KR101759975B1 - Navigation for vehicel and land departure warning method of navigation for vehicel - Google Patents

Abstract

A lane departure warning method for a vehicle navigation system and a vehicle navigation system is disclosed.
According to the present invention, the vehicle navigation system controls whether or not the lane departure warning is output based on the vehicle position data.

Description

TECHNICAL FIELD [0001] The present invention relates to a method for warning of departure from a lane departure of an electronic device and an electronic device,

An electronic device and an electronic device.

With the opening of the Internet network and the revision of laws related to location data, a location based service (LBS) related industry is being activated. Typical devices utilizing the location-based service include a navigation device for a vehicle that provides a route guidance service for positioning a current position of a vehicle or the like or guiding a route to a destination.

In addition, there is an increasing need to provide objective data in order to determine the rate of negligence according to the responsibility of the accidents that occur during the stopping or operation of the vehicle. Accordingly, a vehicle black box capable of providing objective data is used.

The lane departure warning warns the driver of a lane departure to protect the driver from a lane departure accident caused by the driver's carelessness, drowsiness, However, when an unnecessary lane departure alarm sound is output, the driver's attention may be dispersed, which may interfere with safe driving and increase the driver's stress.

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an electronic device for supporting safe driving of a driver and a lane departure warning method for an electronic device.

According to an aspect of the present invention, there is provided an electronic device comprising: a communication unit for receiving an image related to driving of a vehicle; And a control unit for controlling the output of the lane departure alarm to warn the lane departure of the vehicle according to whether the vehicle enters a specific area when the lane departure occurs, based on the image.

According to another aspect of the present invention, there is provided an electronic device including at least one camera for acquiring an image related to driving of a vehicle; And a control unit for controlling the output of the lane departure alarm to warn the lane departure of the vehicle according to whether the vehicle enters a specific area when the lane departure occurs, based on the image.

According to an aspect of the present invention for realizing the above object, there is provided a system according to the present invention, comprising: a vehicle black box for acquiring images related to driving of a vehicle; And vehicle navigation for determining whether or not the vehicle leaves the lane on the basis of the image, and controlling the output of the lane departure alarm to warn the lane departure of the vehicle according to whether the vehicle enters a specific area at the time of lane departure.

According to another aspect of the present invention, there is provided a lane departure warning method for an electronic device, comprising: acquiring an image related to driving of a vehicle; Determining whether the vehicle leaves the lane on the basis of the image; And controlling the output of the lane departure alarm to warn the lane departure of the vehicle based on whether or not the vehicle enters a specific area.

According to an aspect of the present invention for realizing the above object, a computer-readable medium according to the present invention records a program for causing a computer to execute any one of the above methods.

According to the present invention, the navigation system can effectively monitor lane departure of the vehicle using an image obtained through a black box for a vehicle. Further, the lane departure warning function or the lane departure warning function is activated / deactivated according to at least one predetermined condition, so that the lane departure warning is outputted to the driver only when the lane departure warning is required. Accordingly, it is possible to prevent driver's attention from being distracted due to an erroneous or unnecessary lane departure warning, thereby enabling safe driving of the driver.

1 is a diagram illustrating an example of a system for implementing a lane guidance method according to embodiments of the present invention.
2 is a view showing another example of a system for implementing the lane guidance method according to the embodiments of the present invention.
3 is a structural view showing an example of a navigation system for a vehicle according to an embodiment of the present invention.
4 is a structural view showing an example of a navigation system for a vehicle according to an embodiment of the present invention.
5 is a block diagram illustrating an example of a communication network including a navigation system according to embodiments of the present invention.
6 is a flowchart illustrating a lane departure warning method of the navigation system 10 according to the first embodiment of the present invention.
7 shows an example of selecting a lane marking line corresponding to a lane in which the vehicle is traveling in the navigation system 10 according to the first embodiment of the present invention.
Fig. 8 shows an example of deactivating the lane departure alarm output based on the current position of the vehicle.
9 shows an example of deactivating the output of the lane departure warning based on the state information of the turn signal lamp.
10 is a flowchart showing a lane departure warning method of the navigation system 10 according to the second embodiment of the present invention.

The above objects, features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings. It is to be understood, however, that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and similarities. Like reference numerals designate like elements throughout the specification. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. In addition, numerals (e.g., days, days, etc.) used in the description of the present invention are merely an identifier for distinguishing one component from another component

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

In addition, the suffix "module" and " part "for constituent elements used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating an example of a system for implementing a lane guidance method according to embodiments of the present invention.

Referring to FIG. 1, the system 10 includes a first electronic device 100 for notifying a driver and a passenger of the vehicle of various data related to the operation, maintenance, and the like of the vehicle, and a second electronic device (200).

Hereinafter, when the system 10 for implementing the vehicle guidance method is a 'navigation system' and the first electronic device 100 and the second electronic device 200 are 'navigation for vehicle' and 'vehicle black box', respectively As an example. However, the present invention is not limited to this, and other types of electronic devices may be used to implement the lane guidance method in the present invention. For example, the first electronic device 100 or the second electronic device 200 may be implemented as a mobile communication terminal, a digital broadcasting terminal, a personal digital assistant (PDA), or a portable multimedia player (PMP). In the embodiments of the present invention, the vehicle navigation system 100 and the vehicle black box 200 are separately provided. However, the present invention is not limited thereto. According to the present invention, it is also possible that the vehicle navigation system 100 and the vehicle black box 200 are integrated.

