Patent ID: 11874135
Assignee: HONDA MOTOR CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A map generation apparatus, comprising:
a processor and a memory connected to the processor, wherein
the memory is configured to store:
first map information of a first map of a first area, the first map information including position information and reflection intensity information of a point cloud recognized based on distance information to surrounding objects acquired by a first vehicle; and
second map information of a second map of a second area adjacent to the first area, the second map information including position information of a lane marker recognized based on image information acquired by a second vehicle, wherein

the processor is configured to perform:
generating the first map based on a first traveling history of the first vehicle in the first area;
generating the second map based on a second traveling history of the second vehicle in the second area;
extracting a first point cloud corresponding to a road surface based on the position information of the point cloud included in the first map information;
extracting a second point cloud having a predetermined reflection intensity or higher from among the first point cloud based on the reflection intensity information of the point cloud included in the first map information;
recognizing the second point cloud as the lane marker;
generating a contour line surrounding the second point cloud as a lane marker object corresponding to a contour of the lane marker; and
updating at least one of the first map information and the second map information stored in the memory so as to smoothly connect the lane marker object and the lane marker included in the second map information.