Map generation device for autonomous driving

Abstract

A map generating device for autonomous driving is disclosed. This embodiment provides a map generating device for autonomous driving that, when generating a high-precision map for autonomous driving at a terminal, reflects the relative positions of fixed body markers of obstructed fixed bodies and mobile body markers corresponding to moving mobile bodies on the high-precision map based on the fixed positions of the fixed bodies, thereby improving the positioning accuracy of a vehicle that drives autonomously at a terminal.

Description

[Technical Field]

[0001] An embodiment of the present invention relates to a map generating device for autonomous driving. [Background technology]

[0002] The following description merely provides background information related to the present embodiment and does not constitute prior art.

[0003] An autonomous driving system is a system that can automatically drive to a pre-specified destination by recognizing the surrounding environment and vehicle status without the driver's intention. The autonomous driving system consists of the stages of recognition, judgment, route generation, and vehicle control. The route generation stage detects changes in obstacles and generates an avoidance route in real time, generating a route that reflects the vehicle's mechanical behavior characteristics.

[0004] In particular, in the route generation stage, when an autonomous vehicle attempts to change lanes in urban areas, congested sections, and highways that change in real time, various dangerous situations may occur, so a stable route must be generated taking into account collisions with surrounding dynamic obstacles. Therefore, research is ongoing to generate a route that enables an autonomous vehicle to change lanes stably.

[0005] Generally, an autonomous vehicle recognizes the boundary lines on both sides of a lane as it drives and drives along the center of the recognized boundary lines. The autonomous vehicle generates a candidate path within the lane, taking into account surrounding vehicles or obstacles, and selects a local path within the boundary line (the boundary line of the driving lane) to avoid collision with obstacles and ensure safety, and drives away from the center of the lane.

[0006] Generally, in order for an autonomous vehicle to travel in a specific area, it stores a high-precision map of the area and determines its own location by comparing the map with a recognized external identifier. However, if the external identifier is blocked by a structure in the specific area, it is difficult to accurately determine its own location. Summary of the Invention [Problem to be solved by the invention]

[0007] The present embodiment aims to provide a map generating device for autonomous driving that, when generating a high-precision map for autonomous driving at a terminal, reflects the relative positions of fixed body markers of obstructed fixed bodies and mobile body markers corresponding to moving mobile bodies on the high-precision map based on the fixed positions of the fixed bodies, thereby improving the positioning accuracy of a vehicle that drives autonomously at a terminal. [Means for solving the problem]

[0008] According to one aspect of this embodiment, there is provided a map generation device for autonomous driving, comprising: a fixed body base map generation unit that generates a first high-precision map to be reflected in autonomous driving based on fixed positions corresponding to fixed bodies; a first mobile body base map generation unit that recognizes a fixed body marker corresponding to the fixed body based on a first mobile body LIDAR equipped on a first mobile body and generates a second high-precision map to be reflected in autonomous driving; a second mobile body base map generation unit that recognizes a first mobile body marker corresponding to the first mobile body based on a second mobile body LIDAR equipped on a second mobile body and generates a third high-precision map to be reflected in autonomous driving; and an autonomous driving provision unit that transmits the second high-precision map to the first mobile body to be reflected in autonomous driving, and transmits the third high-precision map to the second mobile body to be reflected in autonomous driving.

[0009] According to another aspect of this embodiment, there is provided a map generation device for autonomous driving, comprising: an integrated map generation unit that reflects, on an integrated high-precision map for autonomous driving, fixed positions corresponding to fixed bodies, reflects fixed body positions based on fixed body markers corresponding to the fixed bodies recognized based on a first mobile body LIDAR equipped on a first mobile body, reflects the position of the first mobile body based on the first mobile body marker recognized based on a second mobile body LIDAR equipped on a second mobile body, and reflects the position of the second mobile body based on the second mobile body marker recognized based on the second mobile body LIDAR; and an autonomous driving provision unit that transmits the integrated high-precision map to the first mobile body and the second mobile body so that the integrated high-precision map is reflected in autonomous driving. [Effects of the Invention]

