KR20080084452A - Navigation having guiding function for lane change, guiding system for lane change, and guiding method for lane change - Google Patents

Abstract

A navigation device having a lane change guiding function, a lane change guiding system including the same, and a lane change guiding method using the same are provided to inform a driver of a lane change by considering a corresponding state between a lane to be changed and a set path and comparing the distance to the vehicle behind with the set condition. A navigation device(10) having a lane change guiding function comprises a GPS module(12), a storage(14), an interface part(18), and a controller(19). The GPS module receives a satellite signal and calculates a position thereof. The storage stores map information and a set condition for displaying the position. The interface part communicates with a vehicle control system. The controller checks whether lane change is available based on the set path and compares the distance to the vehicle behind with the set condition to judge whether the lane change is safe. A sensor(30) detects an object which is adjacent to the vehicle. A vehicle control system(20) linked with the navigation device transmits the sensed result to the navigation device.

Description

Navigation device with lane change guiding function, lane change guiding system including same and lane change guiding method using same {Navigation having guiding function for lane change, guiding system for lane change, and guiding method for lane change}

1 is a block diagram showing the configuration of a lane change guide system according to a specific embodiment of the present invention.

2 is a flowchart illustrating a lane change guiding method according to a specific embodiment of the present invention;

3 is an exemplary view illustrating a state of inputting a lane change signal through an input unit of a navigation device according to a specific embodiment of the present invention.

4 is an exemplary view showing an example of a lane change determination method according to a specific embodiment of the present invention.

* Description of the symbols for the main parts of the drawings *

10: navigation device 12: GPS module

14: storage unit 16: input unit

18: interface unit 19: control unit

20: vehicle control system 22: interface device

30: detection sensor 40: driver control panel

50: Activation Icon

The present invention relates to a navigation device, a system, and a method including the same for informing a user of information on a lane change by using a rear vehicle and a set route when the user changes a lane.

The conventional navigation device only guides road information of the vehicle location (whether it is a left turn or a straight lane, etc.), and when a user wants to change a lane, a service is not provided regarding whether the lane to be changed corresponds to a set route. have.

In addition, although a detection sensor provided in a vehicle has recently been provided, it does not play a role of informing whether safety is considered in consideration of a relationship with a vehicle located in a lane to be changed when a lane is changed.

Therefore, the above-described prior art has the following problems.

In other words, in order to change lanes, the user needs to directly check whether the lane to be changed is the lane corresponding to the set route, and change the lane after checking the position of the rear vehicle through the side mirror or the room mirror again. There was a problem causing driving inconvenience.

Accordingly, the present invention has been made to solve the above-mentioned conventional problems, and an object of the present invention is to determine whether the lane to be changed corresponds to a set route and the rear vehicle when the user wants to change lanes. In consideration of this, a navigation device, a system for informing a user whether a lane change is safe, or a guidance method using the same is provided.

According to a feature of the present invention for achieving the above object, the present invention includes a GPS module for receiving a satellite signal and calculating the position; A storage unit for storing map information and setting conditions for displaying a location; An interface unit for communicating with a vehicle control system provided in the vehicle; And a control unit configured to receive a lane change signal from a user, determine whether lane change is possible according to a set route, and receive a distance from a vehicle behind the vehicle from the vehicle control system, and determine whether the lane change is safe by comparing with the setting condition. It is configured to include.

At this time, the control unit calculates a relative speed with the rear vehicle; The lane change safety may be determined by comparing the distance from the rear vehicle with the setting condition in consideration of the relative speed.

In addition, the setting condition may be divided into a case where it is impossible to change lanes, but a case requiring attention and a case where it is safe.

Further, it is also possible to calculate whether the lane change is possible or not, by comparing the lane to be changed with a set route.

The lane change signal may be received through an input device provided in the navigation; It may be input through a direction indicator provided in the vehicle, and may be transmitted to the controller through the interface unit.

