KR100990657B1 - method for determining deviation of the path - Google Patents

Abstract

Setting a single guide route among a plurality of routes extracted from the current position of the vehicle to the destination by a user's input in the navigation system to minimize the deformation of the route, to improve the quality of the route search and guidance, and to solve the driver's anxiety; Determining whether the position of the vehicle deviates from the guide path; If it is determined that the position of the vehicle is a departure, determining whether the guidance route is joined to the guide route without a further branching point in the driving direction from the current position of the vehicle; And continually guiding to the guide path when it is determined that the departure path joins the guide path without a further branching point.

Navigation, Junctions, and Path Departures

Description

Method for determining deviation of the path}

The present invention relates to a method of determining when a route deviates from a navigation system. More specifically, the navigation route in which the quality of route guidance is improved by reducing the number of re-searches when the route deviates from a branch point at which two or more road branches are closed. It is about a deviation determination method.

In general, a navigation system is installed as a terminal on various moving objects such as ships, aircrafts, vehicles, etc., and provides the user with the current location information of the moving object, and calculates an optimal route from the starting point to the destination according to the user's input. Guide the user along the path.

That is, the navigation system calculates the current position of the moving object using GPS information including latitude, longitude, and altitude information received from a plurality of satellites belonging to a global positioning system (GPS) via a GPS receiver.

In addition, the navigation system performs map matching using the current location of the vehicle and a pre-stored map database in order to provide the user with an optimal route from the current position of the vehicle to the destination, and tracks the driving state on the map to target the destination. Guide the route to.

On the other hand, in a navigation system, a re-search algorithm is usually performed when the route deviates, and the re-search algorithm performs a route search algorithm from the current position of the deviated vehicle to the destination.

In addition, the route search algorithm finds the nearest place using the cost of all nodes and links connected to the current position of the vehicle, stores the distance from the starting point, and calculates the cost to the destination point using the distance. To find the shortest distance to the minimum value. Variables for obtaining the cost are link distances, for example, types of roads such as highways, national roads, automobile roads, and local roads, and whether roads exist.

However, in the conventional vehicle navigation system, when a single guide route set by a user diverges from one road to two or more accessible roads, all of the roads which are branched at one point again have no additional intersections, junctions, confluences, and entrances. Departing from the guide route set in the meeting section caused the inconvenience of re-navigating by judging the route departure.

Therefore, there is a problem that the path deformation due to such frequent re-search is inconvenient for the driver and does not help for safe driving.

The present invention is to solve the above problems to improve the path quality more effectively, to solve the problem to provide a method for determining the path deviation of the navigation to improve the path guidance quality and minimize the deformation of the path guidance.

The present invention is a step of setting a single guide path of the plurality of paths to extract from the current position of the vehicle to the destination by the user input in the navigation system to solve the above problems; Determining whether the position of the vehicle deviates from the guide path; If it is determined that the position of the vehicle is a departure, determining whether the guidance route is joined to the guide route without a further branching point in the driving direction from the current position of the vehicle; And continually guiding to the guide path when it is determined that the departure path joins the guide path without a further branching point.

The determining of whether the departure route joins the guide route without a further branching point may include: finding a first branch node in the departure route, and using the map data, the data of the guidance route and the departure. Comparing and extracting the data of the path, and determining whether or not the first branch node in the departure path is located on the guide path. Here, the step of pinning the first branch node in the escape path preferably includes the step of pinning the node connected to three or more links as the branch node. In addition, determining whether the departure path joins the guide path without a further branching point may be determined that the departure path satisfies at least one or more of the branching path and the non-joining of the guide path. It is desirable to rediscover the new route from the displaced current location to the destination. In addition, the step of determining whether the position of the vehicle deviates from the guide path is preferably determined based on map data whether the link on which the vehicle is located is the same as the link on which the guide path is located. In addition, if it is determined that the departure route is joined to the guide route without a further branching point, the step of continually guiding the guide route indicates that the position of the vehicle is in the departure route through a voice output unit. It is preferable to further include the step of notifying the user.

The present invention provides the following effects through the above solution.

First, in case of a closed section in which the exit road that has escaped the guide route set at the path departure is joined to the guide route again without additional branching point, the route continues to guide the existing guide route, thereby reducing the deformation of the route and re-searching. The number of times can be reduced to improve consumer satisfaction.

Second, when the route deviates, the link is extended from the current position of the vehicle and the first branch node is identified to determine whether to rescan, thereby increasing the reliability of the rescan and improving the driver's reliability. have.

