US 12,332,078 B2
Map generation method and map generation device
Yuichiro Dake, Osaka (JP); Isao Wakabayashi, Osaka (JP); Naohiro Hara, Osaka (JP); Tomoya Fukukawa, Osaka (JP); Toshiyuki Yokoue, Osaka (JP); and Satoshi Minamiyama, Osaka (JP)
Assigned to YANMAR POWER TECHNOLOGY CO., LTD., Osaka (JP)
Appl. No. 17/910,942
Filed by Yanmar Power Technology Co., Ltd., Osaka (JP)
PCT Filed Mar. 4, 2021, PCT No. PCT/JP2021/008358
§ 371(c)(1), (2) Date Sep. 12, 2022,
PCT Pub. No. WO2021/182270, PCT Pub. Date Sep. 16, 2021.
Claims priority of application No. 2020-042889 (JP), filed on Mar. 12, 2020.
Prior Publication US 2023/0144543 A1, May 11, 2023
Int. Cl. G01C 21/00 (2006.01)
CPC G01C 21/3848 (2020.08) [G01C 21/3807 (2020.08); G01C 21/3852 (2020.08); G01C 21/3881 (2020.08)] 12 Claims
OG exemplary drawing
 
1. A map generation method in which a map is generated by using a first sensor configured to detect information on surrounding objects and terrain, and a second sensor configured to detect the surrounding objects and terrain in a narrow detection range and with a higher resolution as compared with the first sensor, the map generation method comprising:
detecting, by the first sensor, information associated with surrounding objects and terrain;
detecting, by the second sensor, the surrounding objects and the terrain;
generating a first map based on a detection result of the first sensor;
generating, based on a detection result of the second sensor, a second map having a predetermined grid width, wherein a grid width of the first map is wider than the predetermined grid width of the second map; and
generating a composite map having the grid width of the first map and the predetermined grid width of the second map, wherein the composite map comprises a first area and a second area, wherein the first area and second area are set using tree structures, and wherein a depth of a tree structure for setting the second area on the composite map is deeper than a depth of a tree structure for setting the first area.