[0010] As described above, according to this embodiment, when a high precision map for autonomous driving is generated at a terminal, the relative positions of the fixed body markers of obstructed fixed bodies and the mobile body markers corresponding to moving mobile bodies are reflected on the high precision map based on the fixed positions of the fixed bodies, thereby improving the positioning accuracy of a vehicle driving autonomously at a terminal. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram for explaining an autonomous driving map generation system according to an embodiment of the present invention. [Figure 2a] 1 is a diagram schematically illustrating a map generation device for autonomous driving according to a first embodiment. [Figure 2b] FIG. 10 is a diagram schematically illustrating a map generation device for autonomous driving according to a second embodiment. [Figure 3] 2 is a diagram showing a fixed body, a first moving body, and a second moving body located in a terminal according to the present embodiment. FIG. [Figure 4] 1A to 1C are diagrams showing a first high-precision map, a second high-precision map, and a third high-precision map according to a first embodiment. [Figure 5] FIG. 10 is a diagram showing a high precision map according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] The present embodiment will be described in detail below with reference to the accompanying drawings.

[0013] FIG. 1 is a diagram for explaining an autonomous driving map generation system according to this embodiment.

[0014] The autonomous driving map generation system according to this embodiment includes a fixed body 110, a first moving body 120, a second moving body 130, and an autonomous driving map generation device 200. The components included in the autonomous driving map generation system are not necessarily limited to these.

[0015] The fixed body 110 includes a lighting tower and includes a fixed body beacon 112. The fixed body 110 includes a lighting tower. The fixed body 110 has fixed GPS latitude and longitude values.

[0016] A fixed body 110 (for example, a lighting tower) is located at the terminal. If the fixed body 110 is assumed to be a lighting tower, the lighting tower serves to illuminate the entire terminal. The fixed body 110 includes a fixed body sign 112.

[0017] The first moving body 120 includes a gantry crane or a mobile crane. The first moving body 120 moves slowly. A first moving body marker 122 that enables the position to be identified is attached to the first moving body 120.

[0018] The gantry crane and mobile crane included in the first moving body 120 can also travel autonomously based on the second high-precision map. The first moving body 120 determines its own position based on the fixed body marker 112 corresponding to the fixed body 110, and can travel autonomously based on the second high-precision map.

[0019] A gantry crane is a large crane with a supporting system. A gantry crane is a lifting device with a cantilevered girder and column that moves along rails or on wheels to transfer loads.

[0020] A gantry crane includes a tower, jib, and hoist (hoisting system). The tower refers to the column that supports the hoist. The jib is a device that extends the hoist as far as possible and protrudes horizontally from the hoist. The hoist refers to a device that moves along the jib and lifts and transfers cargo (containers) using cables, winches, and pulleys. The cargo refers to a standardized metal box, such as a container, used to transport cargo.

[0021] A transportable crane is a type of crane that can be moved to any location. This also includes a tower, jib, and hoist.

[0022] A gantry crane or mobile crane stacks the load to form a load block.

[0023] The second moving body 130 includes a yard truck, an external truck, and a reach stacker that can travel autonomously while towing a load. A second moving body marker 132 that can recognize the position is attached to the second moving body 130.

[0024] The second moving body 130 determines its own position by recognizing the fixed body beacon 112 of the fixed body 110 as the first priority and the first moving body beacon 122 of the first moving body 120 as the second priority.

[0025] The yard truck refers to an autonomous vehicle that transports cargo only within the terminal. The yard truck is coupled to a trailer and tows the trailer to transport the cargo. The trailer coupled to the yard truck is loaded with cargo. The yard truck travels with a second mobile object rider 134 attached for autonomous driving.

[0026] The yard truck travels between the stacked packages. The yard truck travels through the terminal autonomously. The yard truck determines its own position based on the markers recognized by the second mobile lidar 134 and travels autonomously.

[0027] For autonomous driving, the yard truck uses the second mobile-body lidar 134 to read the fixed-body marker 112 of the fixed body 110 at a fixed position. Based on the fixed-body marker 112 of the fixed body 110, the yard truck checks whether it matches an object on a high-precision map and drives autonomously.