The vehicle navigation system 100 may include a display unit 145 provided on the front surface of the navigation housing 191, a navigation operation key 193, and a navigation microphone 195.

The navigation housing 191 forms the appearance of the navigation system 100 for a vehicle. The vehicle navigation system 100 may be exposed to various conditions such as exposure to a high temperature or a low temperature due to seasonal factors or a direct / indirect external shock. The navigation housing 191 may have a purpose of protecting various electronic components in the navigation system 100 of the vehicle from the change of the external environment and making the appearance of the navigation system 100 of the vehicle better. In order to achieve the above object, the navigation housing 191 can be processed by a method of injection-molding a material such as ABS, PC, or engineering plastic reinforced with strength.

The display unit 145 is a part for visually displaying various data. Various data displayed on the display unit 145 may be map data combined with route data or the like, various broadcast screens including DMB broadcasting, or images stored in the memory. The display unit 145 may be physically or logically divided into several. The physically divided display unit 145 means a case where two or more display units 145 are provided adjacent to each other. The logically divided display unit 145 means a case where a plurality of independent screens are displayed on one display unit 145 physically. For example, when DMB broadcasting is received and displayed, route data is displayed in a part of the display unit 145, or DMB broadcasting and a map screen are displayed in a different area from a part of the display unit 145 Lt; / RTI > The display portion 145 is logically divided to display various data in accordance with a tendency that various functions converge on the navigation system 100 for a vehicle. Further, in order to display various data, the display unit 145 is gradually becoming a large-sized screen.

The entire surface or a part of the display unit 145 may be a touch screen capable of receiving a user's touch input. For example, by touching a function selection button displayed on the display unit 145, the function can be activated. That is, it means that the display unit 145 can be an output unit (140 in FIG. 3) and an input unit (120 in FIG. 3).

The navigation operation key 193 may be provided to execute various functions of the navigation system 100 for a vehicle or to allow a user to input necessary data directly. It is possible to improve the usability by mapping a specific function frequently used to the navigation operation keys 193.

The navigation microphone 195 may be provided to receive sounds including voice and sound. For example, it is possible to execute the specific function of the vehicle navigation device 100 based on the voice signal received by the navigation microphone 195. [ Further, based on the acoustic signal received by the navigation microphone 195, it is possible to detect the current state of the vehicle such as an accident.

The vehicle black box 200 can exchange data with the vehicle navigation system 100 to store data necessary for the accident process of the vehicle and the like. For example, when an accident occurs while the vehicle is in operation, the image acquired and stored in the vehicle black box 200 may be analyzed to determine the degree of accident and the extent of the accident. The vehicle black box 200 connected to the navigation system 100 for a vehicle can utilize various data stored in the navigation system 100 for a vehicle. For example, it is possible to increase the utility of the vehicle black box 200 by mapping the image acquired by the vehicle black box 200 to the map data stored in the vehicle navigation system 100.

The vehicle black box 200 can acquire the data of the vehicle during driving and stopping. That is, it is possible not only to shoot a moving image of a vehicle, but also to shoot an image even when the vehicle is stationary. The image quality of the image obtained through the vehicle black box 200 may be constant or changed. For example, it is possible to store a core image while minimizing a required storage space by increasing the image quality before and after occurrence of an accident, and lowering the image quality in a normal case.

The vehicle black box 200 may include a black box camera 222, a black box microphone 224, and an attaching portion 281. [

The black box camera 222 can photograph the outside of the vehicle or the inside of the vehicle. The number of the black box cameras 222 may be one or more. When there are a plurality of black box cameras 222, one can transmit an image captured in a state of being integrated with the vehicle black box 200 and the remaining one attached to each part of the vehicle to the vehicle black box 200 . In the case where the black box camera 222 is a single person, the black box camera 222 may be installed to photograph the front of the vehicle. The image photographed by the black box camera 222 may be stored in the vehicle black box 200 or the vehicle navigation system 100. [

The black box microphone 224 can acquire a sound generated from the inside and the outside of the vehicle. The black box microphone 224 can perform a function similar to the navigation microphone 195 described above.

The attachment portion 281 can fix the vehicle black box 200 to the vehicle. The attachment portion 281 may be a suction plate capable of attaching the vehicle black box 200 to the front glass of the vehicle or a fixing device capable of engaging with a room mirror or the like of the vehicle.

2 is a view showing another example of a system for implementing the lane guidance method according to the embodiments of the present invention.

Referring to FIG. 2, the navigation system 100 and the vehicle black box 200 constituting the navigation system 10 may be wirelessly connected to each other. That is, the vehicle navigation system 100 and the vehicle black box 200 are separate devices, meaning that there is no physical connection device between them. The vehicle navigation system 100 and the vehicle black box 200 are connected to each other by a communication method such as Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (UDA), Ultra WideBand (UWB) To communicate with each other.

3 is a structural view of a navigation system for a vehicle according to an embodiment of the present invention.

3, the vehicle navigation system 100 includes a first communication unit 110, a first input unit 120, a first sensing unit 130, an output unit 140, a first storage unit 150, A power supply unit 160, and a first control unit 170. The components shown in FIG. 3 are not essential, and an electronic device having more or fewer components may be implemented.

Hereinafter, the components will be described in order.

