KR101756079B1 - Navigation service controlling apparatus using sensor and method using the same - Google Patents

Navigation service controlling apparatus using sensor and method using the same Download PDF

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Publication number
KR101756079B1
KR101756079B1 KR1020150187393A KR20150187393A KR101756079B1 KR 101756079 B1 KR101756079 B1 KR 101756079B1 KR 1020150187393 A KR1020150187393 A KR 1020150187393A KR 20150187393 A KR20150187393 A KR 20150187393A KR 101756079 B1 KR101756079 B1 KR 101756079B1
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South Korea
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vehicle
current
navigation service
speed
lane
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KR1020150187393A
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Korean (ko)
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KR20170077476A (en
Inventor
정우영
김준광
권순
김영덕
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재단법인대구경북과학기술원
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Priority to KR1020150187393A priority Critical patent/KR101756079B1/en
Publication of KR20170077476A publication Critical patent/KR20170077476A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)

Abstract

The present invention relates to a navigation service control apparatus using a sensor and a navigation service control method using the same.
According to another aspect of the present invention, there is provided a navigation service control method using a navigation service control device, the navigation service control method comprising: receiving a moving speed of the vehicle from a sensor installed in the vehicle; Determining a current lane position of the vehicle by analyzing the driving image, determining whether to change the predetermined guiding route of the navigation using at least one of the current lane position and the moving speed of the vehicle And controlling the predetermined guide route of the navigation according to the determination result.
As described above, according to the present invention, it is possible to provide the navigation service in consideration of the current driving state of the vehicle, so that it is possible to prevent an accident that may occur due to an unreasonable lane change to move along the set guide route. In addition, since the optimum driving route is guided according to the driving state of the vehicle, the driving efficiency of the vehicle is increased.

Description

TECHNICAL FIELD [0001] The present invention relates to a navigation service control apparatus using a sensor, and a navigation service control method using the same. ≪ Desc / Clms Page number 1 >

The present invention relates to a navigation service control apparatus using a sensor and a navigation service control method using the same, and more particularly, to a navigation service control apparatus using a sensor for controlling a guide route of a navigation service using vehicle driving information, And a method of controlling the navigation service.

In the 2000s, navigation devices have made great progress through a lot of research, and in recent years, research is underway to provide various navigation services that combine augmented reality and 3D technology. With this technological advance, navigation is now an indispensable item for drivers who drive.

However, existing navigation devices search for a destination and a moving route based on only GPS information and provide the driver with various problems.

Particularly, it is possible to prevent the GPS signal from being received due to the surrounding environment such as the weather and the terrain, or the navigation system which guides the route unnecessarily without considering the driving conditions of the vehicle, Many drivers are exposed to safety accidents.

The background art of the present invention is disclosed in Korean Patent Laid-Open No. 10-2008-0084452 (published on September 19, 2008).

According to an aspect of the present invention, there is provided a navigation service control apparatus using a sensor that controls a guide route of a navigation service using vehicle travel information, and a navigation service control method using the same.

According to another aspect of the present invention, there is provided a method of controlling a navigation service using a navigation service control apparatus, the method comprising: receiving a moving speed of the vehicle from a sensor installed in the vehicle; The method comprising the steps of: receiving a driving image of the vehicle from an installed photographing device; detecting a current lane position of the vehicle by analyzing the driving image; determining a current lane of the vehicle by using at least one of a current lane position and a moving speed of the vehicle; Determining whether the set guide path is changed, and controlling the predetermined guide path of the navigation according to the determination result.

Wherein the step of determining whether or not the guide route is to be changed comprises the steps of: when the vehicle is located at the current leftmost lane or the rightmost lane, when the guide route is set to the left or right turn, Receiving the steering wheel angle of the vehicle, and determining whether the guide path is changed using the current speed of the vehicle, the distance to the left or right turning point, and the steering wheel angle.

Wherein the step of determining whether or not the guide path is changed comprises the steps of: determining whether the current speed of the vehicle is higher than the reference speed and the distance to the left or right turning point is shorter than the reference distance; And judging to change the guide route straight.

Wherein the step of determining whether or not the guide route is changed comprises the steps of: when the guide route is set to the left turn or the right turn, the vehicle is not currently located in the leftmost lane or the rightmost lane, , It may be determined that the guide path is changed to the straight line.