[0028] For autonomous driving, the yard truck uses the second mobile unit lidar 134 to read the first mobile unit marker 122 of the second mobile unit 130. Based on the first mobile unit marker 122 of the first mobile unit 120, the yard truck checks whether it matches an object on a high-precision map and drives autonomously.

[0029] When the yard truck recognizes three or more fixed beacons 112 and first moving beacons 122 by comparing with the high-precision map, it determines its own position based on the three or more fixed beacons 112 and first moving beacons 122.

[0030] Therefore, when the yard truck drives autonomously through the terminal, it can do so without a GPS signal.

[0031] The yard truck receives a high-precision map of an area within a 5 km to 10 km radius of the terminal where the yard truck is traveling from the map generation device for autonomous traveling 200. The yard truck continuously receives high-precision maps from the map generation device for autonomous traveling 200 while traveling.

[0032] FIG. 2A is a diagram schematically illustrating a map generation device for autonomous driving according to a first embodiment.

[0033] Within the terminal, cargo is typically stacked in 5 to 8 layers using gantry cranes or mobile cranes. The process of stacking and moving cargo within the terminal is repeated as cargo is moved. Multiple cranes may be used to stack cargo blocks.

[0034] Therefore, the stacked luggage is removed in a preset unit (for example, one week) or stacked in a new form. The luggage blocks stacked in the terminal vary in shape and size depending on the number of layers and the number of items. There is a problem that the fixed sign 112 of the fixed lighting tower becomes invisible when luggage is stacked high.

[0035] The map generating device for autonomous driving 200 performs a tagging operation on objects located on the terminal that can become markers, and then assigns the markers to the objects. The map generating device for autonomous driving 200 transmits the markers to a vehicle autonomously driving through the terminal.

[0036] The map generating device for autonomous driving 200 reflects the positions of the first moving body 120 and the second moving body 130 on a high precision map, generates data that can be read by the second moving body 130, and transmits it to the second moving body 130.

[0037] The map generation device 200 for autonomous driving generates a first high-precision map based on the fixed positions, based on the fixed body marker 112 of the fixed body 110. The map generation device 200 for autonomous driving generates a second high-precision map based on the positions of the moving bodies, based on the first moving body marker 122 of the first moving body 120. The map generation device 200 for autonomous driving generates a third high-precision map based on the positions of the moving bodies, based on the second moving body marker 132 of the second moving body 130.

[0038] The map generation device for autonomous driving 200 recognizes the fixed body marker 112 of the fixed body 110 using the first mobile body LIDAR 124 provided on the first mobile body 120. In other words, the fixed body marker 112 of the fixed body 110 may be blocked by luggage being loaded at the terminal, but the map generation device for autonomous driving 200 recognizes the fixed body marker 112 of the fixed body 110 using the first mobile body LIDAR 124 provided on the first mobile body 120. The map generation device for autonomous driving 200 can determine the position of the first mobile body 120 based on the fixed body marker 112.

[0039] The map generation device 200 for autonomous driving reflects the position of the first moving body 120 on the second high-precision map. The map generation device 200 for autonomous driving uses the first moving body LIDAR 124 to recognize the fixed body marker 112 attached to the fixed body 110, and can accurately determine its own position.

[0040] In the map generating device for autonomous driving 200, since there are multiple first moving bodies 120 around a fixed body 110 at the terminal, the map generating device 200 uses a first moving body lidar 124 to recognize the fixed body marker 112, determine the position of the first moving body 120, and reflect the position of the first moving body 120 on a second high-precision map.

[0041] The map generating device 200 for autonomous driving uses the second moving body lidar 134 of the yard truck to recognize the second moving body marker 132 of the second moving body 130 to generate a third high-precision map, and can accurately locate the position of the yard truck using the third high-precision map.

[0042] The map generating device for autonomous driving 200 generates a high precision map by reflecting the first moving body sign 122 corresponding to the first moving body 120 and the second moving body sign 132 corresponding to the second moving body 130 in the database.

