Apparatus for generating a digital map and its operating method

Abstract

An apparatus for generating a digital map and a method of operating the same are disclosed. A method for generating a digital map according to one embodiment may include: acquiring data associated with each moving object from a plurality of moving objects moving in a real space; generating a representative value of a physical quantity assigned to each of a plurality of grid cells in a digital space corresponding to the real space using the data; and generating the digital map using information about the plurality of grid cells that is updated based on the plurality of grid cells and the representative value.

Description

Technology Field

[0001] The following disclosure relates to an apparatus for generating a digital map and a method of operating the same. Background Technology

[0003] A device for generating a digital map can generate a digital map using information acquired using satellites and aviation equipment. Specifically, the device can generate a digital map using data (e.g., image data, laser-based survey data) that includes information about terrain, buildings, and structures.

[0004] To improve map accuracy and enhance user convenience, digital maps need to be generated and / or updated using spatial information about terrain, buildings, and structures acquired in real time.

[0005] The background technology described above is possessed or acquired by the inventor in the process of deriving the content of the disclosure of the present application, and cannot necessarily be considered as prior art disclosed to the general public prior to the filing of this application. The problem to be solved

[0007] One embodiment can generate a digital map with high accuracy by generating and / or updating a digital map using spatial information obtained from a plurality of moving bodies.

[0008] One embodiment can generate a digital map with high accuracy by generating and / or updating the map using real-time information obtained from a moving object.

[0009] However, technical challenges are not limited to the technical challenges described above, and other technical challenges may exist. means of solving the problem

[0011] An apparatus for generating a digital map according to one embodiment may include a memory containing instructions; and a processor electrically connected to the memory and for executing the instructions. When the instructions are executed by the processor, the processor may perform a plurality of operations. The plurality of operations may include an operation of acquiring data associated with each moving object from a plurality of moving objects moving in a real space; an operation of generating a representative value of a physical quantity assigned to each of a plurality of grid cells in a digital space corresponding to the real space using the data; and an operation of generating the digital map using information about the plurality of grid cells that is updated based on the plurality of grid cells and the representative value.

[0012] The above data may include at least one of information regarding the positions of the plurality of moving bodies and information regarding the motion states of the plurality of moving bodies.

[0013] The above data may be measured by sensors installed inside or outside the plurality of moving bodies.

[0014] The operation of generating the representative value may include: an operation of obtaining the reliability of the data based on information about the sensors; and an operation of calculating the representative value by performing a weighted average operation on the data based on the reliability.

[0015] The operation of generating the digital map may include an operation of updating at least one of the 2D spatial information and 3D spatial information for the actual space based on the representative value.

[0016] The operation of updating at least one of the above 2D spatial information and 3D spatial information may include an operation of updating information indicating accessibility to the actual space corresponding to each grid cell based on the number of moving bodies moving in the actual space corresponding to each of the plurality of grid cells.

[0017] The above plurality of operations may further include an operation to change the shape of the plurality of grid cells based on updated information regarding the plurality of grid cells.

[0018] The above-mentioned changing operation may include changing the shape of one or more grid cells among the plurality of grid cells from a two-dimensional grid cell to a three-dimensional grid cell based on elevation information for the actual space corresponding to each point inside the plurality of grid cells.

[0019] A digital map generation method according to one embodiment may include: acquiring data associated with each moving object from a plurality of moving objects moving in a real space; generating a representative value of a physical quantity assigned to each of a plurality of grid cells in a digital space corresponding to the real space using the data; and generating the digital map using information about the plurality of grid cells that is updated based on the plurality of grid cells and the representative value.

[0020] The above data may include at least one of information regarding the positions of the plurality of moving bodies and information regarding the motion states of the plurality of moving bodies.

[0021] The above data may be measured by sensors installed inside or outside the plurality of moving bodies.

[0022] The operation of generating the representative value may include: an operation of obtaining the reliability of the data based on information about the sensors; and an operation of calculating the representative value by performing a weighted average operation on the data based on the reliability.

