KR-20260067463-A - METHOD AND SYSTEM FOR GENERATING DRIVING PATH USING HD MAP AND NAVIGATION INFORMATION

KR20260067463AKR 20260067463 AKR20260067463 AKR 20260067463AKR-20260067463-A

Abstract

A method and system for generating a driving path using a precision map and navigation information are disclosed. A driving path generating method according to one embodiment of the present invention comprises: a step of collecting information of navigation information and a precision map; a step of determining whether the degree of agreement between a path according to the navigation information and a main path based on current positioning data is less than a predetermined first threshold; a step of determining whether, if the degree of agreement with the main path is less than a predetermined first threshold, the degree of agreement between the path according to the navigation information and at least one sub-path on the precision map is greater than or equal to a predetermined second threshold; a step of selecting the sub-path with the highest degree of agreement among the sub-paths in which the degree of agreement with the at least one sub-path is greater than or equal to the second threshold; a step of generating a connected driving path based on the selected sub-path; and a vehicle control step of controlling a vehicle according to the generated driving path.

Inventors

엄인섭

Assignees

주식회사 에이치엘클레무브

Dates

Publication Date: 20260513
Application Date: 20241105

Claims (11)

In a method for generating a driving route using precision maps and navigation information, A step of collecting navigation information and precision map information; A step of determining whether the degree of agreement between the path according to the above navigation information and the main path based on current positioning data is less than a predetermined first threshold; If the degree of agreement with the main path is less than a predetermined first threshold, a step of determining whether the degree of agreement between the path according to the navigation information and at least one sub-path on the precision map is greater than or equal to a predetermined second threshold; A step of selecting the auxiliary path with the highest degree of agreement among auxiliary paths whose degree of agreement with at least one auxiliary path is greater than or equal to a second threshold; A step of generating a connected driving path based on a selected auxiliary path; and Vehicle control step for controlling the vehicle according to the generated driving path A driving path generation method characterized by including
In Article 1, A driving path generation method characterized in that the above navigation information is navigation waypoint information that serves to indicate specific points while going to a destination.
In Article 1 or Article 2, A driving path generation method characterized by providing information on the above-described precision map only within a predetermined area based on the vehicle.
In Paragraph 3, A method for generating a driving path, characterized in that a predetermined area where information of the above-described precision map is provided is an area within 2 km of the front of the vehicle and within 0.5 km of the rear of the vehicle.
In Article 1 or Article 2, A driving path generation method characterized in that the above main path is the most probable path (Most Probable Path: MPP) based on current positioning data.
In a driving path generation system utilizing precision maps and navigation information, Sensor unit for detecting the surroundings of the vehicle; Precision map information provider providing information regarding precision maps; A navigation information providing unit that provides navigation information; and A control unit including a driving path generation unit that generates a driving path based on information regarding the above-mentioned precision map and the above-mentioned navigation information. Includes, The driving path generation unit, when the degree of agreement between the path according to navigation information and the main path based on current positioning data is less than a predetermined first threshold value and the degree of agreement between the navigation information and at least one auxiliary path (sub-path) on the precision map is greater than or equal to a predetermined second threshold value, selects the auxiliary path with the highest degree of agreement among the auxiliary paths whose degree of agreement with the at least one auxiliary path is greater than or equal to the second threshold value, and generates a connected driving path based on the selected auxiliary path. A driving path generation system characterized in that the above-described control unit controls the vehicle according to the driving path generated by the driving path generation unit.
In Article 6, A driving path generation system characterized in that the above navigation information is navigation waypoint information that serves to indicate specific points while going to a destination.
In Article 6 or Article 7, A driving path generation system characterized by providing only information within a predetermined area based on the vehicle, wherein the precision map information provided by the precision map information providing unit above.
In Article 6 or Article 7, A driving path generation system characterized in that the above main path is the most probable path (Most Probable Path: MPP) based on current positioning data.
In Article 6 or Article 7, The above control unit is connected to a braking device that controls the longitudinal driving of the vehicle and a steering device that controls the lateral driving of the vehicle, and A driving path generation system characterized by the above-described control unit controlling the braking device and the steering device to control the vehicle to drive along a generated driving path.
In Article 6 or Article 7, The above control unit is connected to a display device for displaying the generated driving path inside the vehicle, and A driving path generation system characterized in that the above-described display device is a cluster device or a head-up display (HUD) device.

Description

Method and System for Generating Driving Path Using HD Map and Navigation Information The present invention relates to a method and system for generating a driving route using high-definition maps and navigation information. More specifically, the invention relates to a method and system for generating a driving route using high-definition maps and navigation information to generate a driving route more effectively by utilizing navigation information in a system using high-definition maps (HD Maps). A High-Definition Map (HD Map) refers to a high-precision map containing lane-level information for autonomous driving, and plays a very important role in autonomous driving. Since these high-precision maps provide accurate information such as lane markings and road signs, they contain a large amount of data and require a significant amount of memory for use. Therefore, in order to increase the efficiency of data usage and reduce the load on the software, it is necessary to use only the required distance data. However, there is a problem in that precise maps, which provide data within a certain radius, do not have information about the destination, so they cannot provide directions to the destination using only the precise map. Therefore, in systems using high-precision maps, there is a need for methods and systems to plan a vehicle's driving route in real time by utilizing navigation information. FIG. 1 is a control flowchart illustrating a method for generating a driving path using a precision map and navigation information according to one embodiment of the present invention. FIG. 2 is a diagram illustrating, in an exemplary manner, the data range of a precision map used in a method for generating a driving path using a precision map and navigation information according to one embodiment of the present invention. FIG. 3 is a conceptual diagram illustrating the generation of a driving path using the most likely path to drive (MPP) and navigation waypoint information in a method for generating a driving path using a precision map and navigation information according to one embodiment of the present invention. FIG. 4 is a control configuration diagram schematically showing the configuration of a driving path generation system utilizing a precision map and navigation information according to an embodiment of the present invention. Embodiments of the present invention are described below with reference to the attached drawings to enable those skilled in the art to easily implement the invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals. Throughout this specification, when a part is described as being "connected" to another part, this includes not only cases where they are "directly connected," but also cases where they are "electrically connected" or "indirectly connected" with other elements interposed between them. Throughout the entire specification, when a component is described as being located "on," "on top," "on top," "under," "on bottom," or "on bottom" of another component, this includes not only cases where the component is in contact with the other component but also cases where another component exists between the two components. Throughout this specification, when a part is described as "comprising" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. The present invention relates to a method and system for generating a driving path using a precision map and navigation information, which generates a driving path of a vehicle using navigation information and precision map information for a predetermined area, and drives the vehicle according to the generated path. FIG. 1 is a control flowchart illustrating a method for generating a driving path using a precision map and navigation information according to one embodiment of the present invention. Referring to FIG. 1 of the present invention, a method (S100) for generating a driving path using a high-precision map and navigation information according to one embodiment of the present invention may include a step (S110) of collecting navigation information and high-precision map information. Meanwhile, navigation information may be received from a navigation device equipped in a vehicle, and information on the high-precision map (HD Map) may be received from a Map ECU equipped in a vehicle. A navigation device equipped in a vehicle may be a device that enables verification of the vehicle's location information and driving environment information by matching the vehicle's location coordinates, confirmed via satellite signals, onto a pre-stored map. The n