The first communication unit 110 is connected to the vehicle navigation system 100 and the communication system or between the vehicle navigation system 100 and the network in which the vehicle navigation system 100 is located or the vehicle navigation system 100, The above modules may be included. For example, the first communication unit 100 may include a first location data module 111, a first wireless Internet module 113, a broadcast transmission / reception module 115, a first short distance communication module 117, Module 119, and the like.

The first position data module 111 is a module for confirming or obtaining the position data of the vehicle navigation system 100. As a method of acquiring the position data by the first position data module 111, a method of acquiring position data through a Global Navigation Satellite System (GNSS) can be used. GNSS means a navigation system capable of calculating the position of a receiving terminal using a radio wave signal received from an artificial satellite (20 in FIG. 5). A specific example of GNSS is a GPS (Global Positioning System), a Galileo, a GLONASS (Global Orbiting Navigational Satellite System), a COMPASS, an Indian Regional Navigational Satellite System (IRNSS), a Quasi-Zenith Satellite System . The position data module 111 of the vehicle navigation system 100 according to the embodiments of the present invention may receive the GNSS signal serviced in the area in which the vehicle navigation system 100 is used and obtain the position data. The first position data module 111 continues to calculate the current position of the navigation system 100 in real time, and calculates the speed information using the calculated current position.

The first wireless Internet module 113 is a device that accesses the wireless Internet and acquires or transmits data. The wireless Internet that can be connected through the wireless Internet module 113 may be a wireless LAN (WLAN), a wireless broadband (WIBRO), a world interoperability for microwave access (WIMAX), or a high speed downlink packet access (HSDPA).

The broadcast transmission / reception module 115 is a device for receiving broadcast signals through various broadcasting systems. The broadcast system that can receive the broadcast signal through the broadcast transmission / reception module 115 may be a DMBT (Digital Multimedia Broadcasting Terrestrial), a DMBS (Digital Multimedia Broadcasting Satellite), a MediaFLO (Media Forward Link Only), a DVBH (Digital Video Broadcast Handheld) Integrated Services Digital Broadcast Terrestrial) and the like. The broadcast signal received through the broadcast transmission / reception module 115 may include traffic data, living data, and the like.

The first short range communication module 117 is a module for short range communication. Bluetooth, radio frequency identification (RFID), infrared data association (IrDA), ultra wideband (UWB), ZigBee, and the like can be used as the short distance communication technology.

The first wired communication module 119 serves to provide an interface with other electronic devices connected to the navigation system 100 for the vehicle. For example, the first wired communication module 119 may be a USB module that can communicate through a USB port.

The first input unit 120 is a module for generating input data for controlling the operation of the navigation system 100 for a vehicle, and can convert input data from an external physical input into a specific electric signal to generate input data. The first input unit 120 may include a first user input module 121, a first microphone 123, and the like.

The first user input module 121 receives a control input for controlling the operation of the vehicle navigation system 100 from the user. The first user input module may include a key pad dome switch, a touch pad (static / static), a jog wheel, a jog switch, and the like. For example, the first user input module 121 may be implemented with a navigation operation key (193 in FIG. 1) provided outside the housing (191 in FIG. 1) of the vehicle navigation device 100.

The first microphone 123 is a device for receiving user's voice and sound generated from the inside and the outside of the vehicle. The first microphone 123 may be implemented as a navigation microphone 195 provided outside the housing 191 of the navigation system 100 of the vehicle 100.

The first sensing unit 130 senses the current state of the vehicle navigation system 100 and generates a sensing signal for controlling the operation of the vehicle navigation system 100. The first sensing unit 130 may include a first motion sensing module 131, an optical sensing module 133, and the like.

The first motion sensing module 131 may sense movement of the navigation system 100 in the three-dimensional space. The first motion sensing module 131 may include a three-axis geomagnetic sensor and a three-axis acceleration sensor. The movement data obtained through the first motion sensing module 131 is combined with the position data acquired through the position data module 111 to calculate a more accurate trajectory of the vehicle with the vehicle navigation device 100 attached thereto.

The optical sensing module 133 is a device for measuring the luminance of the surroundings of the vehicle navigation system 100. The brightness of the display unit 145 can be changed to correspond to the ambient brightness using the illumination data acquired through the optical sensing module 133. [

The output unit 140 is a device for the vehicle navigation device 100 to output data. The output unit 140 may include a display module 141, an audio output module 143, and the like.

The display module 141 is a device for outputting data that can be visually recognized by the vehicle navigation device 100. [ The display module 141 may be implemented as a display unit 145 (FIG. 1) provided on the front surface of the housing 191 (FIG. 1) of the navigation system 100 for a vehicle. In the case where the display module 141 is a touch screen, the data output unit 140 and the first input unit 120 can be simultaneously operated as described above.

The audio output module 143 outputs audio data that can be audibly recognized. The audio output module 143 outputs an audio signal related to a function (e.g., a route guidance function) performed in the navigation system 100 for the vehicle. The audio output module 143 may include a receiver, a speaker, a buzzer, and the like.

The first storage unit 150 may store a program for the operation of the vehicle navigation system 100 and may temporarily store data (route data, image data) input / output related to the navigation system 100 for the vehicle. Also, the first storage unit 150 may store map data used in the route guidance service. The first storage unit 150 may be built in or detached from the vehicle navigation system 100 and may be a flash memory type, a hard disk type, a multimedia card micro type, card type memory (such as SD or XD memory), random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only Memory, a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk. The navigation system 100 for a vehicle may operate in association with a web storage for performing a storage function of the first storage unit 150 on the Internet.

