KR101199330B1 - method for displaying position of vehicle considering lane in navigation apparatus - Google Patents

Abstract

In order to improve the functionality and quality of the product, the present invention is to detect the coordinate information of the vehicle through the GPS, and to determine whether the detected coordinate information of the vehicle matches the coordinates of the road link stored in the map database step; Determining whether the road link matched with the coordinate information of the vehicle is a bidirectional link including both an uplink and a downline; A third step of extracting information of the matched road link from a map database when the road link to which the coordinate information of the vehicle is matched is a bidirectional link; Calculating a shift link corresponding to the road link based on vertex coordinates of the road link to which the coordinate information of the vehicle is matched; And a fifth step of calculating a position of the own vehicle cursor corresponding to the coordinate information of the vehicle on the shift link, and outputting the own vehicle cursor to the calculated position. to provide.

Description

Method for displaying position of vehicle considering lane in navigation apparatus

The present invention relates to a vehicle positioning method of a navigation device, and more particularly, to a method of determining a position of a host car cursor using location information matched with a road link of a navigation device and lane information.

In general, navigation systems in which various types of moving objects such as ships, aircrafts, automobiles, etc. are equipped with a global positioning system (GPS) for checking the current position and moving speed of the moving object or determining a moving path. Is being used. The navigation device receives radio waves representing latitude, longitude, altitude, etc. from a plurality of satellites, calculates the current position of the vehicle, and then outputs map information including the current position to the driver.

In addition, the navigation device provides the user with various information necessary for driving, such as outputting the driving direction of the vehicle, the distance to the destination, the current moving speed of the vehicle, and the like. Moreover, the navigation device receives the predetermined data from the GPS satellite floating on the earth using the receiver, and calculates its position based on the received data.

Specifically, a plurality of GPS satellites are floating on the earth, and a vehicle, such as a vehicle, may receive GPS signals from three GPS satellites in any region of the earth, and are based on the GPS signals received from the three GPS satellites. Will be able to calculate their position. Therefore, the navigation device provides various driving information to a transportation device such as the vehicle based on its position information (latitude and longitude information) calculated in this way.

In the past, the navigation device was mainly used for calculating and navigating the position of a large moving object such as an aircraft or a ship. In addition, the navigation device provides the user with a wide variety of information, such as the current location of the transport device, route information from the current location of the transport device to the destination, map information related to the location information and road information, and traffic condition information.

In detail, such a navigation device obtains the driving trajectory of the vehicle by using the orientation sensor and the distance sensor mounted on the vehicle, obtains the current position of the vehicle, compares the driving trajectory of the vehicle with the road shape on the digital numerical map, and determines the passing road. It is a system that maps the location of the vehicle on the digital numerical map and outputs the location of the map-matched vehicle on a screen such as a monitor.

In recent years, by utilizing 3D computer graphics technology for navigation devices, a system for rendering 3D images of structures such as buildings and roads, placing them in a corresponding place on a map, and presenting guidance information as 3D maps has been widely used. have.

However, the above-described conventional technology has the following problems when outputting the position of the host vehicle cursor of the navigation device.

First, in 2D and 3D technology, the position of the host car cursor is always output to the currently matched roadlink. For this reason, the position of the host car cursor is determined without considering the width of the road output on the map. For example, if the road link is formed along the center line of the road, the own car cursor will travel along the center line. This has a problem that the background and heterogeneity of the detailed and realistic terrain, roads and lanes of the 3D navigation system that is being developed recently.

Second, in order to solve the heterogeneity of the background and lane output on the map, even if the current position of the vehicle is grasped using GPS coordinates and the position of the own vehicle cursor is displayed in detail, a slight error of the GPS coordinate may occur. Problems may occur in which movement is not output naturally.

Third, in the related art, the road link in which the own vehicle cursor is located is composed of data in a form inconsistent with the road and lane in which the vehicle is actually driving. As a result, an error occurs in the information provided to the driver, which may interfere with safe driving.

In order to solve the above problems, the present invention uses the location information of the vehicle matched with the road link and the information of the lane to match the position of the own car cursor to the lane driving on the actual road to improve the realistic The problem is to provide a vehicle positioning method considering the lanes.