[0043] The map generating device 200 for autonomous driving locates the position of the second moving body 130, which is a yard truck, using the first moving body marker 122 corresponding to the first moving body 120 within the terminal, even if the fixed body marker 112 corresponding to the fixed body 110 is blocked by the loading of luggage at the terminal.

[0044] The map generating device 200 for autonomous driving generates a first-order high-precision map that is determined for each yard. The map generating device 200 for autonomous driving generates a first-order high-precision map that includes position information of the fixed-body markers 112 of the fixed bodies 110.

[0045] The map generation device 200 for autonomous driving recognizes the fixed body markers 112 of the fixed bodies 110 using the first mobile body lidar 124 provided on the first mobile body 120 (multiple luggage trailers) based on the primary high-precision map, and reflects this in the secondary high-precision map. The map generation device 200 for autonomous driving measures the position of the first mobile body 120 based on the fixed body markers 112, and then reflects the position of the first mobile body 120 in the secondary high-precision map.

[0046] The map generating device 200 for autonomous driving generates a second high precision map that reflects the positions of the fixed body 110 and the first moving body 120. The map generating device 200 for autonomous driving recognizes the first moving body marker 122 of the first moving body 120 using a second moving body LIDAR 134 provided on the second moving body 130 to determine the position of the second moving body 130.

[0047] The map generation device for autonomous driving 200 generates a third high precision map by reflecting the position of the second moving body 130 on the second high precision map.

[0048] The map generation device for autonomous driving 200 according to the first embodiment includes a fixed body base map generation unit 210, a first mobile body base map generation unit 220, a second mobile body base map generation unit 230, and an autonomous driving providing unit 240. The components included in the map generation device for autonomous driving 200 are not necessarily limited to these.

[0049] Each component included in the map generating device for autonomous driving 200 is connected to a communication path that connects software modules or hardware modules within the device, and can operate organically with each other. These components communicate with each other using one or more communication buses or signal lines.

[0050] Each component of the map generation device for autonomous driving 200 shown in FIG. 2A means a unit that processes at least one function or operation, and may be embodied as a software module, a hardware module, or a combination of software and hardware.

[0051] The fixed body base map generating unit 210 generates a first high precision map to be reflected in autonomous driving, based on the fixed positions corresponding to the fixed bodies 110.

[0052] The fixed body base map generating unit 210 generates a first high precision map that is reflected in autonomous driving by adding fixed positions corresponding to the fixed bodies 110 located on the terminal for each yard to the map.

[0053] The first mobile body base map generation unit 220 recognizes the fixed body sign 112 corresponding to the fixed body 110 based on the first mobile body lidar 124 provided on the first mobile body 120, and generates a secondary high-precision map to be reflected in autonomous driving.

[0054] The first mobile object base map generation unit 220 recognizes fixed object markers 112 corresponding to fixed objects 110 based on the first mobile object LIDAR 124. The first mobile object base map generation unit 220 recognizes obstructed fixed object markers 112 corresponding to fixed objects 110 obstructed by luggage loaded on the terminal based on the first mobile object LIDAR 124. The first mobile object base map generation unit 220 adds the position of the fixed object 110 based on the fixed object markers 112 and the position of the obstructed fixed object 110 based on the obstructed fixed object markers 112 to the primary high-precision map to generate a secondary high-precision map to be reflected in autonomous driving.

[0055] The first moving object base map generation unit 220 recognizes a plurality of first moving object markers 122 corresponding to the plurality of first moving objects 120, based on the first moving object lidar 124. The first moving object base map generation unit 220 adds the positions of the plurality of first moving objects 120, based on the plurality of first moving object markers 122, to the primary high-precision map to generate a secondary high-precision map to be reflected in autonomous driving.

[0056] The second moving body base map generation unit 230 recognizes the first moving body sign 122 corresponding to the first moving body 120 based on the second moving body lidar 134 provided on the second moving body 130, and generates a third-order high-precision map to be reflected in autonomous driving.

[0057] The second moving body base map generation unit 230 recognizes a plurality of second moving body markers 132 corresponding to the plurality of second moving bodies 130, based on the second moving body lidar 134. The second moving body base map generation unit 230 adds the positions of the plurality of second moving bodies 130, based on the plurality of second moving body markers 132, to the second high-precision map, to generate a third high-precision map to be reflected in autonomous driving.