The first power supply unit 160 receives power from an external power supply and supplies power to internal components of the navigation system 100 or other devices connected to the navigation system 100.

The first control unit 170 typically controls the overall operation of the navigation system 100 of the vehicle. Further, the first control unit 170 may output a control signal for controlling another device connected to the navigation system 100 for the vehicle.

4 is a structural view of a vehicle black box related to embodiments of the present invention.

4, the vehicle black box 200 includes a second communication unit 210, a second input unit 220, a second sensing unit 230, a second storage unit 250, a second power source unit 260, A second controller 270, and the like. The components shown in Fig. 4 are not essential, and an electronic device having more or fewer components may be implemented.

Hereinafter, the components will be described in order.

The second communication unit 210 may be connected to the vehicle black box 200 and the communication system or between the vehicle black box 200 and the vehicle black box 200 or between the vehicle black box 200 and another electronic device (E.g., vehicle navigation 100), as will be appreciated by those skilled in the art. For example, the second communication unit 210 includes a second location data module 211, a second wireless Internet module 213, a second short-range communication module 217, a second wired communication module 219, and the like . The second location data module 211, the second wireless internet module 213, the second short distance communication module 217 and the second wired communication module 219 are connected to the first location data module 111, Module 113, the first short-range communication module 117, and the first wired communication module 119, detailed description thereof will be omitted below.

The second input unit 220 may convert the input from the outside of the vehicle black box 200 into a specific electric signal to generate input data. The second input unit 220 may include a second user input module 221, a second microphone 223, a camera 225, and the like.

The second user input module 221 may receive a control input for controlling the operation of the vehicle black box 200 from the user. The second user input module 221 may include a key pad dome switch, a touch pad (static / static), a jog wheel, a jog switch, a push button, and the like. The second user input module 221 is not an essential component and may be excluded from components of the vehicle black box 200 when the vehicle black box 200 is controlled by the vehicle navigation 100. [

The second microphone 223 converts an audio signal received from the outside into a specific electric signal to generate audio data. For example, the second microphone may acquire audio data related to the running of the vehicle. The second microphone 223 may correspond to the microphone 224 of the vehicle black box 200 shown in Fig.

The camera 225 converts image signals received from the outside into specific electric signals to generate image data. For example, the camera 225 can acquire image data of the inside and outside of the vehicle related to the running of the vehicle. The camera 225 may correspond to the camera 222 of the vehicle black box 200 shown in Fig.

The second sensing unit 230 senses the current state of the vehicle black box 200 and generates a sensing signal for controlling the operation of the vehicle black box 200. The second sensing unit 230 may include a second motion sensing module 231 and the second motion sensing module 231 may perform an operation similar to the first motion sensing module 131 do.

The second storage unit 250 may store a program for operation of the vehicle black box 200 and may store data (image data, audio data, etc.) input / output in association with the vehicle black box 200 . For example, the second storage unit 250 may store audio data obtained through the second microphone 223 or image data obtained through the camera 225. [ The second storage unit 250 may be built in or disassembled from the vehicle black box 200 and may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD Memory, etc.), a RAM, a ROM, a PROM, a magnetic memory, a magnetic disk, or an optical disk. The vehicle black box 200 may operate in association with a web storage that performs a storage function of the second storage unit 250 on the Internet.

The second power supply unit 260 receives power from an external power source and supplies power to the components of the vehicle black box 200 or other devices connected to the vehicle black box 200.

The second control unit 270 typically controls the overall operation of the vehicle black box 200. The second control unit 270 may be affected by the control signal of the first control unit 170 (Fig. 3) of the vehicle navigation system 100 (Fig. 3). That is, the second control unit 270 may be dependent on the first control unit 170 (FIG. 3).

5 is a configuration diagram of a communication network including a navigation system according to embodiments of the present invention.

Referring to FIG. 5, the navigation system 10 may be connected to various communication networks and other electronic devices 61 to 64.

The navigation system 10 can calculate the current position using the radio wave signal received from the satellite 20. Each of the satellites 20 can transmit L-band frequencies having different frequency bands. The navigation system 10 can calculate the current position based on the time taken for the L-band frequency transmitted from each satellite 20 to reach the navigation system 10. [

The navigation system 10 can wirelessly connect to the network 30 through the control station 40 (ACR), the base station 50 (RAS), and the like. When the navigation system 10 is connected to the network 30, the electronic devices 61 and 62 connected to the network 30 can also be indirectly connected to exchange data.

The navigation system 10 may indirectly connect to the network 30 through another device 63 having a communication function. For example, this means that when a device capable of connecting to the network 30 is not provided in the navigation system 10, it is possible to communicate with another device 63 having a communication function by using close range communication.

The embodiments disclosed in this document can be implemented in the navigation system 10 described with reference to Figs. 1-5. In order to distinguish the lane on the road, a line drawn at regular intervals along the direction of travel is called 'lane marking line'.

Hereinafter, the operation of the navigation system for implementing the lane departure warning method and the lane departure warning method according to the first embodiment of the present invention will be described in detail with reference to the necessary drawings.