On the other hand, the present invention is a GPS module for receiving a satellite signal to calculate the location, and a storage unit for storing the map information for displaying the location; An interface unit for communicating with a vehicle control system provided in the vehicle; And a control unit configured to receive a lane change signal from a user, determine whether lane change is possible according to a set route, and receive a distance from a vehicle behind the vehicle control system to determine lane safety. And: a detection sensor for detecting an adjacent object of the vehicle: and a vehicle control system provided in the vehicle to control an operation state of the vehicle and transferring the detection result of the detection sensor to the navigation device in association with the navigation device. Lane change guidance system using navigation.

In this case, when the vehicle control system receives a lane change signal, the vehicle control system may drive the detection sensor to transmit distance information between the rear object and the rear of the vehicle to the navigation device.

On the other hand, the display screen of the navigation, the active icon for activating the input menu for the input of the lane change input signal is provided; When a touch input through the active icon is detected, the input menu may be activated by sensing the touch of the input menu by activating the input menu.

And the present invention, (A) receiving a lane change signal; (B) determining whether the lane can be changed using the set route and the position of the vehicle; (C) detecting a distance to the rear object using a rear detector; (D) determining whether the lane change is safe using the detection result of the rear detector; And (E) a lane change guiding method using a navigation including a step of guiding a user whether the lane change is possible and whether the lane change is safe.

In this case, step (B) may include: (B1) determining whether a progress path is set on the navigation; (B2) determining, when the traveling path is set, whether the changed direction of the changed lane coincides with the traveling path; (B3) if the traveling direction coincides with the traveling path, it may include determining that lane change is possible.

And (D) the step of calculating the distance to the vehicle behind (D1); (D2) comparing the distance with a set condition may include determining whether the safety.

Or (D) comprises: calculating a distance and a relative speed with the vehicle behind (D1 ′); (D2 ') It may also comprise the step of determining whether or not the safety by comparing the distance with the set condition in consideration of the relative speed.

Alternatively, the step (D) may include calculating a distance, a relative speed, and a speed of the vehicle with the rear vehicle (D1 ″); (D2 ") comparing the distance with the setting condition in consideration of the relative speed and the speed of the vehicle may include determining whether the distance is safe.

In this case, the setting condition may be a safety distance classified according to the speed of the vehicle and the relative speed between the rear object and stored in a table form.

The safety status may be determined by correcting the distance using the relative speed and the vehicle speed, and then comparing the corrected value with the setting condition.

이고, 여기서, L2는 보정 후 거리; L1은 보정 전 거리; A는 상대속도; a는 상대속도 보정계수; V는 차량속도; v는 차량속도 보정계수일 수도 있다.At this time, the correction formula used for the correction,

Where L2 is the distance after correction; L1 is the distance before correction; A is relative velocity; a is the relative speed correction coefficient; V is vehicle speed; v may be a vehicle speed correction coefficient.

In addition, the lane change guide method using the navigation according to the present invention includes the steps of: (F) the navigation device transmitting a termination signal to the vehicle control system; (G) The vehicle control system receiving the end signal may further include stopping the operation of the sensor.

According to the present invention having the configuration as described above, there is an advantage that the user can obtain information about the lane change from the navigation system when the lane changes.

Hereinafter, a preferred embodiment of a lane change guide system using a navigation system according to the present invention as described above, a navigation device used therein, and a guidance method thereof will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing the configuration of a lane change guide system according to a specific embodiment of the present invention.

As shown in the drawing, the present invention includes a navigation device 10 for searching and informing a user of a traveling path of a vehicle.

The navigation device 10 includes a GPS module 12 that receives a satellite signal and calculates a location. The GPS module 12 receives a plurality of satellite signals transmitted from GPS satellites, and calculates the latitude, longitude, height, and time of the GPS module 12 from the received signals.

