communication device 160 through a wired cable or various circuits to transmit an electrical signal, which includes a control command for implementing arithmetic operations or data processing related to control operations and / or communication. The processor 140 may include at least one of a central processing unit, an application processor, a communication processor (CP), or a combination thereof.

[0056] In various exemplary embodiments of the present disclosure, the memory 130 and the processor 140 may be provided as one chip or as separate chips.

[0057] The processor 140 may classify a pre-stored high-definition map into multiple layers to transform the high-definition map into a format including that for integration with a standard-definition map, generate an integrated map formed by integrating the standard-definition map with the high-definition map, and store the integrated map in the memory. In this case, reference will be made to Figure 2 and Figure 3 to describe the standard-definition map and the high-definition map.

[0058] Figure 2 is a view schematically showing a pre-stored standard-definition map according to an exemplary embodiment of the present disclosure, and Figure 3 is a view schematically showing a pre-stored high-definition map according to an exemplary embodiment of the present disclosure.

[0059] As Figure 2 shown, the standard-definition map refers to a map for road-level route search and for guiding to a destination through navigation. The standard-definition map has an accuracy of about 3.5 m, and may provide roads, surrounding information, search, and safe driving information (speed limit).

[0060] As Figure 3 shown, the high-definition map refers to a map added with ADAS functions for autonomous driving and lane-level attribute information. The accuracy of the high-definition map may be about 0.2 m, and may provide lane centerlines, lane boundary lines, or information related to road markings.

[0061] Returning to the reference Figure 1, the processor 140 may set one of a plurality of divided parts obtained by dividing an image into a predetermined number as a map tile, and classify information included in the one map tile into a plurality of layers, and the image is output through an output device operatively connected to the processor. Reference will be made to Figure 4 Enrich its details.

[0062] Figure 4 is a view schematically showing a plurality of layers obtained from a classification operation according to an exemplary embodiment of the present disclosure.

[0063] As Figure 4 shown, the processor 140 may set one of the plurality of divided parts as a map tile 150, and the plurality of divided parts are obtained by dividing an image (high-definition map) output through an output device operatively connected to the processor into a predetermined number.

[0064] According to an exemplary embodiment of the present disclosure, the processor 140 may classify an image based on related information of the information included in one map tile 150. According to an exemplary embodiment of the present disclosure, the processor 140 may classify the information included in the one map tile 150 into a plurality of layers including a lane layer 151, a standard definition matching layer 152, a local matching layer 153, a positioning layer 154, and a route layer 155.

[0065] The processor 140 may perform a classification operation such that the lane layer 151 includes road links, road nodes, lane sides, lane links, and boundary road links included in the one map tile. In this case, the road link may refer to a road centerline, and the lane link may refer to a lane centerline.

[0066] The processor 140 is configured to perform a classification operation such that the SD matching layer 152 includes a core matching table and a core node matching table. According to an exemplary embodiment of the present disclosure, the processor 140 may be configured to allow the core matching table to include: road links matched in a standard definition map and a high-definition map, and an identifier (ID) of a map tile including the matched road links. According to an exemplary embodiment of the present disclosure, the processor 140 may be configured to allow the core node matching table to include: information related to nodes matched in a standard definition map and a high-definition map, and an identifier (ID) of a map tile including the matched nodes.

[0067] The processor 140 is configured to perform a classification operation such that the positioning layer 154 includes information related to road signs, road markings, road edge portions, traffic lights, traffic signs, road facilities, and poles. In this case, the information related to pavement markings may include information related to direction arrows on the pavement, and the information about road boundary objects (road edge portions) may include guardrails, median strips, or walls. The traffic light information may include the type of traffic light and the type of arrangement of the traffic lights (horizontal type, vertical type) and the number of lights of the traffic lights (2-color, 3-color, 4-color), and the information related to signs may include the size, type, and color of signs indicating precautions, regulations, and instructions required for traffic. The information related to road facilities may include bridges, toll booths, or tunnels, and the information related to poles may include the type of poles (street lights, safety lights, or traffic lights) and information related to the poles.

[0068] The processor 140 may perform a classification operation to allow the local matching layer 153 to include a lane local matching table. The processor 140 may be configured to allow the lane local matching table to include information matched in the lane layer 151 and the positioning layer 154.