6 is a flowchart illustrating a lane departure warning method of the navigation system 10 according to the first embodiment of the present invention. 7 to 9 are views for explaining the lane departure warning method of the navigation system 10 according to the first embodiment of the present invention.

Referring to FIG. 6, the first controller 170 of the vehicle navigation system 100 connects to the vehicle black box 200 through the first communication unit 110 (S101). Also, an image related to the running of the vehicle is received from the vehicle black box 200 (S102). The vehicle black box 200 acquires an image related to the running of the vehicle equipped with the navigation system 10 in real time using at least one camera 225 and transmits the acquired image to the vehicle navigation 100 in real time. Meanwhile, in the embodiments of the present invention, the vehicle navigation system 100 and the vehicle black box 200 are separately provided, and they are communicated with each other through wired / wireless communication. However, the present invention is not limited thereto. According to the present invention, the vehicle navigation system 100 and the vehicle black box 200 may be integrated. In the embodiments of the present invention, a traveling image of a vehicle is received from the vehicle black box 200, but the present invention is not limited thereto. In the present invention, it is also possible to receive an image related to the running of the vehicle directly from at least one external camera (not shown). When the vehicle navigation system 100 incorporates a camera, a running image of the vehicle can also be acquired using an internal camera.

The first control unit 170 of the navigation system 100 of the vehicle obtains lane information for the lane in which the vehicle is currently traveling through analysis of the image received from the vehicle black box 200 (S103). The lane information includes information related to at least one lane marking line for distinguishing a lane in which the vehicle is traveling, and includes color information, a display form (e.g., a straight line, a curve, a solid line, a dotted line, etc.) .

In step S103, the first controller 170 can recognize a lane marking line displayed on the road from the running image of the vehicle using various filtering algorithms. For example, the first controller 170 may extract a lane marking line for distinguishing a lane from an image using an edge filter. When the edge filter is used, the first controller 170 searches for a boundary portion of the image using the brightness value of each pixel included in the image. Then, the lane marking line is recognized based on the searched boundary portion. On the other hand, a method of recognizing a lane marking line using an edge filter is an example of a method of recognizing a lane marking line. The navigation system 10 disclosed in this document uses various filtering algorithms The lane markings included in the lane marking line can be extracted. When the lane marking line is extracted, the first control unit 170 can obtain the display form of the lane marking line such as a straight line, a curve, a solid line and a dotted line based on the outline of the extracted lane marking line. Also, the first controller 170 can acquire the color information of the lane marking line through the color recognition of the extracted lane marking line.

When a plurality of lane marking lines are extracted from the image, the first control unit 170 can recognize at least one lane marking line corresponding to the lane in which the vehicle is running among the plurality of lane marking lines. Here, among the lane markers included in the image, the first controller 170 can use the in-video display position of each lane marking line extracted from the image to select the lane marking line corresponding to the lane in which the vehicle is running. For example, when a plurality of lane marking lines are detected from the image, the first control unit 170 sets a reference line that vertically crosses the image, and based on the distance between the reference line and each lane marking line, You can select the lane marking line. That is, the lane marking line near the reference line can be selected as the lane marking line related to the lane in which the vehicle is running. The first controller 170 may distinguish the left and right lines of the lane on which the vehicle is traveling depending on which direction the reference line is located.

Fig. 7 shows an example of selecting a lane marking line associated with a lane in which the vehicle is traveling from the image. 7, the first controller 170 receives the image 7 related to the running of the vehicle from the vehicle black box 200 (S201). Further, the lane marking lines 7a, 7b, 7c and 7d are detected from the image 7 by using the filtering algorithm (S202). The first control unit 170 can select the lane marking lines 7b and 7c related to the lane in which the vehicle is running based on the position of each of the detected lane marking lines 7a, 7b, 7c and 7d in the image 7 . To this end, the first controller 170 sets a reference line 7e that vertically crosses the image 7. The lane marking line 7a closest to the reference line 7e among the lane marking lines 7a and 7b located on the left side with respect to the reference line 7e is recognized as the left lane marking line of the lane in which the vehicle is running. The lane marking line 7c closest to the reference line 7e among the lane marking lines 7c and 7d located on the right side with respect to the reference line 7e is recognized as the right lane marking line of the lane in which the vehicle is running. On the other hand, a method of selecting a lane marking line associated with a lane in which the vehicle is running based on the distance or relative position between the reference line and each lane marking line is an example of a method of selecting a lane marking line associated with a lane in which the vehicle is traveling, But is not limited thereto. The navigation system 10 disclosed in this document can select a lane marking line related to the lane in which the vehicle is traveling by using various methods other than the method of selecting the lane marking line by using the relative positions of the reference line and each lane marking line.

Referring again to FIG. 6, the first controller 170 determines whether the vehicle has departed from the lane based on the lane information acquired in step S103 (S104). Here, the first controller 170 can determine whether or not the vehicle has departed from the lane based on the position of the lane marking line in the lane in which the vehicle is running. For example, based on the lane information obtained from the image, the first control unit 170 obtains a transition in which the position of the lane marking line corresponding to the lane in which the vehicle is traveling changes in the image. Based on this, it can be confirmed whether the vehicle has entered another lane across the lane marking line.