Third, because the closed section can be checked in a short time of path departure in a short time of only 1 to 2 seconds, the speed of the other processor is improved by improving the search speed, which can reduce the number of rescans without extending the existing path rescan time. This can be done.

Hereinafter, a path deviation determination method according to a preferred embodiment of the present invention with reference to the accompanying drawings will be described in detail.

1 is a block diagram showing the configuration of a navigation system to which the path deviation determination method of the present invention is applied.

As shown in FIG. 1, a GPS receiver 110 receiving a navigation message transmitted by a plurality of GPS satellites through an antenna 100, a gyro for detecting a driving angle of a vehicle, and a speed for detecting a traveling speed of the vehicle. A sensor unit 120 for detecting a driving state of the vehicle by installing a plurality of sensors including a speed sensor, a map database 130 storing map data, and the GPS receiver 110 and the sensor unit 120. The current position of the vehicle is detected by the dead reckoning navigation signal using the detection signal, and the detected current position of the vehicle is matched with the map data stored in the map database 130. The controller 140 performing the guide operation, the input unit 150 generating an operation command according to a user's operation and inputting the operation command to the controller 140, and the map data and the difference according to the control of the controller 140. The display unit 160 for displaying the current position of the vehicle and the driving route of the vehicle on the screen, and the guide voice generator 170 for generating a guide voice signal under the control of the controller 140 to output to the speaker 180 Configured.

On the other hand, the execution condition of the path deviation determination method of the navigation system according to the present invention is a road that meets at one point again without intersections, junctions, confluences and entrances of the branched road when branched from one road to two or more roads This is a case where only one road among the roads branched from the closed section defined as the section made up is a path for guiding the vehicle to travel.

Hereinafter, the concept of the closed section and the open section corresponding to the closed section will be briefly described using links and nodes generated in map data.

2 is a schematic diagram showing a case where the path is separated from the branch point having the closed section and the open section.

As shown in FIG. 2, in a navigation system, when a vehicle existing in the real world converts all roads capable of driving into a digital map, a link corresponding to each road (for example, 211 and 221) and a start and an end of the link are provided. Nodes 251 to 258 are generated.

Here, as shown, the node corresponds to a point, the link corresponds to a line, one road is composed of a plurality of the link, the node may exist within the link but the two links The node having the intersection does not have an intersection, and three or more links must meet to determine whether the intersection.

In addition, a plurality of the links are shared by one node (a point where a link meets a link), and always exist at an intersection point of the link.

Thus, all roads in the digital map exist as the link and the node, and the actual road consists of the link data and the node data.

Here, the link data includes node information (ID) and a rotation control code (indicate whether it is possible to pass from the current link to the corresponding link (turn left, turn right, go straight, u-turn, etc.), length, road grade, lane information, etc.). One link does not contain an intersection.

In addition, the node data has a number of links connected to the node, a link ID list, a one-way code (indicating whether the current node can come and go in the corresponding link direction), etc., and may be an intersection or a virtual node (simply two Link).

Further, the link data and the node data are often independent, and the map data is composed of a structure (link ID, node ID) that can know the other data if only one data is known.

Referring to FIG. 2, the closed section is a section consisting of links that meet at one point again without an additional branching branch of the branched links when branched from one link (road) to two or more passable links ( 220).

Here, whether or not traffic is possible is based on rotation control code information of the link data and one-way code information of the node data.

In addition, assuming that the road set by the user is the guide route 210, the guide route 210 is composed of three links 211, 212, and 213 in a single route. Furthermore, in the driving direction, the first node 252 is composed of four links 211, 221, 212, and 231, which is an intersection point recognized as three or more links (roads). In addition, when the first node 252 extends to a passable link along the first departure path 220 in the driving direction, it is met at the second node 253 without further branching points.

Therefore, since the second node 253 branching while extending from the first departure path 220 is the same node as the second node 253 extending to the guide path 210, it is determined as a closed section.

Here, the current location of the vehicle may be represented by the pointer 240, and as shown, the current location of the vehicle is shown to travel in the first departure path.

Meanwhile, the open section refers to a section including a link further branched as the branched link expands when branched from one link to two or more passable links.

That is, as shown, the second node 258 extending from the first node 252 to the second escape path 230 so that three or more links 231, 232, and 233 meet each other is the guide path 210. Since this is not the same as the second node 253, it is determined that this is the open section.

3 is a flowchart illustrating a path deviation determining method of a navigation system according to an exemplary embodiment of the present invention.