[0069] The processor 140 may be configured to perform a classification operation such that the route layer 155 includes information related to links, nodes, boundary links, and security. In this case, a link refers to a line connecting nodes and nodes. For example, links include roads, bridges, overpasses, underground roads, or tunnels, and may include a link ID, the IDs of the start and end points of the link, the link length, information related to toll roads, or information related to speed. Nodes may include points where the vehicle speed changes. For example, nodes may include intersections, the start and end points of bridges, the start and end points of overpasses, the start and end points of roads, the start and end points of underground roads, the start and end points of tunnels, administrative boundaries, and IC / JCs. In addition, nodes may include a node ID, the connected link IDs, and the link angles. Boundary links may include information related to links passing through map tiles or connecting two map tiles, and the information related to security may include speed bumps, speed cameras, or law enforcement units for security operations.

[0070] According to an exemplary embodiment of the present disclosure, when the information included in a map tile is classified into multiple layers, the processor 140 may allow each layer to include: metadata, and a table including the metadata, to effectively manage each layer.

[0071] Return reference Figure 1, the processor 140 may be configured to generate an integrated map obtained by integrating a standard definition map and a high definition map when the information included in the map tiles is classified into multiple layers. The processor 140 may be configured to generate the integrated map and store the integrated map in the memory 130, optimize the capacity required to store the map through format unification, facilitate map management, and unify the map version. Therefore, an additional controller for controlling the high definition map is not required to improve the processing speed.

[0072] The processor 140 may be configured to generate information for searching for a route from the current location to the destination based on the integrated map when the destination is input via the input device 110. According to an exemplary embodiment of the present disclosure, the processor 140 may obtain information related to the vehicle position through a Global Navigation Satellite System (GNSS), and perform map matching of the vehicle position with the integrated map to provide an image of a map of a specific area according to the vehicle position. According to an exemplary embodiment of the present disclosure, the processor 140 may be configured to generate information for searching for a route that includes a driving lane for driving the vehicle to the destination. When generating information for searching for a route to the destination, the processor 140 may use multiple classified layers. Details thereof will be Figure 5 described.

[0073] Figure 5 is a view schematically showing information used when generating information for searching for a route according to an exemplary embodiment of the present disclosure.

[0074] As Figure 5 shown, the processor 140 may use the lane layer 151 to assist in avoiding driving based on the lane, and may be configured to generate information related to searching for a route to avoid an accident vehicle (a stopped vehicle) when generating information related to the route to the destination and there is an accident vehicle (a stopped vehicle) ahead.

[0075] The processor 140 may use the positioning layer 154 to measure the driving position in units of lanes, obtain information related to traffic lights near the road on which the vehicle is traveling, and may be configured to generate information related to the route to the destination based on the information related to the traffic lights.

[0076] The processor 140 may search for a route for the vehicle to move forward by using the route layer 155, and may be configured to generate information related to the route to the destination based on the result of searching for the route for the vehicle to move forward.

[0077] Returning to the reference Figure 1, when generating the integrated map, the processor 140 may output the integrated map via the output device 120. When generating information related to the route to the searched destination, information related to the route to the searched destination may be output via the output device 120 based on the integrated map. Details thereof will be described with reference to Figures 6 to 8 Description thereof.

[0078] Figure 6 , Figure 7 and Figure 8 are views exemplarily showing image outputs according to exemplary embodiments of the present disclosure.

[0079] As Figure 6 shown, according to an exemplary embodiment of the present disclosure, when activating the autonomous driving mode, the processor 140 may output information related to the host vehicle, surrounding vehicles, and information about the driving lane (e.g., current speed or speed limit) based on the integrated map via the output device 120. In addition, when generating information related to the searched route, the processor 140 may output the driving lane for driving the vehicle to the destination. According to an exemplary embodiment of the present disclosure, the processor 140 may output the driving lane for driving the vehicle to the destination by covering the driving lane for driving the vehicle to the destination with the linear image 60.

[0080] As Figure 7 shown, according to an exemplary embodiment of the present disclosure, when outputting information related to the searched route, the processor 140 may output the image 70 for guiding the permitted driving lane together with the output device 120. According to an exemplary embodiment of the present disclosure, the processor 140 may output the image for guiding the permitted driving lane via a pop-up screen or voice. According to an exemplary embodiment of the present disclosure, the processor 140 may output the permitted driving lane in a color different from that of the prohibited driving lane so that the permitted driving lane can be recognized.