In addition, the navigation device 10 includes a storage unit 14 that stores map information for displaying a user's location and movement path. At this time, the storage unit 14 stores not only map information but also setting conditions for realizing the present invention. The setting condition is a condition for indicating whether the vehicle is safe to change lanes. For example, when the lane is changed, when the distance to the rear object in the direction to be changed is 3 m or more, it is considered safe and less than 3 m. In this case, the 3m is a setting condition.

The setting condition may be set to one reference distance value divided into safety and risk as in the above example, or may be set to two values to provide more granular service.

For example, if the distance to the rear object in the direction to change lanes is less than 1m, it is dangerous, if it is more than 2m and less than 4m, it is possible to be careful, and if it is larger than 4m, it is 2m. And 4m are two setting condition values.

In the specific example of the present specification, two setting condition values will be described as an example, but the number of setting condition values may be freely set to an appropriate number.

On the other hand, the navigation device 10 is configured to include an input unit 16 for receiving a command from the user. The input unit 16 may be applied to various input devices such as a key button or a touch screen, but for the convenience of description, the input unit 16 will be described as an example.

The input unit 16 is a part for receiving various commands for operating the navigation from a user, and in particular, in the present invention, may serve to receive a lane change signal from the user.

Of course, the lane change signal may be transmitted from the vehicle control system 20 to the navigation device 10 to be described later through an operation lever such as a direction indicator of the vehicle.

In addition, the navigation device 10 is configured to include an interface unit 18 for communicating with the vehicle control system 20 to be described later. The interface unit 18 is configured in various ways depending on the communication method used. In the present specification, an example of applying an RS232 serial interface provided in a general vehicle will be described.

On the other hand, the navigation device 10 is configured to include a control unit 19 for controlling the above-described GPS module 12, the control unit 19, the input unit 16 and the interface unit 18. When the control unit 19 receives the lane change signal, the controller 19 determines whether to change the lane in consideration of the path set in the navigation device 10.

That is, it is determined whether or not the traveling direction of the lane to be changed coincides with the set path, and when the lane direction does not coincide with the set path, it is determined that the debit change is impossible. The method of determining whether the debit can be changed is described in detail below, for example, in describing the operation of the present invention.

In addition, the controller 19 receives a rear object (hereinafter referred to as a "rear vehicle") and a distance to the lane side to be changed from the vehicle control system 20 to be described later to determine whether the lane change safety. The lane change safety is determined by the control unit 19 by comparing the distance to the rear vehicle with the setting conditions stored in the storage unit 14, as described above by simply determining the distance with the rear vehicle. Alternatively, it is also possible to discriminate by including any one or more of the relative speed with the rear vehicle or the speed of the vehicle for more detailed discrimination.

The method for determining whether the lane change is safe or not will be described in detail below with reference to the operation of the present invention.

On the other hand, the present invention includes a vehicle control system 20 configured to include an interface device 22 that can communicate with the navigation device 10 including the components described above to control the operation of the vehicle.

The vehicle control system 20 collects driving information of a vehicle and informs the user and the navigation device 10 of the vehicle control system 20. The interface device 22 of the same type as the interface unit 18 for communication with the navigation device is provided. It is configured to include).

In this case, the vehicle driving information includes information displayed on the instrument panel of the vehicle, and further includes distance information with the rear vehicle received from the sensor 30 to be described later for the implementation of the present invention.

The present invention also includes a sensor 30 for measuring the distance between the rear vehicle and the rear of the vehicle. The sensor 30 measures the distance to the rear vehicle and transmits it to the vehicle control system 20, which is then transmitted to the interface unit 18 through the interface device 22.

On the other hand, the present invention may further comprise a driver operation unit 40 for receiving a lane change signal. The lane change signal is a signal for notifying the navigation device 10 of a user who wants to change lanes, and the driver manipulation unit 40 generates the signal. The driver manipulation unit 40 may be formatted as an input key provided separately to the vehicle, but the vehicle control system 20 detects this when the direction indicator is turned on by using the existing direction indicator lamp and the navigation device 10. ) Is more effective because no additional components are required.