[0058] The autonomous driving providing unit 240 transmits the second high precision map to the first moving body 120 so that it can be reflected in the autonomous driving. The autonomous driving providing unit 240 transmits the third high precision map to the second moving body 130 so that it can be reflected in the autonomous driving.

[0059] FIG. 2B is a diagram schematically illustrating a map generation device for autonomous driving according to a second embodiment.

[0060] The map generating device for autonomous driving 200 grasps the real-time position of a marker that is blocked by a moving object.

[0061] The map generating device for autonomous driving 200 according to the second embodiment includes an integrated map generating unit 250 and an autonomous driving providing unit 260. The components included in the map generating device for autonomous driving 200 are not necessarily limited to these.

[0062] Each component included in the map generating device for autonomous driving 200 is connected to a communication path that connects software modules or hardware modules within the device, and can operate organically with each other. These components communicate with each other using one or more communication buses or signal lines.

[0063] Each component of the map generation device for autonomous driving 200 shown in FIG. 2B means a unit that processes at least one function or operation, and may be embodied as a software module, a hardware module, or a combination of software and hardware.

[0064] The integrated map generation unit 250 reflects a fixed position corresponding to the fixed body 110 on an integrated high-precision map for autonomous driving. The integrated map generation unit 250 reflects, on the integrated high-precision map, a fixed body position based on a fixed body marker 112 corresponding to the fixed body 110 recognized based on a first mobile body LIDAR 124 provided on the first mobile body 120. The integrated map generation unit 250 reflects, on the integrated high-precision map, the position of the first mobile body 120 based on a first mobile body marker 122 recognized based on a second mobile body LIDAR 134 provided on the second mobile body 130. The integrated map generation unit 250 reflects, on the integrated high-precision map, the position of the second mobile body based on a second mobile body marker 132 recognized based on the second mobile body LIDAR 134.

[0065] The integrated map generating unit 250 reflects fixed positions corresponding to the fixed objects 110 located on the terminal for each yard on the integrated high precision map.

[0066] The integrated map generation unit 250 recognizes a fixed body marker corresponding to the fixed body 110 based on the first mobile body LIDAR 124. The integrated map generation unit 250 recognizes an obstructed fixed body marker 112 corresponding to the fixed body 110 that is obstructed by luggage loaded on the terminal based on the first mobile body LIDAR 124. The integrated map generation unit 250 reflects the position of the fixed body 110 based on the fixed body marker 112 and the position of the obstructed fixed body 110 based on the obstructed fixed body marker 112 on the integrated high-precision map.

[0067] The integrated map generation unit 250 recognizes a plurality of first moving body signs 122 corresponding to each of the plurality of first moving bodies 120 based on the first moving body LIDAR 124. The integrated map generation unit 250 reflects the positions of each of the plurality of first moving bodies 120 based on the plurality of first moving body signs 122 on the integrated high-precision map.

[0068] The integrated map generation unit 250 recognizes a plurality of second moving body signs 132 corresponding to the plurality of second moving bodies 130, respectively, based on the second moving body LIDAR 134. The integrated map generation unit 250 reflects the positions of the plurality of second moving bodies 130, each based on the plurality of second moving body signs 132, on the integrated high-precision map. The autonomous driving providing unit 260 transmits the integrated high-precision map to the first moving body 120 and the second moving body 130 so that the integrated high-precision map can be reflected in the autonomous driving.

[0069] FIG. 3 is a diagram showing a fixed body, a first moving body, and a second moving body located in a terminal according to this embodiment.

[0070] The marker is called a marker or DNA. A marker is a term used on high-precision maps for autonomous driving, and can be expressed by various names.

[0071] For autonomous driving, the yard truck uses sensors such as lidar to determine the shape of the beacons. The yard truck recognizes at least three beacons to determine the current location of the autonomous vehicle.

[0072] The fixed body 110 includes a light tower located above the terminal, and includes a fixed body beacon 112 having a fixed GPS latitude and longitude value.

