Vehicle control device and vehicle control method

Abstract

The invention relates to a vehicle control apparatus and a vehicle control method. The vehicle control device includes a processor and a memory. The processor may determine a global path along which the vehicle will travel based on the first map, determine a plurality of local paths associated with the global path based on a second map associated with the global path and while the vehicle travels along the global path, where the second map has a higher accuracy than the first map, and determine a plurality of local paths associated with the global path based on the plurality of local paths associated with the global path. Selecting at least one local path of the plurality of local paths based on a comparison between the plurality of coordinates of the global path and the plurality of coordinates of the plurality of local paths, and controlling the vehicle based on the at least one precise local path.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to Korean Patent Application No. 10-2024-0059943, filed with the Korean Intellectual Property Office on May 7, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to vehicle control devices and methods, and more particularly to techniques for matching ordinary maps with precise maps. Background Technology

[0004] Autonomous driving systems can use regular maps to generate global paths and generate a set of precise map paths corresponding to the relevant set of paths. A regular map can represent a global path as a set of connected road IDs (identifiers). A precise map can represent a set of connected precise map IDs corresponding to the respective road IDs. Regular and precise maps have different resolutions (e.g., precise maps provide higher resolution information than regular maps), and the map creators may be different. A matching table can be used to match information contained in the regular map with information contained in the precise map. The matching table can be constructed to include precise map IDs that match the regular map IDs for each road. If the regular map IDs are changed through updates to the regular map (e.g., road creation / deletion, shape changes, etc.), the matching table may need to be reconfigured. Therefore, methods that match regular and precise maps without requiring updates to the matching table may be advantageous. Summary of the Invention

[0005] This invention aims to solve the aforementioned problems in the prior art while fully retaining the advantages achieved by the prior art.

[0006] One aspect of the present invention provides a vehicle control device and a vehicle control method capable of mapping ordinary maps and precise maps.

[0007] One aspect of the present invention provides a vehicle control device and a vehicle control method that can map a general map and a precise map independently of updating a general map.

[0008] One aspect of the present invention provides a vehicle control device and a vehicle control method, which are capable of mapping ordinary maps and precise maps in real time using coordinates of ordinary maps while the vehicle is in motion.

[0009] The technical problems solved by this invention are not limited to those described above, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art from the following description.

[0010] According to one or more example embodiments of the present application, a vehicle control device can include a processor and a memory storing instructions. The instructions can be configured to, when executed by the processor, cause the vehicle control device to determine a global path along which a vehicle is to travel based on a first map, determine a plurality of local paths associated with the global path based on a second map associated with the global path and while the vehicle is traveling along the global path. The second map can have a higher accuracy than the first map. The instructions can be further configured to, when executed by the processor, cause the vehicle control device to select at least one local path of the plurality of local paths based on a comparison between a plurality of coordinates of the global path and a plurality of coordinates of the plurality of local paths, control the vehicle based on the at least one local path.

[0011] The instructions can be configured to, when executed by the processor, cause the vehicle control device to select the at least one local path by determining a first set of coordinates of the first map, determining a second set of coordinates of the plurality of local paths, and selecting the at least one local path. The at least one local path can have a minimum cost value determined based on a difference between each coordinate of the first set of coordinates and each coordinate of the second set of coordinates.

[0012] The instructions can be configured to, when executed by the processor, cause the vehicle control device to determine the difference between each coordinate of the first set of coordinates and each coordinate of the second set of coordinates by matching the first set of coordinates with each local path of the plurality of local paths.

[0013] The instructions can be configured to, when executed by the processor, cause the vehicle control device to select the at least one local path by stopping matching the first set of coordinates with a curved path based on the global path including the curved path.

[0014] The instructions can be configured to, when executed by the processor, cause the vehicle control device to select the at least one local path by determining, based on the global path including a curved path, a first global straight path connected to a first end of the curved path and a second global straight path connected to a second end of the curved path, and selecting, among the local paths, a first local straight path corresponding to the first global straight path and a second local straight path corresponding to the second global straight path.

[0015] The instructions can be configured to, when executed by the processor, further cause the vehicle control device to select, from the plurality of local paths, a local curved path corresponding to the curved path and connected to the first local straight path and the second local straight path.

[0016] The instructions can be configured to, when executed by the processor, further cause the vehicle control device to: determine a first map branch point of the first map based on the global path including a branch path; determine a second map branch point of the second map different from the first map branch point; determine a first local branch path and a second local branch path that diverge at the second map branch point.

[0017] The instructions can be configured to, when executed by the processor, cause the vehicle control device to select the at least one local path by: determining a first set of coordinates of the global path as the vehicle travels along the global path; determining a second set of coordinates of the first local branch path; determining a third set of coordinates of the second local branch path; selecting at least one of the first local branch path or the second local branch path based on a difference between the first set of coordinates and the second set of coordinates and based on a difference between the first set of coordinates and the third set of coordinates.

[0018] The instructions can be configured to, when executed by the processor, cause the vehicle control device to select the at least one local path by: determining a first global branch path and a second global branch path that diverge at a first map branch point in the global path; selecting at least one of the first local branch path or the second local branch path based on at least one of the first global branch path, the second global branch path, the first local branch path, or the second local branch path.

[0019] The instructions can be configured to, when executed by the processor, cause the vehicle control device to determine the global path by: determining the global path from a current location of the vehicle to a destination of the vehicle based on an input representing the destination of the vehicle.

[0020] According to one or more example embodiments of the present disclosure, a vehicle control method can be performed by a device associated with a vehicle. The vehicle control method can include determining a global path along which the vehicle is to travel based on a first map; determining a plurality of local paths associated with the global path based on a second map associated with the global path as the vehicle travels along the global path. The second map can have a higher accuracy than the first map. The vehicle control method can further include selecting at least one local path of the plurality of local paths based on a comparison between a plurality of coordinates of the global path and a plurality of coordinates of the plurality of local paths; controlling the vehicle based on the at least one local path.

[0021] Selecting the at least one local path can include determining a first set of coordinates of the first map; determining a second set of coordinates of the plurality of local paths; and selecting the at least one local path. The at least one local path can have a minimum cost value determined based on a difference between the first set of coordinates and each of the second set of coordinates.

[0022] Selecting the at least one local path can include determining a difference between the first set of coordinates and each coordinate of the second set of coordinates by matching the first set of coordinates to each of the plurality of local paths.

[0023] Selecting the at least one local path can include stopping matching the first set of coordinates to the curved path based on the global path including the curved path.

[0024] Selecting the at least one local path can include determining a first global straight path connected to a first end of the curved path and a second global straight path connected to a second end of the curved path based on the global path including the curved path; selecting a first local straight path corresponding to the first global straight path and a second local straight path corresponding to the second global straight path in the local path.

[0025] Selecting the first local straight path and the second local straight path can include selecting a local curved path corresponding to the curved path and connected to the first local straight path and the second local straight path from the plurality of local paths.