[0023] The operation of generating the digital map may include an operation of updating at least one of the 2D spatial information and 3D spatial information for the actual space based on the representative value.

[0024] The operation of updating at least one of the above 2D spatial information and 3D spatial information may include an operation of updating information indicating accessibility to the actual space corresponding to each grid cell based on the number of moving bodies moving in the actual space corresponding to each of the plurality of grid cells.

[0025] The above digital map generation method may further include an operation of changing the shape of the plurality of grid cells based on updated information regarding the plurality of grid cells.

[0026] The above-mentioned changing operation may include changing the shape of one or more grid cells among the plurality of grid cells from a two-dimensional grid cell to a three-dimensional grid cell based on elevation information for the actual space corresponding to each point inside the plurality of grid cells. Brief explanation of the drawing

[0028] FIG. 1 is a drawing for explaining a digital map generation system according to one embodiment. FIG. 2 is a diagram illustrating a grid cell that constitutes a digital map according to one embodiment. FIGS. 3 to 7 are drawings for explaining a method of changing a grid cell according to one embodiment. FIG. 8 is a diagram illustrating a method for generating spatial accessibility information according to one embodiment. FIG. 9 is a drawing for explaining the operation of an electronic device according to one embodiment. FIG. 10 is a schematic block diagram of a moving body according to one embodiment. FIG. 11 is a schematic block diagram of an electronic device according to one embodiment. Specific details for implementing the invention

[0029] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Accordingly, actual implementations are not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or substitutions included in the technical concept described by the embodiments.

[0030] Terms such as "first" or "second" may be used to describe various components, but these terms should be interpreted solely for the purpose of distinguishing one component from another. For example, the first component may be named the second component, and similarly, the second component may be named the first component.

[0031] When it is stated that a component is "connected" to another component, it should be understood that it may be directly connected to or coupled with that other component, or that there may be other components in between.

[0032] Singular expressions include plural expressions unless the context clearly indicates otherwise. In this document, phrases such as “A or B,” “at least one of A and B,” “at least one of A or B,” “A, B or C,” “at least one of A, B and C,” and “at least one of A, B, or C” may each include any one of the items listed together with the corresponding phrase, or all possible combinations thereof. In this specification, terms such as “comprising” or “having” are intended to designate the existence of the described feature, number, step, action, component, part, or combination thereof, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0033] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this specification.

[0034] As used herein, the term "module" may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be a component formed integrally, or a minimum unit of said component or a part thereof that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC).

[0035] As used in this document, the term "part" refers to software or hardware components, such as FPGAs or ASICs, and the "part" performs certain roles. However, the meaning of "part" is not limited to software or hardware. The "part" may be configured to reside in an addressable storage medium or configured to operate one or more processors. For example, the "part" may include components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functions provided within the components and "parts" may be combined into a smaller number of components and "parts" or further separated into additional components and "parts." Furthermore, the components and "parts" may be implemented to operate one or more CPUs within a device or secure multimedia card. Additionally, '~part' may include one or more processors.

[0036] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are given the same reference numeral regardless of the drawing number, and redundant descriptions thereof will be omitted.

[0038] FIG. 1 is a drawing for explaining a digital map generation system according to one embodiment.

[0039] Referring to FIG. 1, according to one embodiment, a digital map generation system (100) may include a plurality of mobile bodies (111 to 115) (e.g., vehicle, autonomous vehicle, mobile robot) and an electronic device (160) (e.g., server).

[0040] A plurality of moving bodies (111–115) may include a sensor (e.g., a kinematic sensor) that measures movement information (e.g., a physical quantity) such as the position (e.g., latitude, longitude, and / or altitude), velocity, and / or acceleration of the plurality of moving bodies (111–115). For example, the plurality of moving bodies (111–115) may include a sensor such as an accelerometer, a gyro sensor, an inertial measurement unit (IMU) sensor, a tilt sensor, a tachometer, a global positioning system (GPS) receiver, and / or a global navigation satellite system (GNSS) receiver. The sensor may be installed inside or outside the plurality of moving bodies (111–115).