[0073] The first moving body 120 includes a gantry crane or a transportable crane located on a terminal. The first moving body 120 moves at a preset first speed (e.g., 5 km / h or less). The first moving body 120 includes a first moving body marker 122 having a relative position value that moves at the preset first speed. The first moving body 120 includes a first moving body lidar 124 that recognizes the fixed body marker 112, the obstructed fixed body marker 112, and the first moving body marker 122.

[0074] The second mobile body 130 includes a yard truck, an external truck, or a reach stacker that travels autonomously while towing baggage on the terminal. The second mobile body 130 moves at a speed exceeding a preset second speed. The second mobile body 130 includes a second mobile body marker 132 having a relative position value that moves at the preset second speed. The second mobile body 130 includes a second mobile body lidar that recognizes the fixed body marker 112, the first mobile body marker 122, and the second mobile body marker 132.

[0075] The second moving body 130 receives the third-order high-precision map. When three or more fixed body signs 112 and three or more first moving body signs 122 are recognized using the second moving body LIDAR 134, the second moving body 130 compares the three or more fixed body signs 112 and three or more first moving body signs 122 with the third-order high-precision map, determines its own position, and reflects this in autonomous driving.

[0076] The first mobile body LIDAR 124 is attached to the first mobile body 120, which is the largest mobile body, and recognizes objects as a long-distance or medium-distance recognition sensor. The second mobile body LIDAR 134 is attached to the second mobile body 130, which is smaller than the first mobile body 120, and recognizes objects as a short-distance recognition sensor. The fixed body marker 112 is a recognition body attached to a fixed body (fixed position) and is called a marker or DNA.

[0077] The first mobile object marker 122 is a recognition object attached to the first mobile object 120, which is the largest mobile object, and is called a marker or DNA. The first mobile object marker 122 moves together with the first mobile object 120.

[0078] The second mobile object label 132 is a recognition body attached to the second mobile object 130, which is smaller than the first mobile object 120, and is called a marker or DNA. The second mobile object label 132 moves together with the second mobile object 130.

[0079] When the map generating device for autonomous driving 200 manages a moving body itself on a high-precision map for autonomous driving, it attaches sign information having the same concept as signposts at fixed positions on an existing high-precision map for autonomous driving to the moving body together with the signposts, and further includes the signposts on the high-precision map.

[0080] The map generating device for autonomous driving 200 recognizes the fixed body marker 112 attached to the fixed body 110 and reflects it in the first-order high-precision map.

[0081] The map generating device for autonomous driving 200 recognizes the fixed object marker 112 using the first moving object lidar 124 attached to the first moving object 120, and reflects the real-time actual position of the first moving object 120 in the second high-precision map.

[0082] The map generating device 200 for autonomous driving recognizes the first moving body marker 122 of the first moving body 120 using the second moving body lidar 134 attached to the second moving body 130, and recognizes the fixed body marker 112 of the fixed body 110 when it is not obstructed, and reflects the position of the second moving body 130 on a third-order high-precision map.

[0083] The map generating device 200 for autonomous driving grasps the position of the second moving body 130 in real time based on the fixed body marker 112 and the first moving body marker 122 recognized using the second moving body lidar 134 attached to the second moving body 130.

[0084] The map generating device 200 for autonomous driving should be able to read the fixed body marker 112 and the first moving body marker 122 within the terminal so that the yard truck can drive autonomously, but if the marker (fixed body marker 112) is obstructed by the surrounding environment (carrying luggage), it will also recognize the marker (first moving body marker 122) attached to the surrounding moving body, enabling the position of the autonomous vehicle to be grasped in real time.

[0085] FIG. 4 is a diagram showing a first high-precision map, a second high-precision map, and a third high-precision map according to the first embodiment.

[0086] The primary high-precision map refers to a map that includes only fixed body markers 112 for the fixed bodies 110 on the map. The primary high-precision map is a high-precision map based on the positions of the fixed bodies 110.

[0087] The secondary high precision map refers to a map that further includes a first moving body indicator 122 for the first moving body 120 on the primary high precision map. The secondary high precision map is a high precision map that further includes the position of the first moving body 120 on the primary high precision map.