Of course, when the lane change signal is input using the navigation device 10, the driver manipulation unit 40 may not be provided, and the user may receive the lane change signal through the input unit 16 provided in the navigation. Will be entered.

Hereinafter, the operation of the lane change system using the navigation according to the present invention will be described in detail according to the lane guidance method.

2 is a flowchart illustrating a lane change guidance method according to a specific embodiment of the present invention, and 3 is a state in which a lane change signal is input through the input unit 16 of the navigation device 10 according to a specific embodiment of the present invention. 4 is an exemplary view illustrating an example of a method for determining whether a lane change is possible according to a specific embodiment of the present invention.

As shown in FIG. 2, the lane change guide according to a specific embodiment of the present invention begins with receiving a lane change signal from a user first (S100). As described above, the lane change signal may be input by a user and may be input in various ways, but the direction to be changed should be included.

Hereinafter, two methods of inputting through the input unit 16 of the navigation device 10 and the driver manipulation unit 40 provided in the vehicle will be described as representative lane changing methods.

-A method for receiving a lane change signal through the input unit 16 of the navigation device 10

The input unit 16 of the navigation device 10 includes a key button or a touch screen. Therefore, the lane change signal may be input using a key button provided separately.

Alternatively, when the input unit 16 of the navigation device 10 is configured as a touch screen, as shown in FIG. 3, the lane change signal may be input by a user's touch.

In this case, when a touch input of the active icon 50 provided on the screen, the controller 19 activates the input menu as shown. Thereafter, the user inputs a lane change signal by touching a direction of a lane to be changed in the activated input menu.

How to receive the lane change signal through the driver control unit 40 of the vehicle

The lane change signal may be input through the driver manipulation unit 40 provided in the vehicle. In this case, the driver manipulation unit 40 may be a separate input device provided around a steering wheel or a driver's seat.

However, without a separate input device, an existing turn indicator lever may serve as the driver manipulation unit 40. That is, when the user turns on the turn signal to change lanes, the vehicle control system 20 may detect the signal and transmit it to the controller 19 through the interface device 22 as a lane change signal.

On the other hand, when the controller 19 detects the lane change signal, it is checked whether a traveling path is set in the navigation device 10 (S110).

When the progress path is set, the controller 19 searches for the set progress path (S120).

Thereafter, the controller 19 determines whether the lane in the direction that the user wants to change corresponds to the set progress path and determines whether the lane is changeable (S130).

The determination as to whether the lane is changeable is to determine whether the set traveling path can be moved through the lane to be changed. For example, an intersection as shown in FIG. 4 may be considered.

As shown, it is assumed that the current position of the vehicle is the X point, and the set traveling direction is to turn left after the one-block progression (setting path 1).

In this case, when the user inputs a lane change signal to the right, the road traveling direction of the right lane to be changed is straight and the set path is straight, so the controller 19 determines that the lane can be changed in this case.

However, when the user inputs a lane change signal to the left, the road proceeding direction of the left lane to be changed is left turn, while the set path is straight, so the controller 19 determines that the lane cannot be changed in this case.

 On the other hand, assume that the current position of the vehicle is point Y and the set traveling direction is the right turn (set path 2).

At this time, when the lane change signal from the user to the left is input, by the principle described above, the control unit 19 determines this as a lane that can not proceed.

However, it is necessary to change lanes inevitably to avoid traffic congestion in consideration of the remaining straight distance. In preparation for such a case, it is necessary to consider only the predetermined distance in the set route in the determination of the changeable lane. To this end, the controller 19 may be used to determine the changeable lane in consideration of only a predetermined distance of the set route, or determine whether the changeable lane is available based on the intersection or the branch point on the set route as a division unit. .