As shown in FIG. 3, the method for determining the path deviation of navigation according to the preferred embodiment of the present invention may include setting a single guide path, determining whether the path is off, and whether the departure path is joined to the guide path without branching. And determining whether to rescan the path.

In operation S210, a user inputs a current location and a destination of the vehicle to the navigation system, and the navigation extracts a plurality of travelable routes from the current location of the vehicle to the destination, and is extracted as an input according to a user's selection. A single guide path is set out of the plurality of paths.

Here, the controller 240 determines the current position by dead reckoning using the navigation message received by the GPS receiver 110 and the driving state detection signal of the vehicle detected by the sensor 120. In addition, the determined position of the vehicle is matched with map data and then output to the display unit 160 to display the position of the vehicle together with a map on the screen. For example, it may be indicated by an arrow or the like as the pointer 240 (in FIG. 2). Thus, the current location is set as a starting point input by the user.

In addition, the route search for setting the guide route searches for the most convenient and safest shortest route as quickly as possible from the current position of the vehicle to the destination.

For example, you can use the Dijkstra algorithm to find the nearest place using the cost of all nodes connected to it at the current location.

That is, the distance from the starting point is stored, and the distance to the final destination is calculated using the distance to find the shortest distance to the place having the minimum value. In addition, variables for obtaining the cost are a link distance, a type of road (highway, national road, automobile road, local road, etc.), the presence or absence of a road, and the like.

In addition, at least two or more routes are extracted in consideration of the searched time, preferably two to three routes are extracted, and one road among the plurality of routes is set as the guide route by a user's selection.

In step S220, it is determined whether the vehicle has traveled along the guide path to reach the destination.

In step S225, when the vehicle traveling along the single route arrives at the destination, the route guidance is completed and ends.

That is, when the user arrives at the destination along the guide path set by the user, the guide is terminated by the guide path, and when the path deviation occurs until the destination is reached, the rescanning process is performed. .

In operation S230, it is determined whether the driving route of the vehicle is the departure of the guide route.

That is, after determining whether to arrive at the destination of the vehicle driving on the single guide path set, if it is determined that the vehicle has not arrived at the destination, it is determined whether the current position of the vehicle is the departure of the guide path.

Here, the step of determining whether the driving route of the vehicle is the departure of the guide route may be determined based on map data whether the link at which the vehicle is currently located is the same as the link at which the guide route is located.

That is, as described above, the current location of the vehicle and the guide path are determined by the map data as whether the link is the same. Therefore, it is possible to quickly determine whether the current route of the vehicle is the departure of the guide route.

If it is determined in step S240 that the guide path has deviated, it is determined whether the departure path joins the guide path without a further branching point in the driving direction from the current position of the vehicle.

The determining of whether the departure route joins the guide route without a further branching point may include: finding a first branch node in the departure route, and mapping data of the guidance route and the departure route through map data. Comparing and extracting data and determining whether the first branch node in the departure path is located on the guide path.

In addition, the step of finding the first branch node in the escape path refers to a step of finding nodes connected to three or more links including an escape link through map data. That is, the route and the road are the concept corresponding to the link in the map data, and the branch node is the concept corresponding to the branch point in the actual road.

Furthermore, the step of pinning the first branch node in the escape path preferably includes the step of pinning the node connected to three or more links as the branch node.

That is, the map node compares the data of the guide route with the data of the departure route and compares the branch node of the point where the departure route and the guide route branched from the route already driven from the data of the guide route and the data of the departure route. The first branch node, which is branched by extending the departure path from the branch node in the driving direction of the vehicle, has no additional branching node, and when joining the guide path, the branch path is determined to be the above-described closed section and the guide path. Will continue to guide you.

On the other hand, in step S240 of determining whether the departure path is joined to the guide path without a further branching point, the departure path satisfies at least one or more of being further branched and not joined to the guide path. If determined, it is desirable to re-search for a new route from the displaced current location to the destination.

That is, when the first branch node is further branched or does not join the guide route, the first branch node is re-searched to reset a new route from the current position of the separated vehicle to the destination.

Through this, when the route is separated, the link is extended from the current position of the vehicle to determine the rescanning by finding the first branch node, thereby improving the reliability of rescanning and improving the reliability of the driver's product. have.

Furthermore, since the node is recognized as an intersection where a node where three or more roads (links) meet is branched or joined, the branch node (point) where three or more roads including an exit path that has left the path through map data meets. Find the first node (point) where three or more roads meet for all traversable branch roads branched from the branch node except for the road through which the vehicle passes, and if the point found on each branch road is the same, Judging as the closed section, the route guidance is continued through the preset guidance route.

