| CPC G01C 21/32 (2013.01) [G01C 21/3815 (2020.08); G01C 21/3841 (2020.08); G01C 21/3878 (2020.08)] | 12 Claims |
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1. A map matching apparatus of an autonomous driving vehicle comprising:
a processor to execute a program; and
a memory to store the program which, when executed by the processor, performs processes of,
acquiring map information including link endpoint coordinates, which are coordinates of endpoints of a plurality of links, and a connection relationship of each of the links;
acquiring movement information of a moving body on a predetermined route; and
specifying a link string, which is a string of the links corresponding to the route, based on the map information and the movement information; and
providing the specified link string to a controller, which controls an autonomous driving operation of a vehicle on the basis of the specified link string,
wherein the process of specifying a link string includes
generating a physical network, which is a road network, based on the connection relationship and the movement information,
generating a hierarchical logical network in which the physical network is duplicated in a plurality of layers and configured into a hierarchy based on an offset relative to a common point of the route, the physical network being duplicated by copying the same road network data into each of the plurality of layers, and
specifying the link string indicating a minimized cost in the hierarchical logical network.
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