[0026] Selecting the at least one local path can include determining a first map branch point of the first map based on the global path including the branched path; determining a second map branch point of the second map different from the first map branch point; determining a first local branch path and a second local branch path separated at the second map branch point.

[0027] Selecting the at least one local path can include determining a first set of coordinates of the global path when the vehicle travels along the global path; determining a second set of coordinates of the first local branch path; determining a third set of coordinates of the second local branch path; selecting at least one branch path of the first local branch path or the second local branch path based on a difference between the first set of coordinates and the second set of coordinates and based on a difference between the first set of coordinates and the third set of coordinates.

[0028] Selecting the at least one local path can include determining a first global branch path and a second global branch path separated at a first map branch point in the global path; selecting at least one branch path of the first local branch path or the second local branch path based on at least one of the first global branch path, the second global branch path, the first local branch path, or the second local branch path.

[0029] Determining the global path can include determining the global path from a current location of the vehicle to a destination of the vehicle based on an input representing the destination of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0030] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: The above and other objects, features and advantages of the present application will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0031] Figure 1 An example of a block diagram related to a vehicle control device is shown;

[0032] Figure 2 An example of a flowchart showing the operation of a vehicle control device for matching a general map with a precise map is shown;

[0033] Figure 3 An example of a flowchart showing the operation of a vehicle control device for identifying a precise path corresponding to a curved path is shown;

[0034] Figure 4 An example of a flowchart showing the operation of a vehicle control device for identifying a precise path corresponding to a branched path is shown;

[0035] Figure 5 An example of a flowchart showing the operation of a vehicle control device is shown;

[0036] Figure 6 A computing system related to a vehicle control device or a vehicle control method is shown.

[0037] Explanation of reference numerals:

[0038] 100: vehicle control device

[0039] 110: processor

[0040] 120: memory

[0041] 130: general map

[0042] 135: precise map

[0043] 140: path matching module

[0044] 200: example

[0045] 210: global path

[0046] 211: direction

[0047] 212: coordinate

[0048] 213: coordinate

[0049] 214: coordinate

[0050] 215: coordinate

[0051] 216: coordinate

[0052] 212-1: coordinate

[0053] 213-1: coordinate

[0054] 214-1 : coordinate

[0055] 215-1 : coordinate

[0056] 216-1 : coordinate

[0057] 220: first precise path

[0058] 221 : direction

[0059] 222: coordinate

[0060] 223: coordinate

[0061] 224: coordinate

[0062] 230: second precise path

[0063] 231 : direction

[0064] 235: coordinate

[0065] 236: coordinate

[0066] 300: example

[0067] 311 : first global straight path

[0068] 312: coordinate

[0069] 313: curved path

[0070] 315: second global straight path

[0071] 316: coordinate

[0072] 317: coordinate

[0073] 312-1 : coordinate

[0074] 316-1 : coordinate

[0075] 317-1 : coordinate

[0076] 321 : first precise straight path

[0077] 322: coordinate

[0078] 326: coordinate

[0079] 325: second precise straight path

[0080] 327: coordinate

[0081] 400: example

[0082] 410: first section

[0083] 411 : global path

[0084] 412: coordinate

[0085] 414: first global branch path

[0086] 415: second global branch path

[0087] 420: first precise branch path

[0088] 421: coordinate

[0089] 430: second precise branch path

[0090] 431: coordinate

[0091] 455: branch point

[0092] 440: second section

[0093] 450: branch point

[0094] 1000: computing system

[0095] 1100: processor

[0096] 1200: bus

[0097] 1300: memory

[0098] 1310: read only memory (ROM)

[0099] 1320: random access memory (RAM)

[0100] 1400: user interface input device

[0101] 1500: user interface output device

[0102] 1600: storage device

[0103] 1700: network interface. DETAILED DESCRIPTION

[0104] Hereinafter, one or more exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. In adding reference numerals to components of each drawing, it should be noted that the same or equivalent components will be designated by the same reference numerals even though they are shown in different drawings. Also, in describing exemplary embodiments of the present application, detailed description of well-known features or functions will be omitted in order not to unnecessarily obscure the point of the present application.

[0105] In describing components of the one or more exemplary embodiments according to the present application, terms such as first, second, "A," "B," (a), (b), etc. can be used. These terms are merely used to distinguish one component from another. These terms are not intended to denote a particular order or sequence, unless otherwise defined herein. Unless otherwise defined, all terms used herein, including technical terms or scientific terms, have the same meaning as those generally understood by one of ordinary skill in the art to which the present application pertains. Those terms, generally used, should be interpreted as having a same meaning as in the context of related art, rather than an ideal or overly formal meaning, unless expressly defined otherwise in the present application.

[0106] The term "module" used in various exemplary embodiments of the present application can mean, for example, a unit including one or more combinations of hardware, software, and firmware. The term "module" can be used interchangeably with the term "unit," "logic," "logical block," "component," and "circuit." The "module" can be the minimum unit of an integrated component or a part thereof, or can be the minimum unit for performing one or more functions or a part thereof. The module can be implemented in the form of an application-specific integrated circuit (ASIC). Operations performed by the module, program, or other components can be executed sequentially, in parallel, or repeatedly, or can be executed in different orders, one or more of the operations can be omitted, or one or more other operations can be added.

[0107] Various exemplary embodiments of the present application can be implemented using software (e.g., a program) including one or more instructions stored in a storage medium (e.g., an internal memory or an external memory) that can be read by a machine (e.g., the vehicle control device 100). For example, a processor (e.g., the processor 110) of the device (e.g., the vehicle control device 100) can invoke at least one of the one or more instructions stored from the storage medium and execute the at least one instruction. This enables the device to be operated to perform at least one function according to the invoked at least one command. The one or more instructions can include a code produced by a compiler or executable by an interpreter. The machine-readable storage medium can be provided in the form of a non-volatile storage medium. Here, the term "non-volatile storage medium" can mean that the storage medium is a tangible device and does not include a signal (e.g., an electromagnetic wave), and can mean that data can be semi-permanently or temporarily stored in the storage medium.

[0108] Hereinafter, a detailed description will be given of the one or more exemplary embodiments of the present application with reference to the accompanying drawings. Figures 1 to 6 A detailed description of the one or more exemplary embodiments of the present application will be given.

[0109] Figure 1 Examples of block diagrams related to a vehicle control device are illustrated.

[0110] Reference Figure 1 The vehicle control apparatus 100 can be implemented inside or outside the vehicle, and a part of components included in the vehicle control apparatus 100 can be implemented inside or outside the vehicle. In this case, the vehicle control apparatus 100 can be integrally formed with an internal control unit of the vehicle, or can be implemented as a separate apparatus and connected to the control unit of the vehicle through a separate connection apparatus.