If the lane departure alarm of the vehicle is confirmed, the first control unit 170 checks whether the lane departure alarm is ON (S105). If the lane departure alarm is active, the first control unit 170 outputs an output warning of lane departure (S106). For example, the first controller 170 may output a message warning the lane departure of the vehicle through the display module 141. Also, for example, the first control unit 170 may output an audio signal such as a warning sound or a voice guidance for alerting the lane departure of the vehicle through the audio output module 143.

In step S105, the first controller 170 may control the output of the lane departure warning based on at least one condition set in advance.

For example, the first controller 170 may control the output of the lane departure warning using the position data obtained through the first position data module 111 of the navigation system 100 of the vehicle. In this case, the first control unit 170 compares the map data stored in the first storage unit 150 with the position data obtained through the first position data module 111, and when the vehicle enters a specific area, You can disable or enable alarm output. First, the first controller 170 can disable the output of the lane departure alarm in an area where the lane departure detection function may malfunction due to a line dividing the area, such as a pedestrian crossing area, a parking area, have. In addition, the first controller 170 may activate the lane departure alarm output in an area where the lane departure warning function is indispensable, such as a highway, a motorway, or the like. Fig. 8 shows an example of deactivating the lane departure alarm output based on the current position of the vehicle. Referring to Fig. 8, when a lane marking line is obtained using a simple filtering algorithm in the crosswalk area 8, lines 8a indicating that it is a crosswalk area can also be recognized as lane markings. Accordingly, the lane departure detection function of the first control unit 170 causes a malfunction in the pedestrian crossing section 8. Accordingly, the first control unit 170 compares the map data stored in the first storage unit 150 with the position data obtained through the first position data module 111, and if the vehicle is predicted to enter the crosswalk area , The output of the lane departure warning is inactivated. On the other hand, the specific area related to whether or not the lane departure warning is output can be set based on the control input received through the user input module 121. [ That is, when the user selects a specific area from the map data or selects a specific type of facility, the output of the lane departure warning can be controlled with respect to the area where the selected area or the selected facility is located.

Also, for example, the first control unit 170 may control the lane departure alarm output based on the travel path of the vehicle. When the destination is set through the user input module 121, the first controller 170 acquires a travel route from the current position of the vehicle to the destination using the map data stored in the first storage unit 140. The current position of the vehicle can be obtained based on the position data obtained through the first position data module 111. [ The first control unit 170 can predict a case where the vehicle leaves the lane due to a normal vehicle operation such as a left / right turn or a U-turn based on the travel path of the vehicle. And, if the lane departure is predicted by normal vehicle operation, the output of the vehicle departure alarm can be deactivated. If it is predicted that the vehicle will enter a region where the lane departure detection function such as the pedestrian crossing zone, the parking zone, the overspeed prevention jaw mounting zone, etc. may possibly malfunction, the first control unit 170, The output of the departure alarm can be deactivated.

In addition, for example, when the lane information is acquired, the first controller 170 may acquire the pattern and color information of the lane marking line, and may control the lane departure alarm output based on the obtained pattern and color information. The first controller 180 can obtain the pattern of the lane marking line by using the outline of the area when extracting the area where the lane marking line is displayed in the image in step S103. Further, the color information of the lane marking line may be obtained through color recognition of the area. The first controller 170 determines an area in which the lane departure detection function may malfunction, such as a pedestrian crossing area, a parking area, and an overspeed prevention tuck installation area, using pattern or color information of a lane marking line. In this area, The alarm output can be disabled.

For example, the first control unit 170 may calculate the moving speed of the vehicle using the position data obtained through the first position data module 111 of the navigation system 100 of the vehicle 100, It is possible to determine whether to output the lane departure warning. That is, the first control unit 170 may deactivate the output of the lane departure alarm while the vehicle is running at a predetermined speed or lower.

In addition, for example, the first control unit 170 can determine whether to output the lane departure warning based on the state information of the turn signal lamp of the vehicle. In this case, when the turn signal lamp of the vehicle is turned on, the first control unit 170 determines that the vehicle is in the normal state, and ignores the lane departure without notifying the driver. 9 shows an example of deactivating the output of the lane departure warning based on the state information of the turn signal lamp. Referring to FIG. 9, when the driver travels the first lane 9a and wants to travel in the second lane 9b, the left direction indicator flashes. When the movement to the second lane 9b is completed, the left turn indicator lamp is turned off. In this way, when the vehicle changes the running lane in a normal manner, the first control unit 170 determines that it is a normal case even if the lane 9c in the running lane crosses the lane 9c, and does not output the lane departure warning.

In addition, for example, when the first controller 170 enters the specific area set by the user, the first controller 170 can activate or deactivate the output of the lane departure alarm. In this case, the first controller 170 sets at least one area based on the control input inputted from the user through the first user input module 121, maps whether or not the corresponding lane departure alarm is outputted for each area And stores it in the first storage unit 150. If it is determined that the vehicle has entered the preset area based on the position data acquired through the first position data module 111, the output of the lane departure warning is output on the basis of whether or not the lane departure alarm is mapped in the area It can be disabled or activated.

According to the first embodiment of the present invention described above, the navigation system 10 monitors the lane departure of the vehicle using an image obtained through the black box 200 for a vehicle. In addition, the lane departure warning is activated / deactivated according to at least one of the predetermined conditions, so that the lane departure warning information is outputted to the driver only when the lane departure warning is required. Therefore, it is possible to prevent the distraction of the driver from being distracted by an erroneous or unnecessary lane departure warning, thereby enabling safe driving of the driver.

