• Journal of the Korean Association of Geographic Information Studies
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• v.23 no.3
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• pp.132-145
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• 2020

By coming of the 4th industrial revolution era, HD map have became a key infrastructure for determining precise location of autonomous driving in areas of futuristic cars, logistics and robots. Autonomous vehicles have became more dependent on HD map to determine the exact location of objects detected by various sensors such as LiDAR, GNSS, Radar, and stereo cameras as well as self-location decisions. By actualizing autonomous driving and C-ITS technologies, the demand for precise information on HD map have increased. And also the demand for the creation of new information based on the convergence of various changes and real-time information have increased. In this study, domestic and international HD map standards and related environments have analyzed. Based on this, usability has researched which comparison with standard HD map established by various institutions. Additionally, usability of standard HD map have studied for applying actual autonomous vehicles by reworking HD map. By the result of study, standard HD map have well established to use by various institutions. If further research about layer classification and definition by institutions will carried out based on this study, it has expected that and efficient establishment and renewal of HD map will take place.

• Journal of the Korean Association of Geographic Information Studies
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• v.22 no.3
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• pp.133-145
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• 2019

Building and researching high definition maps that support autonomous vehicles, one of Korea's key challenges for the future, are being actively propelled in both private and government sectors with the goal of fast commercialization. Under this perspective, update methods that secure up-to-date information are emerging as key tasks. To provide a plan for establishing efficient renewal systems for high definition maps, we analyzed the present condition of road types, causes of road changes and its annual change rates, and examined where and how such road change information is managed. Furthermore, the method of collection and detection of road change information and the renewal system of high definition maps are defined based on the current study. At the end of the paper, a step-by-step renewal system is proposed through the examination of renewal cycles, contents, and region of high definition maps.

• Journal of the Korean Association of Geographic Information Studies
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• v.25 no.4
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• pp.181-199
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• 2022

This study presented a methodology for evaluating the performance of the lane departure warning system was derived by calculating the relationship between the behavior information of the car and the location of the high-precision map using a high-precision map. The evaluation criteria of the mood and lane departure warning system for the installation of road markings in Korea were analyzed, a high-precision map was constructed to meet the evaluation criteria, and an evaluation system was constructed to verify the proposed methodology. Evaluation of lane departure warning systems using high-precision maps can be quantified and applied to various road environments through accurate location-based comparative analysis and reduced manual post-processing work time to confirm evaluation results.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2022.06a
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• pp.269-270
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• 2022

자율주행 자동차의 개발을 위해서는 다양한 기능 평가, 성능 평가, 안전성 평가 등이 필수적이다. 이러한 평가는 컴퓨터 시뮬레이션과 실제 주행을 통해 이뤄질 수 있으며, 현실의 도로 상황을 고려한 단위시험환경들을 조합 구성한 통합시험환경에서 수행하는 것이 일반적이다. 여기서 단위시험환경은 도로망 구성, 장애물, 표지판 등의 정보를 포함하는 정밀도로지도를 기반으로 주행차량수, 보행자, 기상환경, 동적 이벤트 요소 등을 고려하여 구성할 수 있다. 본 논문에서는 이러한 단위시험환경을 구성하기 위한 정밀도로지도 처리 방법을 소개한다. 구체적으로는 정밀도로지도 처리를 포함하는 데이터 파이프라인을 설계하고, 정밀도로지도 객체분석을 통해 시험환경의 특성 및 상호 유사성을 파악한다. 국토지리정보원에서 배포한 정밀도로지도를 사용하여 객체를 추출하고 분석하는 실험을 수행했으며 전반적인 동작 상태를 확인했다. 개발한 소프트웨어는 향후 자율주행 학습을 위한 단위 및 통합 시험환경 구축 및 법규 및 규제 대응 서비스 시나리오의 구성에 활용할 예정이다.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2002.02a
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• pp.486-493
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• 2002

본 연구에서는 정밀시비를 위한 전자지도 작성 시스템을 개발하고, 질소 시비량 지도를 작성하였다. 개발된 토양 유기물 함량 계측 센서는 0.07%~7.96%가지의 토양 유기물 함량을 $R^2$= 0.85, SEP=0.72, bias=-0.13으로 계측할 수 있었으며, 작성된 시비량 지도를 이용한 시비는 58.7%의 정확성을 보였다. 시비량 지도에 의한 정밀시비는 획일적인 시비의 정밀시비 30.5%에 비해 91%의 정확성 향상을 보였다. 그러나 개발된 센서의 오차로 인하여 유기물 함량 등급 분류 간격이나 격자 간격 면에서 세분화된 지도는 작성할 수 없었다. 좀 더 정확하고 세분화된 시비량 지도 작성을 위해서는 오차 범위가 작은 정밀한 센서의 개발이 요구된다. 또한 토양 유기물 센서뿐만 아니라 다른 토양 상태를 계측할 수 있는 센서들이 개발된다면 다양하고 정확한 시비량 지도를 작성할 수 있을 것으로 판단된다. 작성된 전자 지도는 농작업의 의사결정에 도움을 주며, 빠른 처방이 가능할 것이다.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2004.03a
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• pp.499-505
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• 2004