[0081] As Figure 8 shown, according to an exemplary embodiment of the present disclosure, when outputting information related to the searched route, the processor 140 may output the image 80 for guiding lane change based on the traffic volume of the driving lane. In addition, the processor 140 may output the image for guiding lane change in advance to turn left or right. According to an exemplary embodiment of the present disclosure, the processor 140 may output the image for guiding lane change as an augmented reality image, which includes a route linking from the driving lane on which the vehicle is traveling to the target lane for lane change. According to an exemplary embodiment of the present disclosure, the processor 140 may output the image for guiding lane change, and the image overlaps with the image of the line type linking from the driving lane to the target lane for lane change.

[0082] Return to reference Figure 1, the processor 140 may provide the integrated map to the ADAS controller 300, which is configured to control the advanced driver assistance system (ADAS) functions that assist the driver in driving, allowing the ADAS functions to operate based on the integrated map. Details will be described with reference to Figure 9 its details.

[0083] Figure 9 is a view exemplarily showing the operation of a device for integrating a map of a vehicle according to an exemplary embodiment of the present disclosure.

[0084] As Figure 9 shown, when generating the integrated map, the processor 140 may transmit the integrated map to the communication control unit (CCU) 200 via the communication device 160 of the device 100.

[0085] The communication control device 200 may communicate with in-vehicle devices and may perform wireless communication (vehicle-to-vehicle (V2V) or vehicle-to-everything (V2X)) with external vehicle devices (another vehicle, server). According to an exemplary embodiment of the present disclosure, the communication control device 200 may communicate with the ADAS controller 300 to transmit the integrated map, information related to the vehicle position, and information related to road accidents (accident information, road control information) to the ADAS controller 300. The ADAS controller 300 may use the information obtained from the vehicle's sensors to control the driving of the vehicle (automatic driving). The information obtained from the sensors includes information in which the vehicle's sensors detect the surrounding environment and the vehicle position of the vehicle.

[0086] The communication control device 200 may receive the information obtained from the sensors from the ADAS controller 300, and the processor 140 may receive the information obtained from the sensors from the communication control device 200. The processor 140 may wirelessly update the device 100 for integrating the vehicle's map via the communication control device 200.

[0087] Figure 10 is a view exemplarily showing a method for integrating a map of a vehicle according to an exemplary embodiment of the present disclosure.

[0088] As Figure 10 shown, the processor 140 may set one of the plurality of divided parts as the map tile 150, which is obtained by dividing an image (high-definition map) output by an output device operatively connected to the processor into a predetermined number (S110).

[0089] According to an exemplary embodiment of the present disclosure, the processor 140 may perform a segmentation and classification operation based on the relevant information of the information included in one map tile 150 (S120).

[0090] In S120, according to an exemplary embodiment of the present disclosure, the processor 140 may classify the information included in the one map tile 150 into a plurality of layers including a lane layer 151, a standard definition matching layer 152, a local matching layer 153, a positioning layer 154, and a route layer 155.

[0091] Return reference Figure 1 , the processor 140 may be configured to generate an integrated map obtained by integrating a standard definition map and a high definition map when the information included in the map tile is classified into a plurality of layers (S130). The processor 140 may be configured to generate the integrated map and store the integrated map in the memory 130, optimize the capacity required for storing the map by unifying the format, facilitate the management of the map, and unify the version of the map.

[0092] The processor 140 may be configured to generate and output information for searching for a route from the current position of the vehicle to the destination based on the integrated map when the destination is input via the input device 110 (S140). In S140, according to an exemplary embodiment of the present disclosure, the processor 140 may obtain information related to the vehicle through a Global Navigation Satellite System (GNSS), and perform map matching between the vehicle position and the integrated map to provide an image of a map of a specific area according to the vehicle position. According to an exemplary embodiment of the present disclosure, the processor 140 may be configured to generate information for searching for a route, and the route includes a driving lane for driving the vehicle to the destination. When generating information for searching for a route to the destination, the processor 140 may output information for searching for a route to the destination via the output device 120 based on the integrated map.

[0093] Figure 11 is a view exemplarily showing the configuration of a computing system for implementing a method according to an exemplary embodiment of the present disclosure.

[0094] Reference Figure 11 , the computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700 that are connected to each other via a bus 1200.

[0095] The processor 1100 may be a central processing unit (CPU) or a semiconductor device for processing instructions stored in the memory 1300 and / or the storage device 1600. Each of the memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only ROM 1310 and a RAM 1320.