[0111] The vehicle control apparatus 100 can include at least one of a processor 110 or a memory 120. The processor 110 and the memory 120 can be electronically and / or operatively coupled to each other through electronic components including a communication bus. Hereinafter, the hardware being operatively combined can mean that a direct connection or an indirect connection between the hardware is established in a wired or wireless manner, so that the second hardware is controlled by the first hardware among the hardware. Although illustrated based on different blocks, the present application is not limited thereto, Figure 1 A part of the hardware (for example, at least a part of the processor 110, the memory 120, and a communication circuit (not shown)) in the vehicle control apparatus 100 can be included in a single integrated circuit, for example, a system on chip. For example, the vehicle control apparatus 100 can further include Figure 1 components not shown in the vehicle control apparatus 100. As an example, the vehicle control apparatus 100 can further include a navigation module (or a navigation system) for identifying a location of the vehicle and / or an autonomous driving module (or an autonomous driving system) for controlling the vehicle. As an example, the vehicle control apparatus 100 can control the vehicle along a global path identified through the navigation module using the autonomous driving module.

[0112] The processor 110 of the vehicle control apparatus 100 can include a hardware component for processing data based on one or more instructions. The hardware component for processing data can include, for example, an arithmetic and logic unit (ALU), a floating point unit (FPU), a field programmable gate array (FPGA), a central processing unit (CPU), a microcontroller unit (MCU), and / or an application processor (AP). The number of processors 110 can be one or more. For example, the processor 110 can have a structure including a multi-core processor including a dual-core, a quad-core, a hexa-core, or an octa-core.

[0113] The memory 120 of the vehicle control device 100 can include a hardware component for storing data and / or instructions input to and / or output from the processor 110. For example, the memory 120 can include a volatile memory (e.g., a random access memory (RAM)) and / or a non-volatile memory (e.g., a read only memory (ROM)). For example, the volatile memory can include at least one of a dynamic RAM (DRAM), a static RAM (SRAM), a cache RAM, and a pseudo SRAM (PSRAM). For example, the non-volatile memory can include at least one of a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), a flash memory, a hard disk, an optical disk, and an embedded multimedia card (eMMC).

[0114] The vehicle control device 100 can include a general map 130 (e.g., a first map) and / or an accurate map 135 (e.g., a second map). For example, resolutions corresponding to the general map 130 and the accurate map 135 can be different. For example, the accurate map can have higher accuracy (e.g., higher resolution, more information, etc.) than the general map. For example, companies managing (or creating) the general map 130 and the accurate map 135 can be different. However, the present disclosure is not limited thereto. The general map and / or the accurate map can be a high-density (HD) map, which can include various road data required for autonomous driving, including, for example, lanes (e.g., number and direction of lanes), traffic lights (e.g., location and status of traffic lights), signs (e.g., location and status of road signs), road conditions (e.g., potholes, bumps, road texture), traffic flow (e.g., traffic density, speed, pattern), obstacle and hazard information (e.g., construction zones, debris, pedestrians), locations of crosswalks and pedestrian paths, layouts of intersections, and roadside features (e.g., obstacles, guardrails, sidewalks, boundaries). For example, a grid map can be used and can include a representation of a physical space in which an area can be divided into a uniform grid of cells or squares, where each cell corresponds to a specific location in the real world. Each cell in the grid can contain data or attributes, such as whether the area is occupied, free, or has certain features such as elevation or cost. The simplicity of the grid structure makes it more amenable to processing and / or applying algorithms to movement, exploration, and mapping in 2D and 3D environments.

[0115] For example, the general map 130 can include relatively summary road information (or geographic information) than the accurate map 135. For example, the accurate map 135 can include relatively more detailed information than the general map 130. As an example, the accurate map 135 can include curvatures of roads, elevation changes, locations of buildings, and / or structures of buildings.

[0116] For example, the general map 130 can be represented as a global path in which IDs (identifiers) of roads are connected. For example, the precise map 135 can be represented as a set of precise map IDs (or lane IDs) corresponding to the IDs of the roads, respectively.

[0117] For example, the start and end points (or one end and the other end) of the road divided using the general map 130 can be different from the start and end points of the road divided using the precise map 135. For example, the vehicle control device 100 can control the vehicle according to the precise path (or local path) obtained using the precise map 135 within the road divided using the general map 130. For example, the global path can include one or more local maps.

[0118] The vehicle control device 100 can identify an input indicating a destination of the vehicle. The vehicle control device 100 can identify a global path from a current location of the vehicle to the destination of the vehicle. The vehicle control device 100 can obtain a general map 130 corresponding to the global path from an external server providing a navigation service via a communication circuit.

[0119] For example, the vehicle control device 100 can obtain a precise map 135 corresponding to the global path. For example, the vehicle control device 100 can obtain the precise map 135 using a sensor including a LIDAR. The vehicle control device 100 can identify a plurality of precise paths included in the global path using the precise map 135. For example, the plurality of precise paths can be referred to as a plurality of precise map IDs indicating at least one path included in a travel path of the vehicle. The plurality of precise map IDs can include identification information identifying each precise path. The vehicle control device 100 can use information of various sensors (e.g., a camera, a LIDAR, a RADAR, a blind spot monitoring sensor, a lane departure warning sensor, a parking sensor, a light sensor, a rain sensor, a traction control sensor, an anti-lock braking system sensor, a tire pressure monitoring sensor, a seat belt sensor, an airbag sensor, a fuel sensor, an exhaust sensor, a throttle position sensor, etc.) for, for example, automatic driving control of the vehicle.

[0120] The vehicle control device 100 can select at least one precise path from among the plurality of precise paths related to the global path using the precise map 135 as the vehicle travels along the global path.

[0121] The vehicle control device 100 can select at least one precise path from among the plurality of precise paths based on the execution of the path matching module 140 while the vehicle is traveling along the global path. The vehicle control device 100 can use the coordinates of the ordinary map and the coordinates of the precise map to select at least one precise path that matches the global path. The operation of the vehicle control device 100 to map the ordinary map and the precise map using the coordinates of the ordinary map and the coordinates of the precise map will be described later with reference to FIG. 6. Figures 2 to 4 A more detailed description will be made.

[0122] For example, the vehicle control device 100 can control the vehicle using at least one selected precise path. For example, the vehicle control device 100 can control the vehicle using an autonomous driving module and / or an advanced driver assistance system (ADAS). The operational control for autonomous driving of the vehicle can include various driving controls (e.g., acceleration, deceleration, steering control, shift control, brake system control, traction control, stability control, cruise control, lane-keeping assistance control, collision avoidance system control, emergency brake assist control, traffic sign recognition control, adaptive headlight control, etc.) of the vehicle by the vehicle control device.