현재 국내에서 활발히 이루어지고 있는 GPS 정밀측지측량은 획득된 GPS 관측값의 결과값이 GPS 기준점의 기하학적 강도와 분산계수의 상관관계의 연관성과의 분석없이 사용되고 있는 문제점을 파악하고 육지와 해상의 통합지리정보시스템구축을 위한 수치지도와 전자해도의 통합투영의 필요성에 의해서 이루어졌다. 본 연구의 목적은 크게 GPS 관측값의 정밀도를 향상시키는 방법과 수치지도와 전자해도의 통합투영으로 GPS 기준점들을 이용한 수치지도와 전자해도상의 경계선 오차량을 비교검토를 통해 수치지도와 전자해도의 통합관리의 방향을 제시하는데 있다. GPS 관측값의 정밀도 향상을 위한 방법제시를 위하여 GPS 망조정에 사용되는 3점의 기준점에 대한 기하학적인 강도에 따른 정밀도 분석방법과 분산계수의 변화에 따른 GPS 관측값들의 정밀도 분석방법으로 나누어 검토하였다.

• Journal of the Korean Association of Geographic Information Studies
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• v.22 no.3
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• pp.120-132
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• 2019

As a key infrastructure for positioning autonomous vehicles, HD maps are making efforts to equip autonomous vehicles and connect them with services worldwide. Global companies like Here and TomTom have contracted an agreement with three German automobile companies(BMW, Audi, Daimler) by establishing systems including from the production of HD maps to loading autonomous vehicles. Japan has organized a DMP(Dynamic Map Platform) by collaborating public and private section and performing establishment of HD map on private section-oriented. Korean companies related with autonomous vehicles are also cooperating with various companies such as vehicles, sensors and maps. But public and private sections are establishing HD maps respectively. Accordingly, Ministry of Land, Infrastructure and Transport implemented and signed memorandum for private and public cooperation in April 2019, Joint establishment council of HD map has launched in August 2019. This study performed domestic and foreign trend analysis about HD map and interviewed to related companies. And analyzed solutions for interactive cooperation of private and public section in HD map industry, purposed step-by-step strategy for operation and operation plan for joint establishment council of HD map.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.05a
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• pp.18-18
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• 2004

지도작성은 이동로봇의 주행 및 위치추정을 위해 반드시 필요한 요소이다. 이러한 지도작성에는 격자지도와 토폴로지컬 지도의 두 종류가 있다. 격자지도는 전체 환경을 작은 격자로 나누어 각각에 점유되어 있는 확률간을 부여함으로써 지도상의 모든 메트릭(metric) 정보를 나타내는 반면에, 토폴로지컬 지도는 메트릭 정보를 가짐으로써 위치추정을 가능하게 하는 노드와 이를 연결하는 에지로 표현된다.(중략)

• Journal of the Korean Association of Geographic Information Studies
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• v.22 no.3
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• pp.146-154
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• 2019

Recently, a system has been developed and applied to establish and utilize HD maps through R&D. The biggest problem, however, is the lack of a proper HD map update system, which requires the development and adoption of such a system as soon as possible. In addition, in the case of updating HD maps for automated driving, integrity and accuracy of maps are required for safe driving, so an test of these technologies and data quality is required. In April 2018, the Ministry of Land, Infrastructure and Transport implemented a project to 'Develop Technology to Demonstrate and Share the Instant Road Change Detection and Update Technology for automated driving. This paper analyzed the technology for updating map based on the investigation and analysis of relevant technology trends for the development of integrated demonstration and sharing technology of road change rapid detection and updating map technology, and put forward the criteria for road change rapid detection, integrated quality verification of update technology. It is expected that the results of this study will contribute to quality assurance of HD maps that support safety driving for automated vehicles.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.1
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• pp.273-286
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• 2022

An HD map is essential in the automated driving of level 4 and above to generate the vehicle's global path since it contains road information and each road's lane information. Therefore, all the road elements in the HD map must be correctly defined to construct the correct road network necessary to generate the global path. But unfortunately, it is not difficult to find various errors even in the most recent HD maps. Hence, a preprocessing algorithm has been developed to detect and correct errors in the HD map. This error detection and correction result in constructing the correct road network for use in global path planning. Furthermore, the algorithm was tested on real roads' HD maps, demonstrating its validity.