# US 12,222,208 B2 · Autonomous driving system in heterogeneous SD map and HD map environment and method for operating autonomous driving system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,222,208 B2 - Document ID: US12222208B2 - Status: Granted - Kind: B2 - Application number: 17/964,096 - Filed: 2022-10-12 - Published: 2023-09-07 - Granted: 2025-02-11 - Earliest claimed: 2022-03-07 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Sung Won Yoon - Web page: https://patentgrep.com/patent/US12222208B2 ## CPC - G01C 21/32: Structuring or formatting of map data - G01C 21/3407: {specially adapted for specific applications} - B60W 60/001: {Planning or execution of driving tasks} - B60W 2556/40: High definition maps - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract An embodiment is an autonomous driving system in a heterogeneous SD map and precise map environment, which can provide an autonomous driving service using a heterogeneous SD map having properties that do not match those of a precise map. The autonomous driving system in a heterogeneous SD map and HD map environment includes a service platform and an autonomous vehicle, and the operation and operation method of the system depend on whether a user can input TBT in addition to a start point and a destination. ## Claims ### Claim 1 A driving system comprising: a vehicle; and a service platform configured to transmit a start point and a destination input by a user through a first standard definition (SD) map to the vehicle, wherein the vehicle is configured to: generate a global path by use of the start point, the destination, and a second SD map according to a preset program, generate a local path matching the global path by use of a high definition (HD) map stored in the vehicle, and autonomously drive the local path, and wherein: the first SD map has properties that do not match properties of the HD map and the second SD map, and the second SD map has properties matching the properties of the HD map. ### Claim 2 (depends on 1) The driving system according to claim 1, wherein the global path includes turn-by-turn (TBT) guidance between the start point and the destination. ### Claim 3 (depends on 2) The driving system according to claim 2, wherein the vehicle is configured to transmit at least one of a current location of the vehicle, a time duration required to arrive at the destination, and the TBT guidance to the service platform. ### Claim 4 (depends on 3) The driving system according to claim 3, wherein the service platform is configured to provide the at least one of the current location of the vehicle, the time duration required to arrive at the destination, and the TBT guidance to the user according to the first SD map. ### Claim 5 (depends on 1) The driving system according to claim 1, wherein the second SD map is stored in the vehicle. ### Claim 6 (depends on 1) The driving system according to claim 1, wherein the first SD map is provided by a navigation system to the user. ### Claim 7 (depends on 6) The driving system according to claim 6, wherein the navigation system is configured to: receive the start point and the destination input by the user, generate turn-by-turn (TBT) guidance between the start point and the destination, and transmit the start point, destination, and TBT guidance to the service platform. ### Claim 8 (depends on 1) The driving system according to claim 1, wherein the first SD map is received from an external navigation system and provided to the user, and wherein the external navigation system is different from a navigation system built in the vehicle. ### Claim 9 (depends on 8) The driving system according to claim 8, wherein: the vehicle transmits at least one of a current location of the vehicle, a time duration required to arrive at the destination, and a TBT guidance to the service platform, and the service platform provides the at least one of the current location of the vehicle, the time duration required to reach the destination, and the TBT guidance to the user according to the first SD map. ### Claim 10 A method including: inputting, by a user, a start point and a destination by use of a first SD map provided by a service platform; transmitting, by the service platform, the start point and the destination to an autonomous vehicle; generating a global path, by the autonomous vehicle, by use of the start point, the destination, and a second SD map stored in the autonomous vehicle according to a preset program and generating a local path by use of the generated global path and a high definition (HD) map stored in the autonomous vehicle; operating the autonomous vehicle along the local path; and wherein: the global path includes a turn-by-turn (TBT) guidance between the start point and the destination, the first SD map has properties that do not match properties of the HD map and the second SD map, and the second SD map has properties matching the properties of the HD map. ### Claim 11 (depends on 10) The method according to claim 10, further including transmitting, by the autonomous vehicle, at least one of a current location of the autonomous vehicle, a time duration required to arrive at the destination, and the TBT guidance to the service platform. ### Claim 12 (depends on 11) The method according to claim 11, further including providing, by the service platform, the at least one of the current location of the autonomous vehicle, the time duration required to reach the destination, and the TBT guidance to the user according to the first SD map. ### Claim 13 A method for operating an autonomous driving system, the method including: inputting, by a user, a start point and a destination by use of a first SD map received by a service platform from an external navigation system and provided to the user; generating, by the external navigation system, a turn-by-turn (TBT) guidance by use of the start point and the destination and transmitting the start point, the destination, and the TBT guidance to the service platform; transmitting, by the service platform, the start point, the destination, and the TBT guidance to an autonomous vehicle; and generating, by the autonomous vehicle, a global path by use of the start point, the destination, the TBT guidance, and a second SD map stored in the autonomous vehicle according to a preset program and generating a local path by use of the global path and a HD map stored in the autonomous vehicle, wherein the first SD map has properties that do not match properties of the HD map and the second SD map, the second SD map has properties matching properties of the HD map, and the external navigation system is different from a navigation system built in the autonomous vehicle. ### Claim 14 (depends on 13) The method according to claim 13, further including transmitting, by the autonomous vehicle, at least one of a current location of the autonomous vehicle, a time duration required to reach the destination, and the TBT guidance to the service platform. ### Claim 15 (depends on 14) The method according to claim 14, wherein the service platform provides the at least one of the current location of the autonomous vehicle, the time duration required to reach the destination, and the TBT guidance received from the autonomous vehicle to the user according to the first SD map. ### Claim 16 A method for operating an autonomous driving system, the method including: accessing, by a user, a service platform through a call software (SW); determining whether a navigation system is able to generate a TBT guidance using a first standard definition (SD) map; generating, by an autonomous vehicle, a first global path including the TBT guidance using a second SD map and a first local path matching the first global path using a high definition (HD) map upon determining that the navigation system is not able to generate the TBT guidance; generating, by the navigation system, the TBT guidance using the first SD map; generating, by the autonomous vehicle, a second global path including the TBT guidance using the second SD map and a second local path matching the second global path using the HD map upon determining that the navigation system is able to generate the TBT guidance; and operating the autonomous vehicle along the first local path or the second local path, wherein: the first SD map has properties that do not match properties of the HD map and the second SD map, and the second SD map has properties matching the properties of the HD map. ### Claim 17 (depends on 16) The method according to claim 16, further including determining whether a path re-search is necessary during operation of the autonomous vehicle, wherein the determining of whether the navigation system is able to generate the TBT guidance is performed upon determining that the path re-search is necessary, and the operating of the autonomous vehicle is performed upon determining that the path re-search is not necessary.