[0088] The third-order high-precision map refers to a map that further includes a second moving body indicator 132 for the second moving body 130 on the second-order high-precision map. The third-order high-precision map is a high-precision map that further includes the position of the second moving body 130 on the second-order high-precision map.

[0089] The map generation device 200 for autonomous driving according to the first embodiment generates a first high-precision map, a second high-precision map, and a third high-precision map.

[0090] The first, second and third high precision maps include x, y and z position coordinates and attribute information for the fixed object marker 112, first moving object marker 122 and second moving object marker 132, and have a size of approximately 5 KB to 5 MB.

[0091] The map generation device 200 for autonomous driving according to the first embodiment first generates a primary high-precision map based on the fixed body marker 112. The map generation device 200 for autonomous driving according to the first embodiment generates a secondary high-precision map that reflects the first moving body marker 122 corresponding to the first moving body 120 in real time based on the primary high-precision map.

[0092] The map generation device 200 for autonomous driving according to the first embodiment generates a third-order high-precision map that reflects the second-moving-object marker 132 corresponding to the second moving object 130 in real time, based on the second-order high-precision map.

[0093] When generating a third-order high-precision map, the map generation device 200 for autonomous driving according to the first embodiment measures the positions of all of the second moving bodies 130 and reflects them on the third-order high-precision map. In other words, from the perspective of control, the map generation device 200 for autonomous driving according to the first embodiment measures the positions of all of the second moving bodies 130 that are autonomously driving and reflects them on the third-order high-precision map.

[0094] In particular, the position of the external track as well as the yard track is applied to improve the positioning accuracy of all the autonomously moving second mobile units 130 within the terminal.

[0095] FIG. 5 is a diagram showing a high precision map according to the second embodiment.

[0096] The map generating device 200 for autonomous driving in the second embodiment reflects, on a single high-precision map, the position information of the fixed body 110 based on the fixed body marker 112, the position information of the first moving body 120 based on the fixed body marker 112 and the first moving body marker 122, and the position information of the second moving body 130 based on the fixed body marker 112, the first moving body marker 122, and the second moving body marker 132.

[0097] The above description merely exemplifies the technical concept of the present embodiment, and various modifications and variations may be made by a person skilled in the art without departing from the essential characteristics of the present embodiment. Therefore, the present embodiment is intended to be illustrative and not to limit the technical concept of the present embodiment, and the scope of the technical concept of the present embodiment is not limited by such an embodiment. The scope of protection of the present embodiment should be interpreted by the appended claims, and all technical concepts within the scope equivalent thereto should be interpreted as being included in the scope of the present embodiment. [Explanation of symbols]

[0098] 110 Fixed body 120 First Mobile Unit 130 Second Mobile Unit 200 Map generation device for autonomous driving

Claims

1. a fixed body base map generation unit that generates a first-order high-precision map to be reflected in autonomous driving based on fixed positions corresponding to the fixed bodies; a first mobile body base map generation unit that recognizes fixed body markers corresponding to the fixed body based on a first mobile body LIDAR provided on the first mobile body and generates a secondary high-precision map to be reflected in autonomous driving; a second mobile body base map generation unit that recognizes a first mobile body marker corresponding to the first mobile body based on a second mobile body LIDAR provided on the second mobile body and generates a third-order high-precision map to be reflected in autonomous driving; an autonomous driving providing unit that transmits the second high-precision map to the first moving body so that it is reflected in the autonomous driving, and transmits the third high-precision map to the second moving body so that it is reflected in the autonomous driving.

2. The fixed body base map generation unit 2. The map generating device for autonomous driving according to claim 1, wherein the fixed positions corresponding to the fixed objects located on the terminal for each yard are added to a map to generate the first high-precision map that is reflected in autonomous driving.

3. The first mobile object base map generation unit 2. The map generation device for autonomous driving according to claim 1, wherein the fixed body marker corresponding to the fixed body is recognized based on the first mobile body LIDAR, the obstructed fixed body marker corresponding to a fixed body obstructed by luggage loaded on a terminal is recognized based on the first mobile body LIDAR, and the position of the fixed body based on the fixed body marker and the position of the obstructed fixed body based on the obstructed fixed body marker are added to the primary high-precision map to generate the secondary high-precision map that is reflected in autonomous driving.