In order to solve the above problems, the present invention includes a first step of detecting the coordinate information of the vehicle through the GPS, and determines whether the detected coordinate information of the vehicle matches the coordinates of the road link stored in the map database; Determining whether the road link matched with the coordinate information of the vehicle is a bidirectional link including both an uplink and a downline; A third step of extracting information of the matched road link from a map database when the road link to which the coordinate information of the vehicle is matched is a bidirectional link; Calculating a shift link corresponding to the road link based on vertex coordinates of the road link to which the coordinate information of the vehicle is matched; And a fifth step of calculating a position of the own vehicle cursor corresponding to the coordinate information of the vehicle on the shift link, and outputting the own vehicle cursor to the calculated position. to provide.

The fourth step may include extracting vertex coordinates of the matched road link, extracting vertex coordinates corresponding to a road link before and after the road link, and vertex of the road link. Comprising the step of calculating the vertex coordinates of the shift link under a predetermined operation condition using the waterline calculated from the coordinates and the waterline based on the road links before and after the vertex coordinates.

In addition, the shift link, the distance is calculated by reflecting the coordinate information of the vehicle and the lane information of the road link according to a predetermined partitioning condition.

The preset operation condition for calculating the vertex coordinates of the shift link may include a vertical vector calculated from the vertex coordinates of the road link and a vertical vector based on before and after road links with respect to the vertex coordinates of the road link. It is preferable to compute the sum vector.

Further, the final position of the shift link may be calculated by setting the intersection point of the shift link calculated according to the preset division condition and the sum vector calculated according to the preset operation condition as vertex coordinates of the shift link. Do.

Further, in the fifth step, the host vehicle cursor located on the shift link is preferably located at a position corresponding to the ratio of the vehicle position coordinates on the matched road link.

Further, in the first and second steps, when the coordinate information of the vehicle is not matched by being included as a preset range condition in the coordinates of the road link stored in the map database, and the road link to which the coordinate information of the vehicle is matched is bidirectional. If it is not a link, it is preferable to output the host car cursor to the matched road link on the map.

And a GPS receiver for receiving coordinate information of the vehicle from the GPS satellites; A map database storing road links and lane information for outputting coordinate information of the vehicle on a map; The vehicle is located on the road link by the distance where the road link is shifted and the own vehicle cursor on the shift link using the vertex coordinates of the road link to which the coordinate information of the vehicle is matched according to the coordinate information of the vehicle and the lane information. A shift calculation unit for calculating a position corresponding to the ratio; A shift memory for extracting and storing vertex coordinate information corresponding to road links matching the coordinate information of the vehicle and road links before and after the road links; And a display unit which is displayed on a map by matching a host car cursor on the shifted road link with a lane on which a vehicle actually travels on a road.

Through the above solution, the vehicle positioning method considering the lane of the navigation device of the present invention provides the following effects.

First, the vehicle positioning method considering the lanes of the navigation device is output so that the own vehicle cursor is matched with the road on the map in consideration of the width of the road on which the vehicle actually runs on the road, thereby improving the advanced technology in the 3D technology of the navigation. to provide. As a result, a good visibility and a realistic map is output, so that the quality of the product can be significantly improved.

Second, the vehicle positioning method considering the lane of the navigation device is calculated by using lane information such as vertex coordinates and road width of the road link in shifting the own vehicle cursor to the corresponding lane. Therefore, the host vehicle cursor is stably output on the shifted link, and unnecessary operations are minimized, thereby improving the processing speed of the navigation device, and thus performance can be significantly improved.

Third, the own vehicle cursor of the vehicle positioning method considering the lane of the navigation device is output on the road on the map that matches the road on which the actual vehicle is traveling. As a result, the safety of the driver may be remarkably improved by reducing an error in the information provided to the driver.