The navigation service control apparatus according to another embodiment of the present invention includes an input unit that receives a moving speed of the vehicle from a sensor installed in the vehicle and receives a driving image of the vehicle from a photographing apparatus installed in the vehicle, A determination unit for determining whether a predetermined guided route of navigation is changed using at least one of a current lane position and a moving speed of the vehicle; And a control unit for controlling the predetermined guide path of the second display unit.

As described above, according to the present invention, it is possible to provide the navigation service in consideration of the current driving state of the vehicle, so that it is possible to prevent an accident that may occur due to an unreasonable lane change to move along the set guide route.

In addition, since the optimum driving route is guided according to the driving state of the vehicle, the driving efficiency of the vehicle is increased.

1 is a configuration diagram of a navigation service control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a method of controlling a navigation service according to an embodiment of the present invention.
3 is a diagram for explaining a process of determining whether a guide route is changed or not according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

First, a configuration of a navigation service control apparatus 100 according to an embodiment of the present invention will be described with reference to FIG. 1 is a configuration diagram of a navigation service control apparatus according to an embodiment of the present invention.

1, the navigation service control apparatus 100 includes an input unit 110, a detection unit 120, a determination unit 130, and a control unit 140. As shown in FIG.

First, the input unit 110 receives the moving speed of the vehicle from the sensor installed in the vehicle, and receives the running image of the vehicle from the photographing apparatus installed in the vehicle.

When the vehicle is set to the leftmost lane or the rightmost lane, the distance to the left turn or right turn point and the handle angle of the vehicle are input from the sensor .

Here, the photographing apparatus includes a device capable of photographing an image such as a camera or a camcorder, and the photographing apparatus can transmit a running image of the photographed vehicle by communicating with the input unit 110 by wire / wireless.

The sensor may include a Global Positioning System (GPS) module, a velocity measurement sensor, and a handle angle measurement sensor.

Specifically, the GPS module can acquire the current GPS signal of the vehicle, measure the distance from the predetermined guide path to the left or right turning point, and the speed measuring sensor can measure the current traveling speed of the vehicle.

And, the handle angle measuring sensor can measure the rotation angle of the handle. For example, the handle angle sensor sets the handle angle when the handle is not exerting external force to 0 °, generates the handle angle information with the negative angle when turning to the left, and the handle angle Information can be generated.

In addition, the sensor may be included in the vehicle diagnostic recorder of the vehicle, and the input unit 110 may be connected to the diagnostic device by wired / wireless communication with the vehicle recorder to detect the vehicle's moving angle, And so on.

Here, the OBD (On Board Diagnostic Self Diagnostic System) is a legally defined subordinate diagnosis and monitoring system integrated in an automobile engine control system, and uses built-in sensors to detect vehicle driving information To the driver.

Then, the detection unit 120 analyzes the driving image and detects the current lane position of the vehicle.

Next, the determination unit 130 determines whether or not to change the preset guide route of the navigation using at least one of the current lane position and the moving speed of the vehicle.

Specifically, when the guide path is set to the left or right turn, the determination unit 130 determines whether the vehicle is currently located in the leftmost lane or the rightmost lane, the distance to the current speed, left turn or right turn point of the vehicle, It is possible to determine whether the guide route is changed or not.

At this time, when the current speed of the vehicle is higher than the reference speed, the distance to the left turn or right turn point is shorter than the reference distance, and the steering angle of the vehicle is smaller than the reference angle, It can be determined to change to the straight line.

On the other hand, when the vehicle is not positioned in the leftmost lane or the rightmost lane in the case where the guide path is set to the left or right turn, the determination unit 130 determines whether the current speed of the vehicle is higher than the reference speed, It is possible to judge to change the set guide route to the straight line.

Then, the controller 140 controls the predetermined guide route of the navigation according to the determination result of the controller 140, and provides the guide route to the user.

Hereinafter, a method of controlling a navigation service using the navigation service control apparatus 100 according to an embodiment of the present invention will be described with reference to FIG. 2 through FIG. 2 is a flowchart illustrating a method of controlling a navigation service according to an embodiment of the present invention.

