US 12,169,129 B2
Route provision apparatus and route provision method therefor
Jinsang Lee, Seoul (KR); and Seunghwan Bang, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Appl. No. 17/797,997
Filed by LG ELECTRONICS INC., Seoul (KR)
PCT Filed Feb. 5, 2020, PCT No. PCT/KR2020/001674
§ 371(c)(1), (2) Date Aug. 5, 2022,
PCT Pub. No. WO2021/157760, PCT Pub. Date Aug. 12, 2021.
Prior Publication US 2023/0055708 A1, Feb. 23, 2023
Int. Cl. G01C 21/30 (2006.01); B60W 60/00 (2020.01); G01C 21/00 (2006.01); G01C 21/36 (2006.01)
CPC G01C 21/30 (2013.01) [B60W 60/001 (2020.02); G01C 21/3691 (2013.01); G01C 21/3893 (2020.08); B60W 2556/50 (2020.02); B60W 2556/65 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A route provision apparatus for providing a route to a vehicle, the apparatus comprising:
a transceiver configured to communicate with a server;
one or more sensors disposed in the vehicle for obtaining sensing information; and
a processor configured to:
identify a lane in which the vehicle is traveling among a plurality of lanes of a road based on an image received from an image sensor among the sensing information,
estimate, using received map information, an optimal route for the vehicle in lane units based on the identified lane,
generate electronic horizon data by fusing the sensing information with the optimal route for transmission to the server and at least one electric component disposed in the vehicle, and
fuse dynamic information related to a movable object located along the optimal route with the electronic horizon data to update the optimal route based on the dynamic information,
wherein the map information is received from a navigation system provided at the vehicle and not from the server based on a communication state with the server satisfying a preset condition, and
wherein the processor is further configured to fuse the sensing information received from the one or more sensors with the map information received from the navigation system to generate a Simultaneous Localization and Mapping (SLAM) map,
wherein the transceiver further comprises a V2X transceiver; and
wherein the processor is further configured to receive, through the V2X transceiver, dynamic information from other vehicles and apply the received dynamic information to the SLAM map, wherein the dynamic information is limited to a predetermined range based on route information to a destination, and
wherein the received dynamic information that is applied to the SLAM map includes information on objects which are outside of a detectable area of the one or more sensors.