[0123] According to the Society of Automotive Engineers (SAE), the automation level of an autonomous vehicle can be classified as follows. At the autonomous driving level 0, the SAE classification criteria can correspond to “non-automated,” in which the autonomous driving system is involved in emergency situations (e.g., automatic emergency braking) on a temporary basis and / or provides warnings (e.g., blind spot warnings, lane departure warnings, etc.) only, and the driver is expected to operate the vehicle. At the autonomous driving level 1, the SAE classification criteria can correspond to “driver assistance,” in which the system performs certain driving functions (e.g., steering, acceleration, braking, lane centering, adaptive cruise control, etc.) while the driver operates the vehicle in the normal operating band, and the driver is expected to determine the operating status and / or timing of the system, perform other driving functions, and respond to (e.g., resolve) emergency situations. At the autonomous driving level 2, the SAE classification criteria can correspond to “partial automation,” in which the system performs steering, acceleration, and / or braking under the supervision of the driver, and the driver is expected to determine the operating status and / or timing of the system, perform other driving functions, and respond to (e.g., resolve) emergency situations. At the autonomous driving level 3, the SAE classification criteria can correspond to “conditionally automated,” in which the system drives the vehicle (e.g., performs driving functions such as steering, acceleration, and / or braking) under limited conditions, but transfers driving control to the driver when the required conditions are not met, and the driver is expected to determine the operating status and / or timing of the system, take control in emergency situations, but does not otherwise operate the vehicle (e.g., steering, acceleration, and / or braking). At the autonomous driving level 4, the SAE classification criteria can correspond to “high automation,” in which the system performs all driving functions, and the driver is expected to control the vehicle only in emergency situations. At the autonomous driving level 5, the SAE classification criteria can correspond to “full automation,” in which the system performs full driving functions without any assistance from the driver, including in emergency situations, and the driver is not expected to perform any driving functions other than determining the operating status of the system. Although the present disclosure can apply the SAE classification criteria to autonomous driving classification, other classification methods and / or algorithms can be used in one or more configurations described herein. One or more features associated with autonomous driving control can be activated based on a configured autonomous driving control setting (e.g., based on at least one of: an autonomous driving classification, a selection of an autonomous driving level of the vehicle, etc.).

[0124] As described above, the vehicle control device 100 can map the global path and at least one precise path. The vehicle control device 100 can identify at least one precise path among a plurality of precise paths when the vehicle travels along the global path.

[0125] For example, the vehicle control device 100 can identify a matching table for matching the general map with the precise map. For example, the matching table can include information about mapping one or more general map IDs and precise map IDs included in the global path. For example, when the vehicle travels along the global path, the vehicle control device 100 can control the travel of the vehicle by using the matching table with the precise map IDs corresponding to the one or more general map IDs.

[0126] For example, the vehicle control device 100 can identify at least one precise path mapped to the global path by bypassing the use of the matching table based on the execution of the path matching module 140, thereby controlling the vehicle. For example, the vehicle control device 100 can match the general map with the precise map while the vehicle travels without the need to reconfigure (or update) the matching table according to the update of the general map or the precise map. The vehicle control device 100 can reduce the time and / or resources for updating the matching table by not updating the matching table.

[0127] Figure 2 An example for describing the operation of the vehicle control device for matching the general map with the precise map is illustrated. Figure 2 The vehicle control device 100 of Figure 1 The vehicle control device 100 of Figure 2 Referring to

[0128] Referring to Figure 2 The vehicle control device 100 can identify a global path 210 along which the vehicle will travel using the general map 130. For example, the vehicle control device 100 can identify the global path 210 by obtaining the general map 130 according to the travel direction of the vehicle.

[0129] For example, the global path 210 can include information about the current location of the vehicle and the destination of the vehicle. For example, the global path 210 can correspond to a road ID of at least one road included in a plurality of roads between the current location of the vehicle and the destination of the vehicle. However, the present disclosure is not limited thereto.

[0130] While the vehicle travels along the global path 210, the vehicle control device 100 can select at least one precise path among a plurality of precise paths related to the global path 210 using the precise map 135 corresponding to the global path 210. For example, the plurality of precise paths can represent candidate paths for selecting at least one precise path for controlling the vehicle.

[0131] For example, if a difference between the direction 211 of the global path (or the general map 130) 210 and the directions 221, 231 of the plurality of precise paths (or the precise map 135) is within a designated range, the vehicle control device 100 can identify the direction 211 of the global path 210 and the directions 221, 231 as the same direction.

[0132] The vehicle control device 100 can identify the coordinates of the general map 130. The vehicle control device 100 can identify the coordinates of each of the plurality of precise paths. The vehicle control device 100 can select at least one precise path using a difference between the coordinates of the general map 130 and the coordinates of each of the plurality of precise paths.

[0133] The vehicle control device 100 can identify one or more coordinates 212, 213, 214, 215, 216 included in the general map 130 (or the global path 210). For example, the vehicle control device 100 can identify the coordinates of each of the plurality of precise paths using the precise map 135. For example, the vehicle control device 100 can match the one or more coordinates 212, 213, 214, 215, 216 to the plurality of precise paths, respectively. The vehicle control device 100 can match the one or more coordinates 212, 213, 214, 215, 216 to the plurality of precise paths, respectively, thereby identifying a difference between the one or more coordinates 212, 213, 214, 215, 216 and the coordinates of each of the precise paths.

[0134] For example, the vehicle control device 100 can match the coordinates 212 of the global path 210 to the first precise path 220. The vehicle control device 100 can identify a difference (e.g., d1 in Equation 1) between the coordinates 212-1 matched to the first precise path 220 and at least one of the one or more coordinates 222, 223, 224 included in the first precise path 220 (e.g., the coordinates 222). Figure 2 Likewise, the vehicle control device 100 can match the coordinates 213, 214 of the global path 210 to the first precise path 220. The vehicle control device 100 can identify a difference (e.g., d2 or d3 in Equation 2) between each of the coordinates 213-1, 214-1 matched to the first precise path 220 and at least one of the one or more coordinates 222, 223, 224 included in the first precise path 220 (e.g., at least one of the coordinates 223, 224). Figure 2

[0135] For example, the vehicle control device 100 can select a difference between the coordinates in the plurality of precise paths by using a cost function (e.g., Equation 3). Figure 2 ​d1, d2, and / or d3) that minimizes the cost function. The cost function can be expressed as Equation 1.

[0136] [Equation 1]

[0137] F = d1 + d2 + d3

[0138] Referring to Equation 1, F can denote the cost function. The cost function can be used to identify an accurate map (or an accurate path) in which a difference between positions is minimized. d1 can denote a difference between the coordinate 212-1 and the coordinate 222. d2 can denote a difference between the coordinate 213-1 and the coordinate 223. d3 can denote a difference between the coordinate 214-1 and the coordinate 224. For example, the vehicle control device 100 can calculate the cost function for each of a plurality of accurate paths, and then select at least one accurate path whose cost function has a minimum value. For example, a difference between the coordinate 222 and the coordinate 212-1 included in the first accurate path 220 can have a minimum value.