1 is a block diagram showing a navigation device according to a preferred embodiment of the present invention.
2 is an overall flowchart illustrating a vehicle positioning method in consideration of a lane of a navigation device according to an exemplary embodiment of the present invention.
3 is a flow chart showing the operation of the shift link and the host cursor position in accordance with an embodiment of the present invention.
Figure 4 is a schematic diagram showing the operation of the shift link and the host cursor position in accordance with an embodiment of the present invention.
5 is a schematic view showing a display unit of a navigation device outputs a host vehicle cursor according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail a vehicle positioning method in consideration of the lane of the navigation device according to the present invention.

1 is a block diagram showing a navigation device according to a preferred embodiment of the present invention.

As shown in FIG. 1, the navigation device 10 applied to the present invention includes a GPS receiver 1, a key input unit 3, a voice output unit 5, a display unit 7, a controller 9, and a map database. (11), the shift calculating section 13 and the shift memory 15 are included.

Here, the navigation device 10 refers to a device that informs the user's current location or guides the way to a destination. The navigation device 10 may be classified into a method of using information received through the GPS receiver 1 and a method of calculating and serving a current location through repeaters installed throughout the mobile communication company. In most cases, a method using the GPS receiver 1 is adopted. Therefore, as the navigation device 10 is mounted on the vehicle, the user may receive various information such as current location information of the vehicle and detailed information about a destination.

In detail, the GPS receiver 1 may receive location information from a plurality of GPS satellites and detect a location of a vehicle equipped with the navigation device 10 from the location information. That is, the information input through the GPS receiver 1 is substituted with a map calibrated with latitude and longitude so that the user can easily grasp the current position within the error range through the map.

 Therefore, when the GPS signal transmitted by the GPS satellite is received by, for example, three or more GPS satellites, the current position of the vehicle can be grasped within an error range by a triangulation method. In addition, the GPS receiver 1 receives respective position information transmitted from a plurality of GPS satellites, and the position of the vehicle is displayed on the display unit 7.

Further, it is preferable that map information including both latitude and longitude information, and lane information such as road links and road widths are stored in the map database 11. For example, the map information may be made by including various roads and main points included in the map in detail according to coordinates of latitude and longitude corresponding thereto.

On the other hand, using the road link information such as road link information and road width stored in the map database 11, the shift calculation unit 13 to the road link matched with the coordinate information of the current vehicle to calculate the position of the own vehicle cursor Compute the distance and position of the corresponding shift link.

In detail, the shift operation unit 13 calculates a distance at which the road link is shifted using vertex coordinates of the road link to which the coordinate information of the vehicle is matched, and transmits the position of the own vehicle cursor on the road link to the road link. Calculate to the position corresponding to the rate at which the vehicle is located. Here, it is preferable that the host car cursor is understood as an icon which is output by making a small picture and a symbol into a vehicle on the display.

In addition, the road link is matched with the coordinate information of the vehicle is recognized by the coordinate information of the vehicle in the area corresponding to the road link and lane information stored in the map database (11).

The vertex coordinate information corresponding to the road link to which the coordinate information of the vehicle is matched and the road link before and after the road link is stored and buffered by the shift memory 15.

In addition, the shift memory 15 buffers the stored vertex coordinate information when the vehicle proceeds from the currently matched road link to the next road link. Here, the buffering refers to an operation of temporarily storing information in the shift memory, and may be used as a method for significantly increasing processing speed during output by temporarily storing information in order to smoothly receive the information. It means a process that is.

On the other hand, the host vehicle cursor on the shift link calculated by the shift operator 13 is output on a map in accordance with the lane that the vehicle is traveling on the actual road by the display unit 7. In addition, the display unit 7 is provided such that the vehicle cursor, the road, the background, and the like are output in a map form, so that the user can visually check.

In addition, the key input unit 3 is configured as a touch pad integrated with the display unit 7 as input means for inputting a user command to the navigation device 10 to provide a graphic interface means. Accordingly, a search environment for searching the navigation device 10 is provided as a graphic screen through the display unit 7, and a user command is input by touching a specific position of the graphic screen with a stylus pen or a finger. Can be.

On the other hand, the navigation device 10 is preferably provided with the voice output unit (5). As a result, a situation of driving the vehicle, a result of searching, and a process of inputting various information may be provided to the user through the voice output unit 5 as sound effects and comments.