[0041] A plurality of moving bodies (111 to 115) can transmit data containing motion information of each moving body to an electronic device (160). For example, the data may include motion information such as the position, speed, acceleration, angular velocity, angular acceleration, and / or tilt of the moving body.

[0042] The electronic device (160) controls a plurality of moving bodies (111 to 115) and can receive data from the plurality of moving bodies (111 to 115). The electronic device (160) can calculate motion information associated with the plurality of moving bodies (111 to 115) using the received data. For example, when the electronic device (160) cannot receive location information (e.g., latitude, longitude, and / or altitude) from the multiple vehicles (111 to 115), such as when the multiple vehicles (111 to 115) are located in a GNSS-denied area (e.g., tunnel, indoor parking lot) or when the GNSS receiver installed on the multiple vehicles (111 to 115) is malfunctioning, the electronic device (160) can estimate the location of the multiple vehicles (111 to 115) from other motion information (e.g., velocity, acceleration, angular velocity, and / or angular acceleration) included in the received data using various methods (e.g., dead reckoning, extended Kalman filter).

[0043] The electronic device (160) can generate a digital map (e.g., the digital map (200) of FIG. 2) using data received from a plurality of moving bodies (111 to 115). A method for generating a digital map will be described in detail with reference to FIGS. 2 through 9.

[0045] FIG. 2 is a diagram illustrating a grid cell that constitutes a digital map according to one embodiment.

[0046] Referring to FIG. 2, according to one embodiment, an electronic device (e.g., the electronic device (160) of FIG. 1) can generate a digital map (200) using data received from a plurality of moving bodies (e.g., a plurality of moving bodies (111 to 115) of FIG. 1).

[0047] A digital map (200) can be generated and / or updated based on a plurality of grid cells and information about the plurality of grid cells. Information about the plurality of grid cells may include 2D spatial information (e.g., road curvature, road surface condition) and / or 3D spatial information (e.g., road shape reflecting slope) about the actual space corresponding to the plurality of grid cells in virtual space. The plurality of grid cells may or may not be visually displayed to the user.

[0048] The electronic device (160) can generate and / or update a digital map (200) by generating and / or updating information about a plurality of grid cells and a plurality of grid cells using data received from a plurality of mobile bodies (111 to 115).

[0049] The electronic device (160) can record motion information (e.g., physical quantities such as position, velocity, and / or acceleration) included in data received from a plurality of moving bodies (111 to 115) in a corresponding grid cell and generate a representative value of the physical quantity assigned to each of the plurality of grid cells. For example, when a plurality of moving bodies (111 to 115) move in a real space corresponding to a grid cell (210), the electronic device (160) can record motion information of the plurality of moving bodies (111 to 115) in the real space corresponding to the grid cell (210) in the grid cell (210) and, using the information recorded in the grid cell (210), calculate a representative value to be assigned to the grid cell (210) (e.g., a representative value of a physical quantity such as the velocity, acceleration, tilt, and vibration amount of the moving body). The electronic device (160) can generate a representative value using various methods such as a Gaussian kernel density estimator, a median, a trimmed mean, and / or a weighted average. For example, the electronic device (160) can calculate a representative value by obtaining the reliability of data received from multiple moving bodies (111–115) based on information about each of the sensors of the multiple moving bodies (111–115), and by performing a weighted average operation on the data based on the reliability. As the electronic device (160) receives more data from more moving bodies, the representative value can get closer to the true value.

[0050] The electronic device (160) can generate and / or update information about a plurality of grid cells and / or a plurality of grid cells using a representative value. For example, the electronic device (160) can estimate the presence of a pothole in the actual space (e.g., a road) corresponding to the grid cell (210) based on a representative value of vibration amount recorded in the grid cell (210) and generate and / or update information about the grid cell (210). As another example, the electronic device (160) can estimate the presence of a speed bump in the actual space corresponding to the grid cell (210) based on a change in a representative value of acceleration recorded in the grid cell (210) and generate and / or update information about the grid cell (210).

