Method and apparatus for generating an integrated electronic chart for route setting
The present disclosure relates to a method and a device generating a navigational route using an integrated electronic chart, which includes receiving a plurality of electronic charts with different scales; extracting at least one overlapping area of the plurality of electronic charts; integrating the plurality of electronic charts into the integrated electronic chart; dividing the integrated electronic chart into a configurable grid; generating an initial route using first object information in the configurable grid; mapping second object information detected by a sensing device onto the integrated electronic chart; and resetting the initial route using the second object information. According to the method and device of the present disclosure, the integrated electronic chart allows for efficient use of computing resources. Overall route calculation time and memory usage is reduced, and each area is accurately expressed.
1 . A method of generating a navigational route using an integrated electronic chart, the method comprising:
receiving a plurality of electronic navigational charts (ENCs), each with different scales, from a database;
extracting at least one overlapping area of the plurality of ENCs;
integrating the plurality of electronic-charts-ENCs into the integrated electronic chart by applying an overlapping area from an ENC with the largest scale among the plurality of ENCs to a corresponding overlapping area of the at least one overlapping area, based on the at least one overlapping area and a scale;
dividing the integrated electronic chart into a configurable grid;
generating an initial route using first object information contained in the configurable grid;
mapping second object information detected by a sensing device onto the integrated electronic chart; and
resetting the initial route using the mapped second object information,
wherein the integrating comprises extracting an object type and an object coordinate from each of the at least one overlapping area, and comparing scales of two ENCs of the plurality of ENCs only when the two ENCs contain the same object type and the same object coordinate.
2 . The method of claim 1 , wherein the integrating comprises:
classifying the plurality of ENCs based on the at least one overlapping area;
selecting one of the classified ENCs as a first ENC; and
based on an existence of a second ENC electronic chart among the classified ENCs that includes the overlapping area included in the first ENC and has a larger scale than the first ENC, changing the overlapping area of the first ENC to the overlapping area of the second ENC.
3 . The method of claim 1 , further comprising dividing the integrated electronic chart into the configurable grid using a quadtree according to presence or absence of an object.
4 . The method of claim 3 , further comprising storing attribute information of the configurable grid in the integrated electronic chart, the attribute information being generated based on information about the configurable grid and information about the object in the configurable grid.
5 . The method of claim 4 , wherein the attribute information of the grid includes a route setting weight determined based on a distance between the configurable grid and a land.
6 . The method of claim 2 , wherein the classifying the plurality of ENCs is performed based on one or more of chart numbers, chart names, and code numbers of the plurality of ENCs.
7 . The method of claim 3 , wherein the dividing the integrated electronic chart into the grid further comprises repeatedly dividing the configurable grid using the quadtree until a resulting grid contains preset object information.
8 . The method of claim 1 , wherein the dividing the integrated electronic chart further comprises object interpolation based on a plurality of points corresponding to objects included in the integrated electronic chart and edges connecting the plurality of points to each other.
9 . A non-transitory computer-readable medium having computer executable instructions that, when executed by a processor, perform the method of claim 1 .
10 . A route setting device comprising:
at least one memory; and
at least one processor,
wherein the at least one processor is configured to
receive a plurality of electronic navigational charts (ENCs) from a database, each comprising a configurable grid containing first object information, wherein the plurality of ENCs is combined, thereby creating an integrated electronic chart using an ENC with the largest scale for each overlapping area of the plurality of ENCs,
receive data including second object information from at least one sensor,
generate integrated object information by mapping the second object information to the configurable grid based on the first object information and the second object information,
display the integrated object information,
generate an initial route using the integrated electronic chart, and
resetting the initial route using the integrated object information,
wherein the creating of the integrated electronic chart includes extracting an object type and an object coordinate from each of the at least one overlapping area, and comparing scales of two ENCs of the plurality of ENCs only when the two ENCs contain the same object type and the same object coordinate.
11 . The route setting device of claim 10 , wherein the at least one processor is further configured to generate the integrated object information by excluding the second object information mapped to the configurable grid containing the first object information.
12 . The route setting device of claim 10 , wherein the first object information and the second object information include probability information regarding at least one of a presence, a location, a size, a speed, and a direction of an object,
wherein the at least one processor is further configured to generate integrated probability information by integrating the probability information, and generate the integrated object information by mapping the integrated probability information to the configurable grid.
13 . The route setting device of claim 10 , wherein the at least one processor is further configured to generate the integrated object information by identifying a subset of a plurality of pieces of second object information indicating the same object sensed in a preset area.
14 . The route setting device of claim 10 , wherein the at least one processor is further configured to set a collision avoidance route by connecting the configurable grid on which the integrated object information is not mapped or the configurable grid with low collision risks.
15 . The route setting device of claim 10 , wherein the at least one processor is further configured to
calculate a probability-based collision risk for the configurable grid of the integrated electronic chart based on at least one of the first object information and the second object information, and
set a collision avoidance route based on the probability-based collision risk and a possibility of a host ship avoiding a collision.
16 . The route setting device of claim 15 , further comprising a display unit configured to display at least one of the integrated object information, the probability-based collision risk, and the collision avoidance route.
17 . The route setting device of claim 10 , wherein the at least one processor is further configured to set a planned route from an origin to a destination based on the integrated electronic chart.
18 . The route setting device of claim 10 , wherein the at least one processor is further configured to generate the integrated object information by performing object filtering using land information of the integrated electronic chart and a noise removal algorithm.
19 . The route setting device of claim 10 , wherein the at least one processor is further configured to generate the integrated object information by selecting only objects corresponding to navigational obstacles based on sensor fusion of the first object information acquired from the integrated electronic chart and the second object information filtered using a noise removal algorithm.