In addition, the control unit 9 includes the GPS receiver 1, the key input unit 3, the voice output unit 5, the display unit 7, the map database 11, the shift operator 13, the shift memory 15 And control all devices in the navigation device 10.

2 is a flowchart illustrating a vehicle positioning method in consideration of a lane of a navigation device according to an exemplary embodiment of the present invention.

As shown in FIG. 2, the navigation device 10 of FIG. 1 receives coordinate information of a vehicle from a GPS satellite through the GPS receiver 1 of FIG. 1 (s101). That is, the power of the navigation device 10 of FIG. 1 connected to the vehicle may be connected and receive coordinate information of the vehicle.

Here, it is determined whether the received coordinate information of the vehicle matches the coordinates of the road link stored in the map database (11 in FIG. 1) (s103).

If the coordinate information of the vehicle does not match the coordinate of the road link, it is determined that the vehicle has left the road and the position of the own vehicle cursor is determined using the coordinate information of the vehicle without undergoing a separate shift process (s105). .

On the other hand, if the coordinate information of the vehicle is matched with the coordinates of the road link, it is determined whether the corresponding road link is a bidirectional link (s107). That is, it is determined whether the road link has the bidirectional property to match both the up and down roads with one link. If the road link is not a two-way link, for example, a link and a one-way link, each of which has an up and down line separated, are displayed naturally on the map even if the own vehicle cursor is output to the corresponding road link, without undergoing a separate shift process. The position of the host vehicle cursor may be determined using the coordinate information of the vehicle.

In addition, when the road link matched with the coordinate information of the vehicle is a bidirectional link, the road link and the lane information are extracted from the map database (11 in FIG. 1) (s109). Then, it is determined whether there is information on the road links before and after the matched road links (s111), and information on the road links before and after and the lanes of the road links is extracted from the map database (11 in FIG. 1). (S113).

Here, the reason for additionally considering the road links before and after is to calculate the position of the own car cursor on the shift link in consideration of the case where the angle of the road link is different from the currently matched road link to the next road link. . In addition, if there is a movement such as a lane change of a vehicle that is being driven, the subsequent road link information may be buffered in the shift memory 15 of FIG. 1 to calculate the position of the host vehicle cursor on the next shift link.

In operation S115, the ratio of coordinate information of the vehicle in the matched road link is calculated. Here, the ratio means a length ratio of the location of the coordinates of the vehicle in the road link. Furthermore, the own vehicle cursor position on the shift link is calculated and output by applying a ratio of the coordinates of the vehicle to the road link.

In addition, by calculating the distance and direction of the shift link corresponding to the matched road link, and calculating the position of the host vehicle cursor on the shift link (s117), the calculated position through the display unit (7 in FIG. 1) The host vehicle cursor is output to (S119).

Meanwhile, an embodiment for calculating the distance and direction of the shift link corresponding to the matched road link and calculating the position of the host vehicle cursor on the shift link will be described with reference to FIG. 3.

3 is a flowchart illustrating the operation of a shift link and a host cursor position according to an embodiment of the present invention.

As shown in FIG. 3, the vertex coordinates of the road link to which the coordinate information of the vehicle is matched are calculated by the shift operator (13 in FIG. 1) to calculate the positions of the shift link and the host vehicle cursor. Extract the vertex coordinates of the roadlink before and after (s201). Here, the vertex refers to a vertex of the beginning and the end of the road link, and may extract coordinate information of the vertex from the GPS satellites.

In addition, extracting the vertex coordinates of the road link before and after the road link, the shift in consideration of the difference in the angle between the road link when the road link from the road link to the next road link during the operation of the vehicle To compute the order cursor that will be placed on the next sheet link of the link.

In operation S203, a vertical vector of each extracted vertex coordinate is calculated. In detail, a vertical vector related to the vertex coordinates of the first roadlink and a vertical vector related to the vertex coordinates of the last roadlink are calculated.

Further, the sum vector of each vertical vector is calculated using the calculated vertical vector (s205), and the final shift link is calculated using the finally shifted vertex coordinates.