[0051] The electronic device (160) can improve the accuracy of the digital map (200) by continuously receiving data from a plurality of moving bodies (111 to 115), using the data to divide and / or modify grid cells to correspond to the actual space, and generating and updating information corresponding to the grid cells.

[0052] The electronic device (160) can generate and update a digital map (200) to output information about the corresponding real space (e.g., road surface condition, 3D shape information, spatial accessibility) when a moving body (e.g., moving body (111)) moves in the real space corresponding to the grid cell (210) or when a user requests information about the real space corresponding to the grid cell (210).

[0054] FIGS. 3 to 7 are drawings for explaining a method of changing the shape of a grid cell according to one embodiment. FIGS. 3 and 4 may be drawings for explaining a method of changing the shape of a grid cell (e.g., the grid cell (210) of FIG. 2) from two dimensions to three dimensions.

[0055] Referring to FIGS. 3 and 4, an electronic device (e.g., the electronic device (160) of FIG. 1) can receive location information (e.g., latitude, longitude, and / or altitude) of a plurality of moving bodies (e.g., the plurality of moving bodies (111–115) of FIG. 1) moving in real space (e.g., a road) corresponding to a grid cell (210). The electronic device (111–115) can estimate the altitude of real space using the location information of the plurality of moving bodies (111–115). The electronic device (160) can change the shape of the grid cell from two dimensions to three dimensions based on the altitude of real space corresponding to each point inside the grid cell (210). For example, if the elevation of the actual space corresponding to the grid cell (210) gradually increases, the electronic device (160) may estimate the actual space corresponding to the grid cell (210) as a slope and change the shape of the grid cell (210) from a two-dimensional grid cell (212) to a three-dimensional grid cell (214) to correspond to the slope. As another example, if the actual space corresponding to the grid cell (210) is a space having multiple elevation distributions, such as an indoor parking lot (not shown), the electronic device (160) may divide the grid cell (210) in the elevation direction and change the grid cell (210) into a three-dimensional grid cell (not shown) having a shape corresponding to the actual space.

[0056] A grid cell can be expressed by an equation corresponding to the shape of the grid cell, and the electronic device (160) can change the shape of the grid cell (210) by changing the equation for the grid cell (210).

[0057] Figure 5 is a diagram illustrating a method for changing the two-dimensional shape of a grid cell.

[0058] Referring to FIG. 5, the electronic device (160) can change the two-dimensional shape of the grid cells based on data received from a plurality of moving bodies (111 to 115). For example, the electronic device (160) can estimate that the actual space corresponding to the grid cells (511 to 516) is a corner of a road based on physical quantities for a plurality of moving bodies (111 to 115) moving in the actual space corresponding to specific grid cells (e.g., grid cells (511 to 516)), and change the shape of the grid cells (511 to 516) into a two-dimensional grid cell corresponding to the actual space.

[0059] The electronic device (160) can represent the corresponding actual space on the map even when the actual space corresponding to the grid cells (511-516) is difficult to represent on the map in a conventional way, such as a road inside a tunnel and / or a road with a narrow width.

[0060] FIGS. 6 and 7 are drawings for explaining a method of dividing grid cells based on the distribution of representative values ​​of physical quantities included in received data.

[0061] Referring to FIGS. 6 and 7, the representative values ​​of physical quantities (e.g., altitude, speed, acceleration of a moving object) assigned to a grid cell (210) may have various distributions depending on the direction (e.g., latitude and / or longitude). The electronic device (160) may divide the grid cell (210) into multiple grid cells based on the distribution of the representative values. For example, if the electronic device (160) can divide the distribution of the representative values ​​into multiple intervals (e.g., intervals (610, 630)), the grid cell (210) may be divided based on the boundaries of the multiple intervals (610, 630). As another example, the electronic device (160) may divide the grid cell (210) into multiple grid cells based on points (710, 730) where the change in the representative values ​​is small.

