| CPC G01C 21/3694 (2013.01) [G01C 21/365 (2013.01); G01C 21/3896 (2020.08); G08G 1/096861 (2013.01); B60K 35/23 (2024.01)] | 19 Claims |

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1. A method of controlling a head-up display which provides information related to a driving of a vehicle by referring to a pre-existing specific map stored in a storage unit and having at least three layers for providing static information, semi-static information and dynamic information, the method comprising:
sensing an occurrence of an event related to the vehicle occurring in real space;
updating the specific map to include event information related to the event on one of the at least three layers in response to the occurrence of the event;
outputting the event information to a preset position in front of the vehicle by using the head-up display based on the updated specific map;
maintaining the output of the event information at the preset position, even if a relative distance between the vehicle and the preset position is changed based on the driving of the vehicle; and
terminating the output of the event information when the vehicle passes through the preset position,
wherein the event information is deleted from the updated specific map when the vehicle has passed through the preset position.
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