In detail, the shifted distance of the final shift link may be calculated by reflecting the coordinate information and the lane information of the vehicle according to a predetermined division condition (s207). Here, the calculation according to the predetermined division condition refers to calculating by comparing the number and width of the lane by extracting coordinate information of the location of the vehicle on the road.

Here, the intersection point between the sheet link calculated based on a predetermined division condition and the sum vector using the vertical vector of the road link to which the vehicle is matched is calculated (S209). Thus, the final shift link may be calculated by setting the intersection point to the vertex coordinate of the final shift link and connecting the intersection point (S211).

In addition, the position of the host vehicle cursor on the final shift link may be calculated by applying a length ratio of the position of the vehicle on the road link matched with the vehicle (S213).

In detail, the operation of the shift link and the position operation of the host cursor will be described with reference to FIG. 4.

Figure 4 is a schematic diagram showing the operation of the shift link and the host cursor position in accordance with an embodiment of the present invention.

As shown in FIG. 4, the vertex coordinates 33 and 35 of the road link image 45 to which the coordinate information 41 of the vehicle is matched are extracted, and the road links 45 are moved according to the vehicle traveling direction. Thereafter, vertex coordinates 31 and 37 of the road link are extracted.

Here, the vertical vectors 51 and 55 are calculated from the vertex coordinates 33 and 35 of the road link 45 and the vertical vectors based on the road links before and after the vertex coordinates 33 and 35. (53, 57) is calculated.

In addition, the sum vector 63 of the vertical vectors 55 and 57 corresponding to the vertex coordinates 35 at the end of the road link 45 is calculated and corresponds to the vertex coordinates 33 at the beginning of the road link 45. The sum vector 61 of the vertical vectors 51 and 53 is calculated.

On the other hand, the shift link 47 may be calculated by reflecting the coordinate information 41 and the lane information of the vehicle according to a predetermined division condition. Here, the predetermined division condition means that the coordinate information 41 in which the vehicle is located on the road is extracted to compare and determine the number and width of the lanes.

In addition, the intersections 33a and 35a are obtained by obtaining the intersections 33a and 35a between the shift link 47 and the calculated sum vectors 61 and 63 so that the distance of the final shift link 47 may be calculated. .

In addition, the position of the host vehicle cursor 43 may be calculated by applying the length ratio of the position where the coordinate information 41 of the vehicle is located on the road link 45 matched with the vehicle. For example, if the coordinate information of the vehicle is located at the ratio of (x: y) at the front and rear intervals on the road link 45, the host vehicle cursor 43 is the vehicle located on the road link 45 By applying the ratio of the coordinate information 41 of the position on the final shift link 47 is preferably located at a ratio of (x: y) at the front and rear intervals.

Of course, the shift link may be calculated using a sum vector of the vertical vectors. However, the shift link may be calculated using a vector calculated by dividing an angle formed by the vertical vector by two.

In addition, as shown in FIG. 3, it is preferable that the host vehicle cursor is positioned at the calculated position and output through the display unit (7 of FIG. 1).

On the other hand, Figure 5 is a schematic diagram of a display unit of the navigation device outputs the host vehicle cursor according to an embodiment of the present invention.

As shown in FIG. 5, the road link 45 is located at the center line of the road 50 to which the coordinate information of the vehicle is matched, and the host car cursor 43 is located at the first lane of the up line of the road 50. Is output.

For example, if the information of the road link 45 is stored in a map database as a round trip four-lane road 50 having an up line and a down road with a road width d of 4 m, the coordinate information at which the vehicle is located on the road 50 is provided. Extract If the vehicle is located within 2m of the center line on the upline of the road, the shift link may be calculated to the center of one lane, and if the vehicle is located between 2m and 4m, the shift link may be calculated at the center of the two lanes.

Thus, by outputting the host vehicle cursor 43 on the shift link, the host vehicle cursor 43 is output to the map information output through the display unit so as to match the actual road 50 on which the vehicle is running. If there is a movement such as a lane change of the vehicle, the vertex coordinates corresponding to the road links after the extracted road link are buffered through the shift memory to match the lanes in which the vehicle is driven to output the host vehicle cursor. have.