At this time, when considering a road having a small number of intersections or branching points and a relatively straight section, such as a highway, it is efficient to determine whether the changeable lane is considered in consideration of only a predetermined path for a specific distance.

Of course, if the path is not set in the navigation apparatus 10 as a result of the determination of step 110, the vehicle does not determine whether the change lane is possible, and it is regarded as a changeable lane and determines whether the lane change is safe.

In addition, if it is determined in step 130 that the lane to be changed is a lane that cannot be changed, the lane to be changed is stopped after transmitting a 'message message 1' informing the user that the lane to be changed is impossible. (S140).

However, if it is determined in step 130 that the lane to be changed is a lane capable of changing lanes, it is determined whether the lane change is safe.

In order to determine whether the lane change is safe, the controller 19 drives the sensor 30 to detect the distance of the rear vehicle (S150).

Thereafter, the sensed distance of the rear vehicle is transmitted to the vehicle control system 20, and the vehicle control system 20 transmits the distance information to the controller 19 of the navigation device 10.

The controller 19 may use only the distance information in determining whether the lane change is safe or not (that is, determine that the distance is safe if the distance is greater than a predetermined value), but the relative speed with the rear vehicle and the user vehicle for more detailed determination. It may be determined whether the lane change is safe in consideration of the speed of the driving vehicle (hereinafter referred to as 'vehicle speed').

There may be various methods for determining lane change safety in consideration of the distance from the rear vehicle, the relative speed, and the vehicle speed.

The control unit 19 receives the speed of a vehicle (hereinafter, referred to as 'the present vehicle') in which the user operates, in addition to the distance information, from the vehicle control system 20. Of course, since the moving speed is calculated even in the navigation device 10 itself, the vehicle speed calculated by the navigation device 10 may be used without receiving the vehicle speed. In addition, the relative speed of the rear vehicle may be calculated from the distance change rate of the rear vehicle with respect to the present vehicle for a predetermined time (S160).

When the distance to the rear vehicle, the relative speed, and the vehicle speed information of the present vehicle are all calculated by the above-described method, it is determined whether lane change safety is performed using these (S170).

Looking at the safety of the variables, if the distance between the rear vehicle is the same, if the relative speed of the vehicle and the rear vehicle has a positive number, this means that the distance between the rear vehicle and the vehicle is far away You can safely change lanes.

However, if the relative speed is negative, this means that the distance between the rear vehicle and the vehicle is getting closer, which means more attention must be given to changing lanes.

Of course, it can also be seen that the greater the magnitude of the relative speed of the relative speed.

On the other hand, the faster the vehicle speed of the present vehicle, the shorter the braking distance and the greater the damage of the accident, it is preferable that the higher the vehicle speed is set to increase the safety.

In this way, the corrected distance information is calculated by modifying the received distance information by using the relative speed and the vehicle speed which affect the lane change.

To this end, the present specification proposes a correction formula.

The correction formula is

to be.

At this time, L2 is the distance after correction, L1 is the distance before correction, A is the relative speed, a is the relative speed correction coefficient, V is the vehicle speed, and v is the vehicle speed correction coefficient.

Referring to Equation 1, as the relative speed A increases, the corrected distance L2 increases, and as the speed V of the vehicle increases, the corrected distance L2 decreases.

In this way, the calculated L2 is compared with the setting conditions stored in the storage unit 14 to determine whether the lane change safety.

Of course, it is also possible to correct the distance with the rear vehicle measured as described above using the relative speed and the vehicle speed, otherwise, the setting condition is corrected using the relative speed and the vehicle speed and It is also possible to determine whether the lane change is safe by comparing the actually measured distance information.

In the case of correcting the setting condition, the correction equation should be used so that the setting distance becomes larger as the vehicle speed increases, so that the setting distance of the setting condition becomes smaller as the relative speed increases.