[0139] For example, since a difference between the coordinate 222 and the coordinate 212-1 included in the first accurate path 220 is smaller than a difference between the coordinate 235 and the coordinate 215-1 included in the second accurate path 230, the vehicle control device 100 can select the first accurate path 220 among the first accurate path 220 and the second accurate path 230. However, the present disclosure is not limited thereto.

[0140] For example, the vehicle control device 100 can select at least one accurate path using other equations than Equation 1. The other equations can relate to an error rate.

[0141] The global path 210 can correspond to one or more accurate paths when the vehicle travels. For example, the vehicle control device 100 can identify a second accurate path 230 among a plurality of accurate paths.

[0142] The vehicle control device 100 can match the coordinates 215, 216 with the second accurate path 230. The vehicle control device 100 can identify a difference (e.g., d4 and d5) between the matched coordinates 215-1, 216-1 and the coordinates 235, 236 included in the second accurate path 230. Figure 2 The vehicle control device 100 can identify a difference between the coordinates 215, 216 and each of a plurality of accurate paths. If the difference (e.g., d4 and d5) related to the second accurate path 230 has a minimum value, the vehicle control device 100 can control the vehicle using the second accurate path 230. However, the present disclosure is not limited thereto. Figure 3

[0143] ​As described above, the vehicle control device 100 can identify a global path having a direction corresponding to a traveling direction of the vehicle and a plurality of precise paths. The vehicle control device 100 can match a first set of coordinates included in the global path with each of the plurality of precise paths. The vehicle control device 100 can identify a difference between the first set of coordinates matched with each of the plurality of precise paths and a second set of coordinates included in each of the plurality of precise paths. The vehicle control device 100 can identify at least one precise path corresponding to a difference having a minimum value among the differences between the first set of coordinates and the second set of coordinates using a cost function. The vehicle control device 100 can identify the at least one precise path for controlling the vehicle when the vehicle travels along the global path. The vehicle control device 100 can obtain the at least one precise path by matching the general map 130 with the precise map 135 using the coordinates for more precisely controlling the vehicle.

[0144] Figure 3 An example for describing an operation of a vehicle control device identifying a precise path corresponding to a curved path is illustrated. Figure 1 The vehicle control device 100 of Figure 3 The vehicle control device 100 of Figure 3 An example 300 for mapping a general map 130 including a curved path with a precise map 135 is illustrated with reference to

[0145] With reference to Figure 2 If the global path includes the curved path 313, the vehicle control device 100 can identify a first global straight path 311 connected to one end of the curved path 313 and a second global straight path 315 connected to the other end of the curved path 313. The first global straight path 311, the second global straight path 315, and / or the curved path 313 can be included in the global path (e.g., the global path 210 in Figure 4

[0146] The vehicle control device 100 can select a first precise straight path 321 corresponding to the first global straight path 311 and a second precise straight path 325 corresponding to the second global straight path 315 among the plurality of precise paths by using the first global straight path 311 and the second global straight path 315.

[0147] ​For example, the vehicle control device 100 can match the coordinates 312 included in the first global straight path 311 with the first precise straight path 321. The vehicle control device 100 can identify a difference between the coordinates 312-1 matched with the first precise straight path 321 and the coordinates 322 included in the first precise straight path 321. If the identified coordinates have a minimum value, the vehicle control device 100 can map the first global straight path 311 and the first precise straight path 321. The vehicle control device 100 can use the first precise straight path 321 to control the vehicle while the vehicle travels along the first global straight path 311.

[0148] For example, the vehicle control device 100 can map the coordinates 316, 317 included in the second global straight path 315 to the second precise straight path 325. For example, the vehicle control device 100 can identify a difference between the coordinates 316-1, 317-1 mapped to the second precise straight path 325 and the coordinates 326, 327 included in the second precise straight path 325. If the identified difference has a minimum value (for example, if an error rate has a minimum value), the vehicle control device 100 can map the second global straight path 315 and the second precise straight path 325.

[0149] For example, the vehicle control device 100 can identify a precise curved path 330 connected to the first precise straight path 321 and the second precise straight path 325 among the precise paths based on identifying the first precise straight path 321 and the second precise straight path 325. The vehicle control device 100 can map the precise curved path 330 to the curved path 313. That is, the precise curved path 330 can correspond to the curved path 313.

[0150] For example, one end of the precise curved path 330 can be connected to the first precise straight path 321. The other end of the precise curved path 330 can be connected to the second precise straight path 325. Since the road is connected, the vehicle control device 100 can obtain the precise curved path 330 by identifying the first precise straight path 321 and the second precise straight path 325.

[0151] As described above, the vehicle control device 100 can identify the curved path 313 included in the general map 130. In the case of the curved path, since the curvature of the road can be different from the curvature of the lane, the vehicle control device 100 can avoid identification of the curved precise path using the coordinates of the curved path. The vehicle control device 100 can identify the precise straight paths mapped to the straight paths, respectively, using the straight paths connected to the curved path.

[0152] For example, since roads are connected, the vehicle control device 100 can obtain a curved precise path corresponding to a curved path using a precise straight path. The vehicle control device 100 can reduce the amount of calculation for mapping the ordinary map 130 and the precise map 135 by using coordinates of a straight path related to a curved path instead of using coordinates of a curved path.

[0153] Figure 4 An example for describing an operation of a vehicle control device identifying a precise path corresponding to a branch path is illustrated. Figure 1 The vehicle control device 100 of FIG. 1 can refer to Figure 4 The vehicle control device 100 of FIG. 1. Referring to Figure 5 An example 400 for mapping the ordinary map 130 and the precise map 135 including a branch path is illustrated.

[0154] In one example 400, if the global path 411 includes a branch path (e.g., a first global branch path 414 and a second global branch path 415), the vehicle control device 100 can identify an ordinary map branch point 450 using the ordinary map 130.

[0155] The vehicle control device 100 can identify a precise map branch point 455 before the ordinary map branch point using the precise map 135. The precise map branch point 455 before the ordinary map branch point 450 can match a position of the vehicle before the ordinary map branch point 450 when the vehicle travels along a travel path (or a global path) of the vehicle. However, the present disclosure is not limited thereto. For example, the precise map branch point 455 can be located at a position more rearward than the ordinary map branch point 450. The precise map branch point 455 and the ordinary map branch point 450 can be defined according to preset values, respectively.

[0156] For example, the ordinary map branch point 450 can represent a branch of a road, and the precise map branch point 455 can represent a branch of a relatively more precise level (e.g., a lane) than the ordinary map, so that the precise map branch point 455 can be located before the ordinary map branch point 450. However, the present application is not limited thereto. For example, if the precise map 135 has a higher resolution than the ordinary map 130, a branched road can be represented before the ordinary map 130, and thus, the precise map branch point 455 can precede the ordinary map branch point 450. For example, the ordinary map branch point 450 can be located at the same position as the precise map branch point 455, or can precede the precise map branch point 455. That is, the vehicle control device 100 can map the ordinary map 130 and the precise map 135 independently of the relative position of the precise map branch point 455 with respect to the position of the ordinary map branch point 450. The vehicle control device 100 can identify the first section 410 and the second section 440 based on the ordinary map branch point 450.

