Method of generating score map, method of controlling driving, and system of controlling driving for mobility

A method of controlling driving for a mobility, the method comprising:

• generating a score map by the method, wherein the generating of the score map includes:
• loading a local map including a plurality of cells,
• scanning a surrounding environment of the mobility,
• recognizing a surrounding terrain of the mobility from information on the surrounding environment of the mobility,
• generating a first score map corresponding to the surrounding terrain,
• generating a vector map, based on the surrounding terrain, that comprises a minimum and a maximum speed for the mobility,
• converting the vector map to a second score map, and
• generating a final score map based on the first score map and the second score map;
• generating a driving route based on the score map;
• generating a driving instruction based on the driving route;
• and
• controlling the driving of the mobility based on the generated driving instruction.

A system of controlling driving for a mobility, the system comprising:

• a mobility;
• a surrounding environment scanner mounted on the mobility and configured to scan a surrounding environment of the mobility;
• one or more processors;
• and a storage medium storing computer-readable instructions that, when executed by the one or more processors, enable the one or more processors to:
• load a local map including a first plurality of cells,
• receive information on the scanned surrounding environment from the surrounding environment scanner,
• recognize a surrounding terrain of the mobility from information on the surrounding environment,
• generate a first score map corresponding to the recognized surrounding terrain,
• generate a vector map based on the recognized surrounding terrain, that comprises a minimum and a maximum speed for the mobility,
• convert the generated vector map to a second score map,
• generate a final score map based on the first score map and the second score map,
• and generate a driving route based on the final score map, and control the driving of the mobility based on the driving route.