At this time, the setting condition has a setting distance to be divided in stages, and if it is divided into two stages, it has one setting distance, and if it is divided into three stages, it has two setting distances (that is, divided into n stages). In case of n-1 set distances).

For example, if lane change safety is divided into two stages, “safety” and “dangerous”, it has one set distance (for example, 4m), and if the corrected distance L2 with the rear vehicle is less than 5m, it is dangerous. If it is 4m or more, it is determined as safety.

If the lane change safety is divided into three levels of "safety", "caution" and "danger", it has two set distances (for example, 3m and 5m), and the corrected distance L2 from the rear vehicle is If it is less than 3m, it is determined as a danger, if it is more than 3m and less than 5m, it is determined with caution, and if it is more than 5m, it is determined as safety.

Meanwhile, whether the lane change is safe or not may be determined by comparing the distance between the stored setting condition and the received rear vehicle separately classified according to the relative speed and the vehicle speed.

To this end, the setting conditions stored in the storage unit 14 may be stored in a table form as shown in Table 1 below.

… -30 <A≤-20 -20 <A≤-10 -10 <A <0 A = 0 0 <A≤10 10 <A≤20 20 <A≤30 … V≤20 m1 … 18 10 5 3 2 One One … m2 … 20 12 7 5 4 3 2 … 20 <V≤40 m1 … 19 11 6 4 3 2 One … m2 … 21 13 8 6 5 4 3 … …

Where A is the relative speed (Km / h), V is the vehicle speed (Km / h), and m1 and m2 are the set distances (m).

Using the table, the controller 19 calculates m1 and m2 values corresponding to the vehicle speed and the relative speed, and determines whether the lane change is safe using the m1 and m2 values. That is, when the distance between the received rear vehicle is m1 or less, it is determined as "danger:" and when it is a value between m1 and m2, it is determined as "caution", and when it is more than m2, it is determined as "safety".

Meanwhile, after determining whether the lane change is safe or not, the user is informed of a result (endurance message 2) regarding whether the lane change is safe (S180). The guide message 2 may be a voice message or a video message through a display unit provided in the navigation apparatus 10.

After transmitting the guide message 2, the control unit 19 transmits an end signal to the vehicle control system 20, and the vehicle control system 20 that has received the end signal stops the operation of the sensor 30. Stop (S190).

The rights of the present invention are not limited to the embodiments described above, but are defined by the claims, and those skilled in the art can make various modifications and adaptations within the scope of the claims. It is self-evident.

In the above-described navigation apparatus having a lane change guide function according to the present invention, a lane change guide system including the same, and a lane change guide method using the same, the following effects can be expected.

That is, it has an advantage of notifying the user of whether the lane to be changed is determined by determining whether the lane to be changed matches the set route.

In addition, the present invention informs the user whether the lane change can be safely performed using the distance from the rear object. In addition, since the sensor measures the distance from the rear vehicle with a higher accuracy than the user confirms, there is an advantage that can inform the user whether the safety is more precise.

Accordingly, the present invention allows the user to safely change the lane only by guiding the navigation according to the present invention when changing the lane, thereby increasing the driving convenience of the user.

Claims (22)