[0157] For example, the first section 410 can include a portion of the global path 411 located before the ordinary map branch point 450. The second section 440 can include a portion of the global path 411 located after the ordinary map branch point 450 (or a branched path). However, the present application is not limited thereto.

[0158] The vehicle control device 100 can identify the first precise branch path 420 and the second precise branch path 430 that are separated (or merged) at the precise map branch point 455.

[0159] For example, the vehicle control device 100 can identify coordinates 412 of the global path 411 located before (or after) the ordinary map branch point 450 while the vehicle is traveling. For example, the vehicle control device 100 can identify coordinates 421 of the first precise branch path 420 and coordinates 431 of the second precise branch path 430. For example, the vehicle control device 100 can select at least one of the first precise branch path 420 and the second precise branch path 430 using a difference between the coordinates 412 and the coordinates 421 and a difference between the coordinates 421 and the coordinates 431.

[0160] For example, the vehicle control device 100 can map the coordinates 412 included in the first section 410 to the first precise branch path 420 and the second precise branch path 430, respectively. The vehicle control device 100 can identify a first difference between the coordinates mapped to the first precise branch path 420 and the coordinates 421 included in the first precise branch path 420. The vehicle control device 100 can identify a second difference between the coordinates mapped to the second precise branch path 430 and the coordinates 431 included in the second precise branch path 430. The vehicle control device 100 can use the first difference and the second difference to identify the precise map 135 in the first section 410 to be mapped to the general map 130 (or the global path 411). If the first difference is smaller than the second difference, the vehicle control device 100 can use the first precise branch path 420 in the first section 410 to control the vehicle. If the second difference is smaller than the first difference, the vehicle control device 100 can use the second precise branch path 430 in the first section 410 to control the vehicle. However, the present application is not limited thereto.

[0161] The vehicle control device 100 can identify the first global branch path 414 and the second global branch path 415 separated (or merged) at the general map branch point 450 in the global path 411. The first global branch path 414 and the second global branch path 415 can be included in the second section 440. For example, the vehicle control device 100 can select at least one of the first precise branch path 420 and the second precise branch path 430 using at least one of the first global branch path 414, the second global branch path 415, the first precise branch path 420, or the second precise branch path 430, or any combination thereof. The vehicle control device 100 can map the precise map 135 and the general map 130 using the selected at least one branch path.

[0162] For example, the vehicle control device 100 can perform the operations of mapping the general map 130 and the precise map 135 in the first section 410 and mapping the general map 130 and the precise map 135 in the second section 440 in parallel. The vehicle control device 100 can identify a precise path corresponding to a travel path of the vehicle along which the vehicle travels, along the global path 411, by using a result of mapping performed in the first section 410 and a result of mapping performed in the second section 440. However, the present application is not limited thereto. For example, the result of mapping can include information about the precise path mapped to the global path 411.

[0163] As described above, if a branch path is identified, the vehicle control device 100 can determine whether to map the branch paths (e.g., the first global branch path 414 and the second global branch path 415) that are separated (or merged) at the ordinary map branch point 450 to the precise branch paths, respectively. The vehicle control device 100 can more accurately obtain the precise paths mapped to the travel path (or the global path 411) of the vehicle by using the mapping results of the ordinary map 130 and the precise map 135 performed in the section (e.g., the first section 410) before the ordinary map branch point 450 and the mapping results of the ordinary map 130 and the precise map 135 performed in the section (e.g., the second section 440) after the ordinary map branch point 450.

[0164] Figure 1 An example of a flowchart showing operations of a vehicle control device is illustrated. Hereinafter, it is assumed that the vehicle control device 100 performs the processes of Figure 5 Figure 5 Figure 5 In addition, in the description of Figure 6 the operations in the above-described

[0165] In operation S510, the vehicle control device can identify a global path along which the vehicle is to travel using an ordinary map.

[0166] For example, the vehicle control device can identify a global path from a current location of the vehicle to a destination of the vehicle in response to an input indicating the destination of the vehicle. Based on identifying the global path, the vehicle control device can obtain a plurality of precise paths to be used for controlling the vehicle along the global path using a precise map.

[0167] In operation S520, when the vehicle travels along the global path, the vehicle control device can select at least one precise path of the plurality of precise paths related to the global path using the precise map corresponding to the global path.

[0168] For example, the vehicle control device can select at least one precise path of the plurality of precise paths using a decision logic for comparing a plurality of coordinates of the global path and a plurality of coordinates of the plurality of precise paths. The decision logic can refer to a designated function.

[0169] For example, the vehicle control device can identify at least one precise path using a difference between coordinates of each of the plurality of precise paths and coordinates included in a portion of the global path.

[0170] ​​The vehicle control device can select at least one precise path using a difference between the first set of coordinates of the general map and the second set of coordinates of the plurality of precise paths. For example, the vehicle control device can select at least one precise path for which a value of decision logic (e.g., a cost function) has a minimum value using a difference between the first set of coordinates and each coordinate of the second set of coordinates. For example, the vehicle control device can identify the difference between the first set of coordinates and each coordinate of the second set of coordinates by matching the first set of coordinates with each of the plurality of precise paths. For example, if the global path includes a curved path, the vehicle control device can stop matching the first set of coordinates of the general map with the curved path.

[0171] For example, if the global path includes a curved path, the vehicle control device can identify a precise straight path corresponding to a straight path by bypassing a coordinate of the curved path using the coordinate of the straight path connected to the curved path, instead of identifying a precise curved path using the coordinate of the curved path. The vehicle control device can identify a precise curved path connected to the precise straight path using the precise straight path.

[0172] For example, if the global path includes a branched path, the vehicle control device can compare a coordinate of each branched path with a coordinate of each precise branched path to identify a branched path matching a travel path of the vehicle and a precise branched path corresponding to the branched path.

[0173] In operation S530, the vehicle control device can control the vehicle using at least one precise path. The vehicle control device can control the vehicle based on a driver assistance system. However, the present disclosure is not limited thereto.

[0174] Based on an update of the general map and / or the precise map, the vehicle control device as described above can map the general map and the precise map by comparing the coordinates of the general map and the coordinates of the precise map according to a travel path of the vehicle without the need to update the matching table.

[0175] Figure 6 A computing system related to the vehicle control device or the vehicle control method is illustrated.

[0176] Reference ​ The computing system 1000 can 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 connected to each other via a bus 1200.

[0177] The processor 1100 can be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 can include various types of volatile or non-volatile storage media. For example, the memory 1300 can include read-only memory (ROM) and random access memory (RAM).