First, the navigation service control apparatus 100 receives the moving speed and the driving image of the vehicle from the sensor and the photographing apparatus installed in the vehicle (S210). At this time, the driving image may be generated as a photograph or a moving image, and the photographing apparatus may be attached to the front or rear portion of the vehicle.

Then, the navigation service control apparatus 100 analyzes the driving image input in step S210 and detects the current lane position of the vehicle (S220).

Specifically, the navigation service control apparatus 100 may analyze the lane information of the current road through an image analysis algorithm or the like, and may detect a lane in which the present vehicle is located in consideration of at least one of hue, saturation, .

Next, the navigation service control apparatus 100 determines whether the current lane position of the vehicle is located in the leftmost lane or the rightmost lane (S230) when the guide route is preset by turning left or right.

That is, it is determined whether the current lane position of the vehicle is located at the leftmost position when the preset guide path is the left turn, and whether the current lane position of the vehicle is located at the rightmost position when the predetermined guide path is the right turn.

If it is determined in step S230 that the current lane position of the vehicle is located in the leftmost lane or the rightmost lane, the navigation service control apparatus 100 receives the distance to the left or right turn point and the handle angle of the vehicle (S240).

Then, the navigation service control apparatus 100 determines whether the preset guide route has been changed using the current speed, the distance to the left turn or the right turn point, and the handle angle of the vehicle (S250).

Specifically, the navigation service control apparatus 100 determines whether the current speed of the vehicle is greater than the reference speed, determines whether the distance to the left or right turn point is shorter than the reference distance, and determines whether the steering angle of the vehicle is smaller than the reference angle .

If it is determined in step S250 that the current speed of the vehicle is greater than the reference speed and the distance to the left or right turn point is shorter than the reference distance and the steering angle of the vehicle is smaller than the reference angle, Or to change the preset guide path to the straight ahead by turning right (S270).

If the current speed of the vehicle is less than or equal to the reference speed, the distance to the left or right turn point is longer than or equal to the reference distance, or the steering angle of the vehicle is equal to or greater than the reference angle as a result of the determination in step S250, The control device 100 controls the vehicle to guide the route of the vehicle according to a left or right turn, i.e., a predetermined guide route (S280).

3 is a diagram for explaining a process of determining whether a guide route is changed or not according to an embodiment of the present invention. For example, as shown in FIG. 3, it is assumed that a predetermined guide path of the vehicle is a right turn (a), and a current vehicle position is located at the rightmost position (a). It is also assumed that the reference speed is 40 km / h, the reference distance is 15 m, and the reference angle is 15 °.

At this time, if the current vehicle traveling speed is 45 km / h, the distance to the right turning point is 12 m, and the handle angle is 7, the conditions of step S250 are all satisfied. Therefore, the navigation service control apparatus 100 is set to make a right turn at the intersection Determines to change the guide route to the straight line (b), and controls the guide route to change to the straight line (b) according to the determination result.

On the contrary, when the current traveling speed of the vehicle is 20 km / h, the distance to the right turning point is 13 m, and the steering wheel angle is 8 degrees, the condition of step S250 is not satisfied and therefore the navigation service control apparatus 100 is set to turn right at the intersection It is judged to guide according to the guiding path (a), and control is performed so as to guide the right turning path, which is the existing guiding path, according to the judgment result.

On the other hand, if it is determined in step S230 that the current lane position of the vehicle is not located in the leftmost lane or the rightmost lane, the navigation service control apparatus 100 compares the current speed with the reference speed (S260).

If it is determined in step S260 that the current speed is greater than the reference speed, the navigation service control apparatus 100 controls the guide path to change to a straight line by turning left or right (S270).

On the other hand, if it is determined in step S260 that the current speed is less than or equal to the reference speed, the navigation service controlling apparatus 100 controls to guide the navigation service according to a preset guide path by turning left or right (S280).

For example, as shown in FIG. 3, it is assumed that a predetermined guide path of the vehicle is a right turn (a) and a current vehicle position is not located at the rightmost position (b). It is also assumed that the reference speed is 45 km / h.

At this time, if the current traveling speed is 65 km / h, the condition of step S260 is satisfied. Therefore, the navigation service controlling apparatus 100 determines to change the guide route set to turn right at the intersection to the straight line (b) And controls to change the guide path to the straight line (b).

In this way, by changing the right turn guide route to the straight route, there is no need to reduce the speed or make a sharp turn, so that the vehicle can be safely operated and efficient operation can be achieved.