A GPS module for receiving a satellite signal and calculating a position; A storage unit for storing map information and setting conditions for displaying a location; An interface unit for communicating with a vehicle control system provided in the vehicle; And And a controller configured to receive a lane change signal from a user, determine whether lane change is possible according to a set route, and receive a distance from a vehicle behind the vehicle from the vehicle control system, and determine whether the lane change is safe by comparing with the setting condition. Navigation apparatus having a lane change function, characterized in that configured. The method of claim 1, The control unit, Calculate a relative speed with the rear vehicle; Whether the lane change safety, And a distance change function for determining a distance from a rear vehicle in comparison with the set condition in consideration of the relative speed. The method of claim 2, The setting condition is When the lane change is impossible, it is possible, but the navigation device with a lane change function, characterized in that divided into the case of needing attention and the safety port case. The method of claim 1, Whether the lane can be changed, And a lane change function, which is determined by comparing a lane to be changed with a set path. The method according to any one of claims 1 to 4, The lane change signal, Navigation apparatus having a lane change function, characterized in that received through the input device provided in the navigation. The method according to any one of claims 1 to 4, The lane change signal is input through a direction indicator light provided in the vehicle, and the navigation device having a lane change function, characterized in that transmitted to the control unit via the interface. A GPS module for receiving a satellite signal and calculating a location, and a storage unit for storing map information for displaying a location; An interface unit for communicating with a vehicle control system provided in the vehicle; And a control unit configured to receive a lane change signal from a user, determine whether lane change is possible according to a set route, and receive a distance from a vehicle behind the vehicle control system to determine lane change safety. Wow: Sensor for detecting objects near the vehicle: And And a vehicle control system provided in the vehicle to control an operation state of the vehicle and transfer the detection result of the detection sensor to the navigation device in association with the navigation device. The method of claim 7, wherein The control unit, And calculating a relative speed with a rear vehicle and determining whether the lane change is safe in consideration of the distance and the relative speed of the rear vehicle. The method of claim 7, wherein The control unit, The lane change guidance system using navigation, characterized in that it is possible to change lanes by comparing a lane to be changed with a route set in the navigation. The method according to any one of claims 7 to 9, The vehicle control system, And receiving a lane change signal, driving the detection sensor to transmit distance information between a rear object and the rear of the vehicle to the navigation device. The method of claim 10, And the lane change signal is input through a direction indicator of a vehicle. The method of claim 10, And the lane change signal is input through an input device provided in the navigation. The method of claim 10, On the display screen of the navigation, An active icon for activating an input menu for inputting the lane change input signal; And detecting a touch of the input menu to receive a lane change signal by activating the input menu when the touch input through the active icon is detected. (A) receiving a lane change signal; (B) determining whether the lane can be changed using the set route and the position of the vehicle; (C) detecting a distance to the rear object using a rear detector; (D) determining whether the lane change is safe using the detection result of the rear detector; And (E) lane change guidance method using the navigation comprising the step of guiding the user whether the lane change is possible and whether lane change safety. The method of claim 14, Step (B) is, (B1) determining whether a progress path is set on the navigation; (B2) determining, when the traveling path is set, whether the changed direction of the changed lane coincides with the traveling path; (B3) a lane change guide method using navigation, characterized in that it is determined that the lane change is possible when the progress direction coincides with the progress path. The method of claim 14, Step (D), (D1) calculating a distance to the rear vehicle; And (D2) comparing the distance with a set condition to determine whether safety is included. The method of claim 14, Step (D), (D1 ') calculating a distance and a relative speed with the rear vehicle; And (D2 ') determining whether the vehicle is safe by comparing the distance with the set condition in consideration of the relative speed. The method of claim 14, Step (D), (D1 &quot;) calculating a distance to the rear vehicle, a relative speed and a speed of the vehicle; (D2 '') comparing the distance with the set condition in consideration of the relative speed and the speed of the vehicle and determining whether or not safety. The method of claim 18, The setting conditions, A lane change guidance method using navigation, characterized in that the safe distance is stored in a table form divided according to the speed of the vehicle and the relative speed between the rear object. The method of claim 18, The determination of safety or not, And correcting the distance using the relative speed and the vehicle speed, and comparing the corrected value with the set condition. The method of claim 20, The correction formula used for the correction is,

ego, Where L2 is the distance after correction; L1 is the distance before correction; A is relative velocity; a is the relative speed correction coefficient; V is vehicle speed; The lane change guidance method using the navigation, characterized in that v is the vehicle speed correction coefficient. The method according to any one of claims 14 to 21, (F) the navigation device sending an end signal to the vehicle control system; And (G) stopping the operation of the sensor by the vehicle control system receiving the end signal.

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