[0178] Accordingly, the operations of the methods or algorithms described herein can be implemented in hardware or software modules executed by the processor 1100, or a combination thereof. The software modules can exist in a storage media, such as the memory 1300 and / or the storage 1600, which is read by the processor 1100. The storage media can be removable or non-removable.

[0179] The exemplary storage media can be coupled to the processor 1100, which can read information from, and can record information to, the storage media. Alternatively, the storage media can be integral to the processor 1100. The processor and the storage media can reside in an application-specific integrated circuit (ASIC). The ASIC can reside in a user terminal. In another scenario, the processor and the storage media can reside as discrete components in a user terminal.

[0180] According to an aspect of the present application, a vehicle control device can include a processor and a memory. The processor can identify a global path along which a vehicle is to travel using a general map, identify a plurality of precise paths related to the global path using a precise map corresponding to the global path as the vehicle travels along the global path, select at least one precise path of the plurality of precise paths using decision logic for comparing a plurality of coordinates of the global path and a plurality of coordinates of the plurality of precise paths, and control the vehicle using the at least one precise path.

[0181] According to an embodiment, the processor can identify a first set of coordinates of the general map, identify a second set of coordinates of the plurality of precise paths, and select the at least one precise path having a minimum value of the decision logic using a difference between each coordinate of the first set of coordinates and the second set of coordinates.

[0182] According to an embodiment, the processor can identify the difference between each coordinate of the first set of coordinates and the second set of coordinates by matching the first set of coordinates with each precise path of the plurality of precise paths.

[0183] According to an embodiment, if the global path includes a curved path, the processor can stop matching the first set of coordinates with the curved path.

[0184] According to an embodiment, if the global path includes a curved path, the processor can identify a first global straight path connected to one end of the curved path and a second global straight path connected to the other end of the curved path, and select a first precise straight path corresponding to the first global straight path and a second precise straight path corresponding to the second global straight path in the precise path using the first global straight path and the second global straight path.

[0185] According to an embodiment, the processor can select a precise curved path connected to the first precise straight path and the second precise straight path from among the plurality of precise paths, the precise curved path corresponding to the curved path.

[0186] According to an embodiment, if the global path includes a branched path, the processor can identify a general map branch point using the general map, identify a precise map branch point different from the general map branch point using the precise map, and identify a first precise branch path and a second precise branch path separated at the precise map branch point.

[0187] According to an embodiment, the processor can identify a fourth set of coordinates of the global path while the vehicle is traveling, identify a fifth set of coordinates of the first precise branch path and a sixth set of coordinates of the second precise branch path, and select at least one of the first precise branch path and the second precise branch path using a difference between the fourth set of coordinates and the fifth set of coordinates and a difference between the fourth set of coordinates and the sixth set of coordinates.

[0188] According to an embodiment, the processor can identify a first global branch path and a second global branch path separated at the general map branch point in the global path, select at least one of the first precise branch path and the second precise branch path using at least one of the first global branch path, the second global branch path, the first precise branch path, or the second precise branch path, or any combination thereof.

[0189] According to an embodiment, the processor can identify a global path from a current location of the vehicle to a destination of the vehicle in response to an input indicating the destination of the vehicle, and obtain a plurality of precise paths to be used to control the vehicle along the global path using the precise map based on identifying the global path.

[0190] According to an aspect of the present disclosure, a vehicle control method can include identifying a global path along which a vehicle is to travel using a general map, identifying a plurality of precise paths related to the global path using a precise map corresponding to the global path while the vehicle travels along the global path, selecting at least one precise path from among the plurality of precise paths using decision logic for comparing a plurality of coordinates of the global path and a plurality of coordinates of the plurality of precise paths, and controlling the vehicle using the at least one precise path.

[0191] According to an embodiment, selecting the at least one of the plurality of precise paths can include identifying a first set of coordinates of the general map, identifying a second set of coordinates of the plurality of precise paths, and using a difference between the first set of coordinates and the second set of coordinates to select the at least one of the precise paths having a minimum value of the decision logic.

[0192] According to an embodiment, selecting the at least one of the plurality of precise paths can include identifying a difference between the first set of coordinates and each of the second set of coordinates by matching the first set of coordinates with each of the plurality of precise paths.

[0193] According to an embodiment, selecting the at least one of the plurality of precise paths can include stopping matching the first set of coordinates with the curved path if the global path includes the curved path.

[0194] According to an embodiment, selecting the at least one of the plurality of precise paths can include, if the global path includes the curved path, identifying a first global straight path connected to one end of the curved path and a second global straight path connected to the other end of the curved path, and selecting, in the precise paths, a first precise straight path corresponding to the first global straight path and a second precise straight path corresponding to the second global straight path using the first global straight path and the second global straight path.

[0195] According to an embodiment, selecting the first precise straight path and the second precise straight path can include selecting, from the plurality of precise paths, a precise curved path connected to the first precise straight path and the second precise straight path, the precise curved path corresponding to the curved path.

[0196] According to an embodiment, selecting the at least one of the plurality of precise paths can include, if the global path includes the branched path, identifying a general map branch point using the general map, identifying a precise map branch point different from the general map branch point using the precise map, and identifying a first precise branch path and a second precise branch path separated at the precise map branch point.

[0197] According to an embodiment, identifying the first precise branch path and the second precise branch path can include identifying a fourth set of coordinates of the global path while the vehicle travels, identifying a fifth set of coordinates of the first precise branch path and a sixth set of coordinates of the second precise branch path, and using a difference between the fourth set of coordinates and the fifth set of coordinates and a difference between the fourth set of coordinates and the sixth set of coordinates to select at least one of the first precise branch path and the second precise branch path.

[0198] According to an embodiment, identifying the first precise branch path and the second precise branch path can include identifying a first global branch path and a second global branch path that are separated at a common map branch point in the global path, and selecting at least one of the first precise branch path and the second precise branch path using at least one of the first global branch path, the second global branch path, the first precise branch path, or the second precise branch path, or any combination thereof.

[0199] According to an embodiment, identifying the global path can include identifying the global path from a current location of the vehicle to a destination of the vehicle in response to an input indicating the destination of the vehicle, and obtaining a plurality of precise paths to be used to control the vehicle along the global path using the precise map based on identifying the global path.

[0200] The above description is merely an illustration of the technical idea of the present application, and those skilled in the art to which the present application pertains can make various modifications and changes without departing from the essential characteristics of the present application.

[0201] Therefore, one or more exemplary embodiments disclosed in the present application are not intended to limit the technical idea of the present application, but to describe the present application, and the scope of the technical idea of the present application is not limited by the exemplary embodiments. The scope of protection of the present application should be interpreted by the appended claims, and all technical ideas equivalent thereto should be understood to be within the scope of the present application.

[0202] The present technology aims to map a common map and a precise map.