[0096] Accordingly, operations of the methods or algorithms described in connection with the exemplary embodiments included in the present disclosure may be implemented directly by hardware modules, software modules, or a combination thereof implemented by the processor 1100. The software modules may reside on a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as a RAM, a flash memory, a ROM, an erasable and programmable ROM (EPROM), an electric EPROM (EEPROM), a register, a hard disk, a removable disk, or a CD-ROM. The exemplary storage medium may be coupled to the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may be present in an application specific integrated circuit (ASIC). The ASIC may be present in a user terminal. Alternatively, the processor and the storage medium may be present as separate components of a user terminal.

[0097] According to an exemplary embodiment of the present disclosure, in an apparatus and a method for integrating maps of a vehicle, a standard definition map for an autonomous vehicle may be integrated with a high definition map and stored to optimize the map capacity, thereby facilitating map management and expanding services provided for navigation.

[0098] According to an exemplary embodiment of the present disclosure, in an apparatus and a method for integrating maps of a vehicle, a pre-stored high definition map may be classified into a plurality of layers, and the high definition map may be transformed into a format for integration with a standard definition map to generate a map formed by integrating the standard definition map with the high definition map.

[0099] According to an exemplary embodiment of the present disclosure, in an apparatus and a method for integrating maps of a vehicle, when a destination is input, information for searching for a route to the destination may be generated, and information for searching for a route including a driving lane for driving a vehicle to the destination may be generated, providing accurate information for guiding the way.

[0100] The above description is only an example of the technical concept of the present disclosure, and those skilled in the art may make various modifications and changes without departing from the essential features of the present disclosure.

[0101] Accordingly, exemplary embodiments of the present disclosure are provided to explain the spirit and scope of the present disclosure rather than to limit them, such that the spirit and scope of the present disclosure are not limited by the embodiments. The scope of the present disclosure should be construed based on the appended claims, and all technical concepts within the scope equivalent to the claims should be included within the scope of the present disclosure.

[0102] In various exemplary embodiments of the present disclosure, each of the above operations may be performed by a control device, and the control device may be configured by a plurality of control devices or an integrated single control device.

[0103] In various exemplary embodiments of the present disclosure, the memory and the processor may be provided as one chip or as separate chips.

[0104] In various exemplary embodiments of the present disclosure, the scope of the present disclosure includes: software or machine-implementable commands (e.g., operating systems, applications, firmware, programs, etc.) that enable the operations of the methods according to various embodiments to be implemented on a device or a computer, and the non-transitory computer-readable medium including such software or commands stored on a non-transitory computer-readable medium and that can be implemented on a device or a computer.

[0105] In various exemplary embodiments of the present disclosure, the control device may be implemented in the form of hardware or software, or may be implemented in a combination of hardware and software.

[0106] In addition, terms such as "unit" and "module" included in the specification refer to units for processing at least one function or operation that can be implemented by hardware, software, or a combination thereof.

[0107] In an exemplary embodiment of the present disclosure, a vehicle may be referred to based on the concept including various means of transportation. In some cases, a vehicle may be interpreted based on the concept of a means of transportation that includes not only land vehicles (such as cars, motorcycles, trucks, and buses) that travel on roads but also various means such as airplanes, drones, ships, etc.

[0108] For the convenience of description and to accurately define the appended claims, reference is made to the positions of such features shown in the figures, and terms such as "upper", "lower", "inner", "outer", "upward", "downward", "upwardly", "downwardly", "front", "rear", "behind", "inside", "outside", "inward", "outward", "internal", "external", "internal of", "external of", "forward", and "backward" are used to describe the features of the exemplary embodiments. It should be further understood that the term "connected" or its derivatives refer to direct connection and indirect connection.

[0109] The term "and / or" may include combinations of multiple related listed items or any one of the multiple related listed items. For example, "A and / or B" includes all three cases, namely "A", "B", and "A and B".

[0110] In an exemplary embodiment of the present disclosure, "at least one of A and B" may refer to "at least one of A or B" or "at least one of a combination of at least one of A and B". In addition, "one or more of A and B" may refer to "one or more of A or B" or "one or more of a combination of one or more of A and B".

[0111] In this specification, unless otherwise specified, singular expressions include plural expressions, unless the context clearly indicates otherwise.

[0112] In an exemplary embodiment of the present disclosure, it should be understood that terms such as "including" or "having" are intended to indicate the presence of the features, quantities, steps, operations, elements, components, or combinations thereof described in the specification, and do not exclude the possibility of adding or existing one or more other features, quantities, steps, operations, elements, components, or combinations thereof.