[0062] As described above, embodiments in which the shape of the grid cell is changed have been explained with reference to FIGS. 3 to 7, but this is merely an example for explaining the present invention, and a person skilled in the art will understand that the embodiments described above may be implemented in other forms and / or in combinations of the embodiments described above, provided that the technical concept of the embodiments described above is not changed.

[0064] FIGS. 8 and 9 are drawings for illustrating a method for generating spatial accessibility information according to one embodiment.

[0065] Referring to FIGS. 8 and 9, according to one embodiment, an electronic device (e.g., the electronic device (160) of FIG. 1) can generate information indicating accessibility to a real space corresponding to a grid cell (e.g., grid cells (810, 830)) by using data received from a plurality of mobile bodies (e.g., a plurality of mobile bodies (111 to 115) of FIG. 1).

[0066] The electronic device (160) can record the number of times a plurality of mobile bodies (111 to 115) pass in a grid cell corresponding to the movement path of a plurality of mobile bodies (111 to 115). For example, when a mobile body (111) moves along a movement path (81), a mobile body (113) moves along a movement path (83), and a mobile body (115) moves along a movement path (85), the electronic device (160) can record the number of times a plurality of mobile bodies (111 to 115) pass (e.g., 3) in a grid cell (810) and record the number of times a mobile body (115) pass (e.g., 1) in a grid cell (830). The electronic device (160) can generate information indicating accessibility to actual spaces corresponding to the grid cells (810, 830) based on the number of times a mobile body passes in the grid cells (810, 830). For example, if the actual space corresponding to the grid cells (810, 830) is a one-dimensional road, the fact that there are more trips through the grid cell (810) than through the grid cell (830) may mean that access to the actual space corresponding to the grid cell (810) is easier than access to the actual space corresponding to the grid cell (830) due to a specific reason (e.g., the presence of an obstacle). The electronic device (810) may also generate a path to a destination using accessibility information for multiple grid cells.

[0068] FIG. 9 is a drawing for explaining the operation of an electronic device according to one embodiment.

[0069] Referring to FIG. 9, according to one embodiment, operations 910 to 930 may be performed sequentially, but are not limited thereto. For example, two or more operations may be performed in parallel. Operations 910 to 930 may be substantially identical to the operations of the electronic device (e.g., the electronic device (160) of FIG. 1) described with reference to FIG. 1 to 8. Accordingly, a detailed description is omitted.

[0070] In operation 910, the electronic device (160) can obtain data associated with each moving body from a plurality of moving bodies (e.g., a plurality of moving bodies (111–115) of FIG. 1).

[0071] In operation 920, the electronic device (160) can use data to generate a representative value of a physical quantity (e.g., position, speed, acceleration, angular velocity, angular acceleration, tilt, and / or vibration amount) assigned to each of a plurality of grid cells in digital space corresponding to a real space (e.g., a road).

[0072] In operation 930, the electronic device (160) can generate a digital map (e.g., the digital map (200) of FIG. 2) using a plurality of grid cells and information about the plurality of grid cells (e.g., road surface condition, three-dimensional shape, spatial accessibility, average speed of moving objects in real space corresponding to the grid cells). Information about the plurality of grid cells can be generated and / or updated based on representative values ​​of physical quantities.

[0074] FIG. 10 is a schematic block diagram of a moving body according to one embodiment.

[0075] Referring to FIG. 10, according to one embodiment, a moving body (1000) (e.g., a plurality of moving bodies (111 to 115) of FIG. 1) may include a memory (1040), a processor (1020), and a sensor (1060).

[0076] A sensor (160) (e.g., a kinematic sensor) can measure motion information such as the position, velocity, and / or acceleration of a moving body (1000). For example, the sensor (160) may include an accelerometer, a gyro sensor, an inertial measurement unit (IMU) sensor, a tilt sensor, a tachometer, a global positioning system (GPS) receiver, and / or a global navigation satellite system (GNSS).