4. The first mobile object base map generation unit 2. The map generation device for autonomous driving according to claim 1, wherein the map generation device recognizes a plurality of first moving body markers corresponding to the plurality of first moving bodies based on the first moving body lidar, and adds the positions of the plurality of first moving bodies based on the plurality of first moving body markers to the primary high-precision map to generate the secondary high-precision map that is reflected in autonomous driving.

5. The second mobile body base map generation unit 2. The map generation device for autonomous driving according to claim 1, wherein the map generation device recognizes a plurality of second moving body markers corresponding to the plurality of second moving bodies based on the second moving body lidar, and adds the positions of the plurality of second moving bodies based on the plurality of second moving body markers to the second high-precision map, thereby generating the third high-precision map that is reflected in autonomous driving.

6. The fixed body is Including lighting towers located above the terminals, 2. The map generating device for autonomous driving according to claim 1, wherein the fixed marker has fixed GPS latitude and longitude values.

7. The first moving body is 2. The map generating device for autonomous driving according to claim 1, further comprising: a gantry crane or a transportable crane located on a terminal; the first moving object sign having a relative position value that moves at a predetermined first speed or less; and a first moving object lidar that recognizes the fixed object sign, the obstructed fixed object sign, and the first moving object sign.

8. The second moving body is 2. The map generating device for autonomous driving according to claim 1, further comprising: a yard truck, an external truck, or a reach stacker that autonomously drives while towing luggage on a terminal; the second moving object marker that moves at a speed exceeding a predetermined second speed and has a relative position value that moves at the predetermined second speed; and a second moving object lidar that recognizes the fixed object marker, the first moving object marker, and the second moving object marker.

9. The second moving body is 2. The map generating device for autonomous driving according to claim 1, wherein, when the third high precision map is received and three or more of the fixed body signs and the first mobile body signs are recognized using the second mobile body LIDAR, the map generating device for autonomous driving compares the three or more fixed body signs and the first mobile body signs with the third high precision map to determine its own position and drive autonomously.

10. an integrated map generation unit that reflects fixed positions corresponding to fixed bodies on an integrated high-precision map for autonomous driving, reflects fixed body positions based on fixed body markers corresponding to the fixed bodies recognized based on a first mobile body LIDAR equipped on a first mobile body, reflects the position of the first mobile body based on the first mobile body marker recognized based on a second mobile body LIDAR equipped on a second mobile body, and reflects the position of the second mobile body based on the second mobile body marker recognized based on the second mobile body LIDAR; an autonomous driving providing unit that transmits the integrated high-precision map to the first moving body and the second moving body so that the integrated high-precision map is reflected in autonomous driving.

11. The integrated map generation unit The map generating device for autonomous driving according to claim 10, wherein fixed positions corresponding to the fixed objects located on the terminal for each yard are reflected on the integrated high precision map.

12. The integrated map generation unit 11. The map generating device for autonomous driving according to claim 10, wherein the fixed body marker corresponding to the fixed body is recognized based on the first mobile body LIDAR, and an obstructed fixed body marker corresponding to a fixed body obstructed by luggage loaded on a terminal is recognized based on the first mobile body LIDAR, and the position of the fixed body based on the fixed body marker and the position of the obstructed fixed body based on the obstructed fixed body marker are reflected on the integrated high-precision map.

13. The integrated map generation unit 11. The map generating device for autonomous driving according to claim 10, wherein a plurality of first moving body markers corresponding to a plurality of first moving bodies are recognized based on the first moving body lidar, and the positions of the plurality of first moving bodies based on each of the plurality of first moving body markers are reflected on the integrated high-precision map.

14. The integrated map generation unit 11. The map generating device for autonomous driving according to claim 10, wherein a plurality of second moving body markers corresponding to each of a plurality of second moving bodies are recognized based on the second moving body lidar, and the positions of each of the plurality of second moving bodies based on the plurality of second moving body markers are reflected on the integrated high-precision map.

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