On the other hand, in the case of path departure, the controller 140 controls the guide voice generation unit 270 in step S240 to generate a voice signal for guiding the path departure of the vehicle, and generates the generated voice signal into the speaker 180. It is also possible to inform the user of the departure of the driving route by a voice by outputting to.

If it is determined in step S250 that the departure route joins the guidance route without a further branching point, the guide route continues to the guidance route.

That is, the first node branching while extending from the branching node of the above algorithm to the departure path branching in the driving direction to determine whether the departure path joins the guide path without a further branching point is determined. It is determined whether it is included in the guide path, and if determined to be included in the guide path, the guide continues to the guide path.

Here, it is possible to display to guide the guide path, the display method of the guide path is by a known method to display by a screen or voice.

On the other hand, if it is determined that the departure route is joined to the guide route without a further branching point, the step of continuously guiding the guide route (S150) indicates that the position of the vehicle is in the departure route. It is preferable to further include the step of notifying the user by displaying the voice through 170.

For example, the speaker 180 connected to the voice output unit 170 may be guided by a guide voice, such as, "It is currently in a state of leaving the route, and will join the guide route after 2 minutes." Of course, it is also possible to display the departure route that the vehicle is currently driving on the screen.

In this way, if the departure road that has escaped the guide route set at the path departure is a closed section that joins the guide route again without additional branching point, the route continues to guide the existing guide route, thereby reducing the deformation of the route and reconstructing it. The number of searches can be reduced to improve consumer satisfaction.

In addition, it is possible to check the closed section in a short time of path departure in a short time of only 1 to 2 seconds, thereby improving the speed of other processors by improving the search speed, which can reduce the number of rescans without extending the existing path rescan time. This can be done.

On the other hand, the path deviation determination method of the navigation system according to the present invention can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may be implemented in the form of a carrier wave (for example, transmission via the Internet) . The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

Meanwhile, the path deviation determination method of the navigation system according to the present invention described above may be applied to a navigation system divided into an on board navigation system and an off board navigation system. The navigation system is a system that calculates an optimal route using its own digital map and performs route guidance accordingly, and the off-board navigation system is configured to perform route guidance by receiving an optimal route from an external server having a digital map. System.

As described above, the navigation path deviation determination method according to the preferred embodiment of the present invention is not limited to each of the above-described embodiments, and the general knowledge in the technical field to which the present invention belongs without departing from the claims of the present invention. It is possible to carry out deformation by means of an excitation, and such modifications are within the scope of the present invention.

1 is a block diagram showing the configuration of a navigation system to which the path deviation determination method of the present invention is applied.

2 is a schematic diagram showing a case where the path is separated from the branch point having the closed section and the open section.

3 is a flowchart illustrating a path deviation determining method of a navigation system according to an exemplary embodiment of the present invention.

<Description of Symbols for Main Parts of the Present Invention>

110: GPS receiver 120: sensor

130: map database 140: control unit

150: input unit 160: display unit

170: audio output unit

Claims (6)

Setting a single guide route among a plurality of routes extracted from a current position of the vehicle to a destination by a user's input in the navigation system; Determining whether the position of the vehicle deviates from the guide path; If it is determined that the position of the vehicle is a departure, determining whether the guidance route is joined to the guide route without a further branching point in the driving direction from the current position of the vehicle; And And continually guiding the guide path when it is determined that the departure path joins the guide path without a further branching point. The method of claim 1, Determining whether or not the departure route joins the guide route without further branching, Pinning a first branch node in the exit path; Comparing and extracting data of the guide route and data of the departure route through map data; And determining whether the first branch node is located on the guide path in the departure path. The method of claim 2, The step of pinning the first branch node in the departure path comprises the step of pinning the node connected to three or more links as the branch node. The method of claim 1, In the determining of whether the departure path is joined to the guide path without a further branching point, if it is determined that at least one or more of the departure path is further branched and is not joined to the guide path, The route departure determination method, characterized in that the re-search for a new route from the current position to the destination. The method of claim 1, The determining of whether the location of the vehicle deviates from the guide path may include determining whether a link on which the vehicle is located is the same as a link on which the guide path is located through map data. The method of claim 1, If it is determined that the departure route is joined to the guide route without a further branching point, the step of continually guiding the guide route includes a voice signal indicating that the position of the vehicle is in the departure route. The method of determining a deviation from the path further comprising the step of notifying the user.

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