Meanwhile, in the above-described first embodiment of the present invention, the vehicle navigation system guides the user whether the vehicle is departing from the lane using the image received from the vehicle black box. However, the present invention is not limited thereto. In the present invention, it is also possible to detect whether the vehicle black box directly deviates from the lane of the vehicle, and to transmit the lane departure warning to the vehicle navigation when the lane departure is detected. In this case, the vehicle black box can determine whether or not the output of the lane departure warning is activated based on at least one criterion as described in the first embodiment of the present invention described above. Then, it is determined whether to transmit the lane departure alarm to the vehicle navigation on the basis of whether or not the output of the lane departure alarm is activated.

Meanwhile, in the first embodiment of the present invention, the lane departure alarm output is directly activated or deactivated on the basis of a preset reference. In the present invention, however, the lane departure detection function itself is deactivated or activated It is also possible to determine whether to output the lane departure warning.

Hereinafter, the lane departure warning method according to the second embodiment of the present invention and the operation of the navigation system for implementing the same will be described in detail with reference to necessary drawings.

10 is a flowchart illustrating a method of a lane departure warning method for a navigation system 10 according to a second embodiment of the present invention.

Referring to FIG. 10, the first control unit 170 of the navigation system 100 for a vehicle connects to the black box 200 for a vehicle through the first communication unit 110 (S301). Also, an image related to the running of the vehicle is received from the vehicle black box 200 (S302). The vehicle black box 200 acquires an image related to the running of the vehicle through at least one camera module 221 in real time and transmits it to the navigation 100 of the vehicle.

When the lane detecting function is activated (S303), the first controller 170 analyzes the image received from the vehicle black box 200 to obtain lane information on at least one lane related to the lane in which the vehicle is traveling (S304). Here, the method of acquiring the lane information is performed in the same manner as the lane information acquiring method disclosed in the first embodiment of the present invention, and thus a detailed description thereof will be omitted.

The first control unit 170, which has obtained the lane information, determines whether or not the vehicle has departed from the lane on the basis of the lane information (S305). If it is determined that the vehicle is departing from the lane, an output warning of the lane departure is output (S306). Here, the method for determining whether or not the lane departure is performed is the same as the method for the lane departure board described in the first embodiment of the present invention, and thus a detailed description thereof will be omitted.

In step S303, the first controller 170 may activate or deactivate the lane detection function based on a predetermined condition.

For example, the first control unit 170 may control the lane detection function using the position data obtained through the first position data module 111 of the navigation system 100 of the vehicle. In this case, the first control unit 170 compares the map data stored in the first storage unit 150 with the position data obtained through the first position data module 111, and when the vehicle enters a specific area, You can disable or enable the feature. The first control unit 170 may disable the lane detection function in an area where the lane detecting function may malfunction due to a line that divides the area such as the pedestrian crossing area, the parking area, and the overspeed protection area. In addition, the first controller 170 may activate the lane detection function in an area where a lane detection function is required, such as a highway. Meanwhile, the specific area associated with the activation or non-activation of the lane detection function may be set by the user through the first user input module 121. [

In addition, for example, the first control unit 170 may determine whether to activate the lane detection function based on the travel path of the vehicle. The first controller 170 acquires a travel route from the current position of the vehicle to the destination using the map data stored in the first storage unit 140. Further, based on the obtained travel route, it is predicted that a lane departs due to normal vehicle operation such as left / right turn, U-turn, etc. In this case, lane detection is not performed. If it is predicted that the vehicle will enter a region where the lane departure detection function such as the pedestrian crossing zone, the parking zone, the overspeed prevention jig mounting zone, etc. is likely to malfunction, the first control unit 170, Detection can be disabled.

For example, the first control unit 170 may calculate the moving speed of the vehicle using the position data obtained through the first position data module 111 of the navigation system 100 of the vehicle 100, It may be determined whether or not the lane detection function is activated. That is, the first control unit 170 may disable the lane detection function while the vehicle is running at a predetermined speed or less.

In addition, for example, the first controller 170 can determine whether to activate the lane detecting function based on the state information of the turn signal lamp of the vehicle. In this case, when the turn signal lamp of the vehicle is ON, the first control unit 170 may deactivate the lane detection function.

In addition, for example, when the first controller 170 enters a specific area set by the user, the first controller 170 can activate or deactivate the lane detecting function. In this case, the first control unit 170 sets at least one area based on the control input inputted from the user through the first user input module 121, maps the corresponding lane detection state to each area, 1 < / RTI > If it is determined that the vehicle has entered the preset area based on the position data acquired through the first position data module 111, the lane detection function is disabled or activated based on the lane detection state mapped to the corresponding area .

According to the second embodiment of the present invention described above, the navigation system 10 monitors the lane departure of the vehicle using the image obtained through the black box 200 for a vehicle. Also, by activating / deactivating the lane detecting function according to at least one condition set in advance, the lane departure warning function is activated only when the lane departure warning is required to determine whether or not the lane departure has occurred. Therefore, it is possible to prevent the distraction of the driver from being distracted by an erroneous or unnecessary lane departure warning, thereby enabling safe driving of the driver.