[0077] The memory (1040) can store instructions (or programs) executable by the processor (1020). For example, the instructions may include instructions for executing the operation of the processor (1020) and / or the operation of each component of the processor (1020).

[0078] The memory (1040) may include one or more computer-readable storage media. The memory (1040) may include non-volatile storage devices (e.g., magnetic hard disc, optical disc, floppy disc, flash memory, EPROM (electrically programmable memories), EEPROM (electrically erasable and programmable)).

[0079] The memory (1040) may be a non-transitory medium. The term "non-transitory" may indicate that the storage medium is not implemented by a carrier wave or a propagated signal. However, the term "non-transitory" should not be interpreted as meaning that the memory (1040) is immobile.

[0080] The processor (1020) can process data stored in memory (1040). The processor (1020) can execute computer-readable code (e.g., software) stored in memory (1040) and instructions triggered by the processor (1020).

[0081] The processor (1020) may be a data processing device implemented in hardware having a circuit having a physical structure for executing desired operations. For example, the desired operations may include code or instructions included in a program.

[0082] For example, a data processing device implemented in hardware may include a microprocessor, a central processing unit, a processor core, a multi-core processor, a multiprocessor, an Application-Specific Integrated Circuit (ASIC), and a Field Programmable Gate Array (FPGA).

[0083] The operation performed by the processor (1020) may be substantially the same as the operation of the plurality of moving bodies (111 to 115) described with reference to FIG. 1. Accordingly, a detailed description is omitted.

[0085] FIG. 11 is a schematic block diagram of an electronic device according to one embodiment.

[0086] Referring to FIG. 11, according to one embodiment, an electronic device (1100) (e.g., the electronic device (160) of FIG. 1) may include a memory (1140) and a processor (1120).

[0087] The memory (1140) can store instructions (or programs) executable by the processor (1120). For example, the instructions may include instructions for executing the operation of the processor (1120) and / or the operation of each component of the processor (1120).

[0088] The memory (1140) may include one or more computer-readable storage media. The memory (1140) may include non-volatile storage devices (e.g., magnetic hard disc, optical disc, floppy disc, flash memory, EPROM (electrically programmable memories), EEPROM (electrically erasable and programmable)).

[0089] The memory (1140) may be a non-transitory medium. The term "non-transitory" may indicate that the storage medium is not implemented by a carrier wave or a propagated signal. However, the term "non-transitory" should not be interpreted as meaning that the memory (1140) is immobile.

[0090] The processor (1120) can process data stored in memory (1140). The processor (1120) can execute computer-readable code (e.g., software) stored in memory (1140) and instructions triggered by the processor (1120).

[0091] The processor (1120) may be a data processing device implemented in hardware having a circuit having a physical structure for executing desired operations. For example, the desired operations may include code or instructions included in a program.

[0092] For example, a data processing device implemented in hardware may include a microprocessor, a central processing unit, a processor core, a multi-core processor, a multiprocessor, an Application-Specific Integrated Circuit (ASIC), and a Field Programmable Gate Array (FPGA).

[0093] The operation performed by the processor (1120) may be substantially the same as the operation of the electronic device (160) described with reference to FIGS. 1 to 9. Accordingly, a detailed description is omitted.

[0095] The embodiments described above may be implemented as hardware components, software components, and / or combinations of hardware and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. In addition, other processing configurations, such as parallel processors, are also possible.

[0096] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or command the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave in order to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computer systems and may be stored or executed in a distributed manner. Software and data may be stored on computer-readable recording media.