[0113] According to an exemplary embodiment of the present invention, components may be combined with each other to be implemented as one, or some components may be omitted.

[0114] Hereinafter, the fact that hardware blocks are operably coupled may include the fact of establishing a direct and / or indirect connection between the hardware blocks by wired and / or wireless means.

[0115] For purposes of illustration and description, the foregoing description of specific exemplary embodiments of the present disclosure has been presented. They are not intended to be exhaustive or to limit the present disclosure to the precise forms disclosed, and obviously, many modifications and variations are possible in light of the above teachings. The exemplary embodiments are chosen and described to explain the specific principles of the present disclosure and its practical applications, so that those skilled in the art can make and utilize various exemplary embodiments of the present disclosure and their various alternatives and modifications. The scope of the present disclosure is intended to be defined by the appended claims and their equivalents.

Claims

1. A device for integrating a map of a vehicle, the device comprising: a processor configured to classify a pre-stored high-definition map into a plurality of layers to transform the high-definition map into a format including for integration with a standard-definition map, and to generate an integrated map obtained by integrating the standard-definition map with the high-definition map; as well as The memory is configured to store the integrated map.

2. The device according to claim 1, wherein: The processor is further configured to: One of a plurality of divided parts obtained by dividing the image into a predetermined number is set as a map tile, and information included in the map tile is classified into the plurality of layers, and the image is output through an output device operatively connected to the processor.

3. The device according to claim 2, wherein: The processor is further configured to: The information included in the map tile is classified into the plurality of layers including a lane layer, a standard definition matching layer, a positioning layer, a local matching layer, and a route layer.

4. The device according to claim 3, wherein: The processor is further configured to: The classification is performed so that the lane layer includes road links, road nodes, lane sides, lane links, and boundary road links included in the map tile.

5. The device according to claim 3, wherein: The processor is further configured to: The classification is performed so that the standard definition matching layer includes a core matching table and a core node matching table.

6. The device according to claim 5, wherein: The processor is further configured to: The core matching table is allowed to include: road links matched in the standard definition map and the high definition map, and identifications of the map tiles including the road links.

7. The device according to claim 5, wherein: The processor is further configured to: The core matching table is allowed to include: information related to nodes matched in the standard definition map and the high definition map, and identification of the map tile including the node.

8. The device according to claim 3, wherein: The processor is further configured to: The classification is performed such that the positioning layer includes information related to road signs, road markings, road edge portions, traffic lights, traffic signs, road facilities and poles.

9. The device according to claim 3, wherein: The processor is further configured to: The local matching layer is allowed to include a lane local matching table.

10. The device according to claim 9, wherein: The processor is further configured to: The classification is performed so that the lane local matching table includes information matching between the lane layer and the positioning layer.

11. The device according to claim 3, wherein: The processor is further configured to: The classification is performed such that the route layer includes information related to links, nodes, boundary links, and security.

12. The apparatus according to claim 1, further comprising: An output device is operatively connected to the processor and configured to output the integrated map.

13. The device according to claim 12, wherein: The processor is further configured to: In response to the automatic driving mode being activated, information related to the host vehicle, surrounding vehicles, and driving lanes is output via the output device.

14. The device according to claim 12, wherein: The processor is further configured to: In response to a destination being input, information for searching a route to the destination is generated based on the integrated map.

15. The device according to claim 14, wherein: The processor is further configured to: Information for searching for a route including a driving lane for driving the vehicle to the destination is generated.

16. The device according to claim 15, wherein: The processor is further configured to: In response to the information for searching the route being generated, the information for searching the route is output via the output device based on the integrated map.

17. The device according to claim 15, wherein: The processor is further configured to: In response to the information for searching the route being output, an image for guiding a lane change is output via the output device based on the traffic volume of the lane.

18. The device according to claim 14, wherein: The processor is further configured to: In response to the information for searching the route being output, an image for guiding a lane in which travel is permitted is output via the output device.

19. The device according to claim 12, wherein: The output device includes an augmented reality heads-up display device.

20. A method for integrating a map of a vehicle, the method comprising: classifying a pre-stored high definition map into a plurality of layers to transform the high definition map into a format including for storage in a memory including a standard definition map; generating an integrated map obtained by integrating the standard definition map with the high definition map; as well as The integrated map is stored in the memory.

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