[0203] The present technology aims to map a common map and a precise map independently of an update of the common map.

[0204] In addition, the present technology aims to map a common map and a precise map in real time using coordinates of the common map while a vehicle travels.

[0205] In addition, various effects that can be directly or indirectly understood through the present application can be provided.

[0206] In the foregoing, while the present application has been described with reference to the exemplary embodiments and the accompanying drawings, the present application is not limited thereto, but various changes and modifications can be made by those skilled in the art to which the present application pertains without departing from the spirit and scope of the present application claimed by the appended claims.

Claims

1. A vehicle control device comprising: a processor; and a memory storing instructions configured to, when executed by the processor, cause the vehicle control device to: determine, based on a first map, a global path along which a vehicle is to travel; determine, based on a second map associated with the global path and while the vehicle is traveling along the global path, a plurality of local paths associated with the global path, wherein the second map has a higher accuracy than the first map; select, based on a comparison between a plurality of coordinates of the global path and a plurality of coordinates of the plurality of local paths, at least one local path of the plurality of local paths; control the vehicle based on the at least one local path. the instructions are configured to, when executed by the processor, cause the vehicle control device to select the at least one local path by:

2. The vehicle control device according to claim 1, wherein determining a first set of coordinates of the first map; determining a second set of coordinates of the plurality of local paths; selecting the at least one local path, wherein the at least one local path has a minimum cost value determined based on a difference between each coordinate of the first set of coordinates and the second set of coordinates. the instructions are configured to, when executed by the processor, cause the vehicle control device to determine the difference between each coordinate of the first set of coordinates and the second set of coordinates by matching the first set of coordinates with each local path of the plurality of local paths.

3. The vehicle control device according to claim 2, wherein the instructions are configured to, when executed by the processor, cause the vehicle control device to select the at least one local path by stopping matching the first set of coordinates with a curved path based on the global path including the curved path.

4. The vehicle control device according to claim 3, wherein the instructions are configured to, when executed by the processor, cause the vehicle control device to select the at least one local path by:

5. The vehicle control device according to claim 1, wherein determining, based on the global path including a curved path, a first global straight path connected to a first end of the curved path and a second global straight path connected to a second end of the curved path; selecting, in the local paths, a first local straight path corresponding to the first global straight path and a second local straight path corresponding to the second global straight path. the instructions are configured to, when executed by the processor, further cause the vehicle control device to select, from the plurality of local paths, a local curved path corresponding to the curved path and connected to the first local straight path and the second local straight path.

6. The vehicle control device according to claim 5, wherein the instructions are configured to, when executed by the processor, further cause the vehicle control device to:

7. The vehicle control device according to claim 1, wherein determine, based on the global path including a branched path, a first map branch point of the first map; determine, based on the second map, a second map branch point of the second map different from the first map branch point; determine a first local branch path and a second local branch path separated at the second map branch point. the instructions are configured to, when executed by the processor, cause the vehicle control device to select the at least one local path by:

8. The vehicle control device according to claim 7, wherein determining, while the vehicle is traveling along the global path, a first set of coordinates of the global path; determining a second set of coordinates of the first local branch path; determining a third set of coordinates of the second local branch path; selecting at least one branch path of the first local branch path or the second local branch path based on a difference between the first set of coordinates and the second set of coordinates and based on a difference between the first set of coordinates and the third set of coordinates. ​ 9. The vehicle control device according to claim 7, wherein The instructions are configured to, when executed by the processor, cause the vehicle control device to select the at least one local path by: determining a first global branch path and a second global branch path that split at a first map branch point in the global path; selecting at least one of the first local branch path or the second local branch path based on at least one of the first global branch path, the second global branch path, the first local branch path, or the second local branch path.

10. The vehicle control device according to claim 1, wherein The instructions are configured to, when executed by the processor, cause the vehicle control device to determine the global path by: determining a global path from a current location of the vehicle to a destination of the vehicle based on an input representing the destination of the vehicle.

11. A vehicle control method performed by a device associated with a vehicle, the vehicle control method comprising: determining a global path along which the vehicle is to travel based on a first map; determining a plurality of local paths associated with the global path based on a second map associated with the global path and while the vehicle is travelling along the global path, wherein the second map has a higher accuracy than the first map; selecting at least one local path of the plurality of local paths based on a comparison between a plurality of coordinates of the global path and a plurality of coordinates of the plurality of local paths; controlling the vehicle based on the at least one local path.

12. The vehicle control method according to claim 11, wherein Selecting the at least one local path of the plurality of local paths comprises: determining a first set of coordinates of the first map; determining a second set of coordinates of the plurality of local paths; selecting the at least one local path, wherein the at least one local path has a minimum cost value determined based on a difference between each coordinate of the first set of coordinates and the second set of coordinates.

13. The vehicle control method according to claim 12, wherein Selecting the at least one local path of the plurality of local paths comprises determining the difference between each coordinate of the first set of coordinates and the second set of coordinates by matching the first set of coordinates with each local path of the plurality of local paths.

14. The vehicle control method according to claim 13, wherein Selecting the at least one local path of the plurality of local paths comprises stopping matching the first set of coordinates with a curved path based on the global path comprising the curved path.

15. The vehicle control method according to claim 11, wherein Selecting the at least one local path of the plurality of local paths comprises: determining a first global straight path connected to a first end of a curved path and a second global straight path connected to a second end of the curved path based on the global path comprising the curved path; selecting a first local straight path corresponding to the first global straight path and a second local straight path corresponding to the second global straight path in the local paths.

16. The vehicle control method according to claim 15, wherein Selecting the first local straight path and the second local straight path comprises selecting a local curved path corresponding to the curved path and connected to the first local straight path and the second local straight path from the plurality of local paths.

17. The vehicle control method according to claim 11, wherein Selecting the at least one local path of the plurality of local paths comprises: determining a first map branch point of the first map based on the global path comprising a branch path; determining a second map branch point of the second map different from the first map branch point; determining a first local branch path and a second local branch path that split at the second map branch point.

18. The vehicle control method according to claim 17, wherein Selecting the at least one local path of the plurality of local paths comprises: determining a first set of coordinates of the global path; determining a second set of coordinates of the first local branch path; determining a third set of coordinates of the second local branch path; selecting at least one of the first local branch path or the second local branch path based on a difference between the first set of coordinates and the second set of coordinates and based on a difference between the first set of coordinates and the third set of coordinates.

19. The vehicle control method according to claim 17, wherein selecting at least one of the local paths comprises: determining a first global branch path and a second global branch path that diverge at a first map branch point in the global path; selecting at least one of the first local branch path or the second local branch path based on at least one of the first global branch path, the second global branch path, the first local branch path, or the second local branch path.

20. The vehicle control method according to claim 11, wherein determining the global path comprises: determining the global path from a current location of the vehicle to a destination of the vehicle based on an input representing the destination of the vehicle.

Images