Map generation method and map generation device

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, and
• wherein the grid width of the first map in the composite map is based on an area where the objects and the terrain are located with a longer distance to surrounding objects and terrain detected by the first sensor.

A map generation device comprising:

• a first sensor configured to detect information on surrounding objects and terrain;
• 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;
• a first map generation unit configured to generate a first map based on a detection result of the first sensor;
• a second map generation unit configured to generate, based on a detection result of the second sensor, a second map having a predetermined grid width, the first map having a grid width wider than the predetermined grid width of the second map;
• and
• a composite map generation unit configured to generate 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.