On the other hand, if the current traveling speed is 35 km / h, the condition of step S260 is not satisfied. Therefore, the navigation service controlling apparatus 100 judges that the navigation route should be guided according to the guided route (a) So as to guide the right turn path which is the existing guide path.

According to the embodiment of the present invention, since the navigation service can be provided in consideration of the current driving state of the vehicle, it is possible to prevent an accident that may occur due to an unreasonable lane change to move along the set guide route.

In addition, since the optimum driving route is guided according to the driving state of the vehicle, the driving efficiency of the vehicle is increased.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: navigation service providing apparatus 110: input unit
120: Detector 130:
140:

Claims (8)

A navigation service control method using a navigation service control device,
Receiving a moving speed of the vehicle from a sensor installed in the vehicle,
Receiving a driving image of the vehicle from a photographing apparatus installed in the vehicle,
Analyzing the driving image to detect a current lane position of the vehicle,
Determining whether a predetermined guiding route of navigation is changed using at least one of a current lane position and a moving speed of the vehicle; and
And controlling the predetermined guide route of the navigation according to the determination result,
Wherein the step of determining whether the guide route is changed comprises:
Receiving a distance to the left turn or right turn point and a handle angle of the vehicle when the vehicle is currently located in the leftmost lane or the rightmost lane when the guide path is set to a left turn or a right turn,
Determining whether the guide route is changed using the current speed of the vehicle, the distance to the left turn or the right turn point, and the handle angle,
Determining that the guide path is changed to a straight line when the current speed of the vehicle is higher than the reference speed and the distance to the left or right turn point is shorter than the reference distance and the steering angle of the vehicle is smaller than the reference angle,
When the vehicle is not located in the current leftmost lane or the rightmost lane and the current speed of the vehicle is higher than the reference speed in the case where the guide path is set to the left turn or the right turn, How to control the navigation service. delete delete delete An input unit for inputting the moving speed of the vehicle from a sensor installed in the vehicle and inputting the running image of the vehicle from the photographing apparatus installed in the vehicle,
A detector for analyzing the driving image to detect a current lane of the vehicle,
A determination unit for determining whether or not to change a predetermined guide route of the navigation using at least one of a current lane position and a moving speed of the vehicle,
And a controller for controlling the predetermined guide route of the navigation according to the determination result,
Wherein,
And when the vehicle is positioned in the leftmost lane or the rightmost lane, the distance to the left or right turn point and the handle angle of the vehicle are input, Determines whether or not the guide route is changed by using the speed, the distance to the left turn or the right turn point, and the handle angle,
Determining that the guide path is changed to a straight line when the current speed of the vehicle is higher than the reference speed and the distance to the left or right turn point is shorter than the reference distance and the steering angle of the vehicle is smaller than the reference angle,
When the vehicle is not located in the current leftmost lane or the rightmost lane and the current speed of the vehicle is higher than the reference speed in the case where the guide path is set to the left turn or the right turn, Navigation service control device. delete delete delete
KR1020150187393A 2015-12-28 2015-12-28 Navigation service controlling apparatus using sensor and method using the same KR101756079B1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2588186B2 (en) * 1987-02-27 1997-03-05 アイシン・エィ・ダブリュ株式会社 Vehicle navigation system
JP2008120133A (en) * 2006-11-08 2008-05-29 Denso Corp Vehicular driving support system
JP4529080B2 (en) * 2004-09-30 2010-08-25 アイシン・エィ・ダブリュ株式会社 Navigation device
JP4861851B2 (en) * 2007-02-13 2012-01-25 アイシン・エィ・ダブリュ株式会社 Lane determination device, lane determination method, and navigation device using the same

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2588186B2 (en) * 1987-02-27 1997-03-05 アイシン・エィ・ダブリュ株式会社 Vehicle navigation system
JP4529080B2 (en) * 2004-09-30 2010-08-25 アイシン・エィ・ダブリュ株式会社 Navigation device
JP2008120133A (en) * 2006-11-08 2008-05-29 Denso Corp Vehicular driving support system
JP4861851B2 (en) * 2007-02-13 2012-01-25 アイシン・エィ・ダブリュ株式会社 Lane determination device, lane determination method, and navigation device using the same

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