As a result, the position of the own vehicle cursor is output according to the actual road of the vehicle, thereby improving the problem that the own vehicle cursor on the road is not naturally output by the error of GPS coordinates. It is easy to see and produces map output suitable for 3D navigation devices. In addition, it is possible to provide a navigation device capable of significantly improving driver safety by reducing errors in road information on which the vehicle is running.

As described above, the present invention is not limited to the above-described embodiments, but may be modified and implemented by those skilled in the art without departing from the scope of the claims of the present invention. Such modifications are within the scope of the present invention.

1: GPS receiver 3: Key input
5: audio output unit 7: display unit
9: control unit 11: map database
13: shift operator 15: shift memory
31, 33, 35, 37: vertex coordinates of road links
33a, 35a: vertex coordinates of shift link
41: Position coordinate of the vehicle 43: Own car cursor
45: road link 47: shift link
50: Road 51, 53, 55, 57: Vertical Vector
61, 63: Sum Vector d: Road Width

Claims (8)

Detecting coordinate information of the vehicle through GPS and determining whether the detected coordinate information of the vehicle matches coordinates of a road link stored in a map database;
Determining whether the road link matched with the coordinate information of the vehicle is a bidirectional link including both an uplink and a downline;
A third step of extracting information of the matched road link from a map database when the road link to which the coordinate information of the vehicle is matched is a bidirectional link;
Calculating a shift link corresponding to the road link based on vertex coordinates of the road link to which the coordinate information of the vehicle is matched such that the road link indicates an attribute of a bidirectional link; And
And calculating a position of the own vehicle cursor corresponding to the coordinate information of the vehicle on the shift link, and outputting the own vehicle cursor to the calculated position. The method of claim 1,
In the fourth step,
Extracting vertex coordinates of the matched road link;
Extracting vertex coordinates corresponding to the road links before and after the road links;
Calculating the vertex coordinates of the shift link using a predetermined calculation condition by using the waterline calculated from the vertex coordinates of the roadlink and the waterline based on the road links before and after the vertex coordinates. Vehicle positioning method considering the lane of the navigation device characterized in that. The method of claim 2,
The shift link,
And a distance is calculated by reflecting the coordinate information of the vehicle and the lane information of the road link according to a predetermined division condition. The method of claim 2,
The predetermined operation condition for calculating the vertex coordinates of the shift link is
Vehicle position considering the lane of the navigation device, characterized in that it is calculated as the sum of the vertical vector calculated from the vertex coordinates of the road link and the vertical vector based on the road links before and after the vertex coordinates of the road link. How to decide. The method according to claim 3 or 4,
The final position of the shift link is,
Determine the vehicle position by considering the lane of the navigation device, characterized in that the intersection of the shift link calculated according to the predetermined partitioning condition and the sum vector calculated according to the predetermined calculation condition is set as vertex coordinates of the shift link. Way. The method of claim 1,
In the fifth step,
The own vehicle cursor located on the shift link is located in a position corresponding to the ratio of the vehicle position coordinates on the matched road link. The method of claim 1,
In the first and second steps,
When the coordinate information of the vehicle is included in the coordinates of the road link stored in the map database as a preset range condition and does not match, and the road link to which the coordinate information of the vehicle is matched is not a bidirectional link, maps the host vehicle cursor And a lane of the navigation device, the output being output to the matched road link on the vehicle. A GPS receiver for receiving coordinate information of the vehicle from a GPS satellite;
A map database storing road links and lane information for outputting coordinate information of the vehicle on a map;
According to the coordinate information of the vehicle and the lane information, the distance of the road link is shifted by using the vertex coordinates of the road link matched with the coordinate information of the vehicle and the vehicle cursor on the shift link is located in the road link A shift calculation unit operable to calculate a position corresponding to a ratio;
A shift memory for extracting and storing vertex coordinate information corresponding to road links matching the coordinate information of the vehicle and road links before and after the road links; And
And a display unit configured to match the host vehicle cursor on the shifted road link with a lane on which the vehicle actually travels on a road and output the same on a map.

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