[0097] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may store program instructions, data files, data structures, etc., either individually or in combination, and the program instructions recorded on the medium may be those specifically designed and configured for the embodiment or those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0098] The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

[0099] Although the embodiments have been described above with reference to the limited drawings, those skilled in the art can apply various technical modifications and variations based thereon. For example, suitable results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

[0100] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

Claim 1 An apparatus for generating a digital map comprises: a memory containing instructions; and a processor electrically connected to the memory and for executing the instructions, wherein when the instructions are executed by the processor, the processor performs a plurality of operations, and the plurality of operations include: an operation of obtaining data including position information, velocity, and acceleration of each moving object from a plurality of moving objects moving in real space; an operation of generating a representative value of a physical quantity assigned to each of a plurality of grid cells in a digital space corresponding to the real space using the data; an operation of dividing a first grid cell of the plurality of grid cells into two or more second grid cells based on the representative value; and an operation of generating the digital map based on the representative value and the divided two or more grid cells. Claim 2 A device according to claim 1, wherein the digital map is for a vehicle navigation system, and the operation of dividing the first grid cell into two or more second grid cells includes the operation of dividing the first grid cell into the two or more second grid cells based on a change in the representative value. Claim 3 A device according to claim 1, wherein the data is measured by sensors installed inside or outside the plurality of moving bodies. Claim 4 In paragraph 3, the operation of generating the representative value comprises: an operation of obtaining the reliability of the data based on information regarding the sensors; and an operation of calculating the representative value by performing a weighted average operation on the data based on the reliability. Claim 5 A device according to claim 1, wherein the operation of generating the digital map includes an operation of updating at least one of two-dimensional spatial information and three-dimensional spatial information for the actual space based on the representative value. Claim 6 In claim 5, the operation of updating at least one of the two-dimensional spatial information and three-dimensional spatial information includes the operation of updating information indicating accessibility to the actual space corresponding to each grid cell based on the number of moving bodies moving in the actual space corresponding to each of the plurality of grid cells. Claim 7 An apparatus according to claim 1, further comprising an operation to change the two-dimensional shape of the plurality of grid cells based on the representative value. Claim 8 The apparatus of claim 1 further comprises an operation of changing the shape of one or more grid cells among the plurality of grid cells from a two-dimensional grid cell to a three-dimensional grid cell based on elevation information for actual space corresponding to each point inside the plurality of grid cells. Claim 9 A method for generating a digital map, comprising: acquiring data including position information, velocity, and acceleration of each moving object from a plurality of moving objects moving in a real space; generating a representative value of a physical quantity assigned to each of a plurality of grid cells in a digital space corresponding to the real space using the data; dividing a first grid cell of the plurality of grid cells into two or more second grid cells based on the representative value; and generating a digital map based on the representative value and the two or more divided grid cells. Claim 10 A method for generating a digital map according to claim 9, wherein the digital map is for a vehicle navigation system, and the operation of dividing the first grid cell into two or more second grid cells includes the operation of dividing the first grid cell into the two or more second grid cells based on a change in the representative value. Claim 11 A digital map generation method according to claim 9, wherein the data is measured by sensors installed inside or outside the plurality of moving bodies. Claim 12 A digital map generation method according to claim 11, wherein the operation of generating the representative value comprises: an operation of obtaining the reliability of the data based on information regarding the sensors; and an operation of calculating the representative value by performing a weighted average operation on the data based on the reliability. Claim 13 A method for generating a digital map according to claim 9, wherein the operation of generating the digital map includes an operation of updating at least one of two-dimensional spatial information and three-dimensional spatial information regarding the actual space based on the representative value. Claim 14 A digital map generation method according to claim 13, wherein the operation of updating at least one of the two-dimensional spatial information and three-dimensional spatial information includes the operation of updating information indicating accessibility to the actual space corresponding to each grid cell based on the number of moving bodies moving in the actual space corresponding to each of the plurality of grid cells. Claim 15 A digital map generation method according to claim 9, further comprising an operation to change the two-dimensional shape of the plurality of grid cells based on the representative value. Claim 16 A digital map generation method according to claim 9, further comprising the operation of changing the shape of one or more grid cells among the plurality of grid cells from a two-dimensional grid cell to a three-dimensional grid cell based on elevation information of the actual space corresponding to each point inside the plurality of grid cells. Claim 17 A computer program stored on a computer-readable recording medium in combination with hardware to execute the method of any one of claims 9 through 16.

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