Meanwhile, in the second embodiment of the present invention described above, the case where the vehicle navigation device informs whether or not the vehicle is departing from the lane using the image received from the vehicle black box is described as an example, but the present invention is not limited thereto. In the present invention, it is also possible to detect whether the vehicle black box directly deviates from the lane of the vehicle, and to transmit the lane departure warning to the vehicle navigation when the lane departure is detected. In this case, the vehicle black box can determine whether the lane detection function is activated based on at least one criterion as described in the second embodiment of the present invention described above. Only when the lane detection function is activated, the lane departure alarm is transmitted to the vehicle navigation system.

Embodiments of the present invention include computer readable media including program instructions for performing various computer-implemented operations. This medium records a program for executing the vehicle lane departure warning method of the vehicle navigation described so far. The medium may include program instructions, data files, data structures, etc., alone or in combination. Examples of such media include magnetic media such as a hard disk, a floppy disk and a magnetic tape, optical recording media such as CD and DVD, ROM, RAM, flash memory, and the like, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that may be executed by a computer using an interpreter, etc.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

Claims (31)

A communication unit for receiving images related to driving of the vehicle;
A position data module for obtaining position data of the vehicle; And
And a control unit for controlling the output of the lane departure alarm for determining whether or not the vehicle departs from the lane on the basis of the image and warning the lane departure of the vehicle according to whether the vehicle enters a specific area at the time of lane departure,
The control unit obtains a travel route to the destination based on the vehicle location data and deactivates the output of the lane departure alarm when it is determined that the vehicle has departed from the lane by normal operation based on the travel route . The method according to claim 1,
Characterized in that the specific area is a crosswalk area, a parking area, an overspeed jaw mounting area, a highway or a motorway. The method according to claim 1,
Further comprising a user input module,
Wherein the control unit sets the specific area based on a control input received through the user input module. The method according to claim 1,
Further comprising a user input module,
Wherein the control unit sets whether to activate the output of the lane departure alarm when the vehicle enters the specific area based on a control input received through the user input module. delete The method according to claim 1,
Wherein the control unit determines whether to enter the specific area of the vehicle based on the position data. The method according to claim 1,
Wherein the control unit obtains a pattern and a color of a lane marking line displayed on the road based on the image and determines whether or not the vehicle enters a specific area based on the pattern and the color of the lane marking line. delete delete delete At least one camera for acquiring images related to driving of the vehicle;
A position data module for obtaining position data of the vehicle; And
And a control unit for controlling the output of the lane departure alarm for determining whether or not the vehicle departs from the lane on the basis of the image and warning the lane departure of the vehicle according to whether the vehicle enters a specific area at the time of lane departure,
The control unit obtains a travel route to the destination based on the vehicle location data and deactivates the output of the lane departure alarm when it is determined that the vehicle has departed from the lane by normal operation based on the travel route . 12. The method of claim 11,
Characterized in that the specific area is a crosswalk area, a parking area, an overspeed jaw mounting area, a highway or a motorway. 12. The method of claim 11,
Further comprising a user input module,
Wherein the control unit sets the specific area based on a control input received through the user input module. 12. The method of claim 11,
Further comprising a user input module,
Wherein the control unit sets whether to activate the output of the lane departure alarm when the vehicle enters the specific area based on a control input received through the user input module. 12. The method of claim 11,
Further comprising a position data module for obtaining position data of the vehicle,
Wherein the control unit determines whether to enter the specific area of the vehicle based on the position data. 12. The method of claim 11,
Wherein the control unit obtains a pattern and a color of a lane marking line displayed on the road based on the image and determines whether or not the vehicle enters a specific area based on the pattern and the color of the lane marking line. delete delete delete delete delete delete An image acquiring device for acquiring an image related to running of the vehicle;
A position data module for obtaining position data of the vehicle; And
And a lane guidance device for controlling the output of the lane departure alarm to warn the lane departure of the vehicle in accordance with whether the vehicle enters a specific area at the time of lane departure,
The lane guidance apparatus acquires a travel route to the destination based on the location data of the vehicle and deactivates the output of the lane departure alarm when it is determined that the vehicle has departed from the lane by normal operation based on the travel route ≪ / RTI > Acquiring an image related to driving of the vehicle;
Determining whether the vehicle leaves the lane on the basis of the image; And
Controlling the output of the lane departure alarm to warn the lane departure of the vehicle based on whether or not the vehicle enters a specific area,
Wherein the controlling comprises:
Obtaining a movement path to a destination based on vehicle position data; And
Deactivating the output of the lane departure alarm if it is determined that the vehicle has departed from the lane by normal operation based on the travel route,
And the lane departure warning method of the electronic device. 25. The method of claim 24,
Wherein the controlling comprises:
Outputting an alarm sound corresponding to the lane departure alarm; or
Displaying a message corresponding to the lane departure alarm
And the lane departure warning method of the electronic device. 25. The method of claim 24,
Wherein the controlling comprises:
Obtaining position data of the vehicle; And
Determining whether the vehicle enters a specific area based on the position data,
And the lane departure warning method of the electronic device. 25. The method of claim 24,
Obtaining a pattern and a color of at least one lane marking line displayed on the road from the image;
Further comprising:
Wherein the controlling comprises:
Determining whether the vehicle enters a specific area based on the pattern and the color of the at least one lane marking line
And the lane departure warning method of the electronic device. delete delete delete 27. A computer-readable medium having recorded thereon a program for causing a computer to execute the method of any one of claims 24 to 27.

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