KR102432430B1 - Vehicle and controlling method for the same - Google Patents

Abstract

The vehicle recognizes a stop line using an image acquisition unit for acquiring a front image, a GPS module for receiving GPS data, a map storage unit storing precise map information, and a front image, and measures the distance from the vehicle to the stop line on the front image Based on the precision map information and GPS data, the distance from the vehicle to the stop line on the precision map is estimated, and the measured distance to the stop line on the front image is compared with the estimated distance to the stop line on the precision map. and a control unit for determining the position.

Description

Vehicle and vehicle control method {VEHICLE AND CONTROLLING METHOD FOR THE SAME}

It relates to a vehicle and a vehicle control method.

The conventional vehicle was able to determine the current location of the own vehicle by comparing the image acquired through the camera with the stored map information.

However, since this technology only grasps the approximate location of the vehicle, it was difficult to determine the exact location of the vehicle. It was almost impossible to judge.

The disclosed embodiment provides a vehicle and a vehicle control method for accurately identifying the location of the own vehicle in an intersection.

A vehicle according to one aspect includes an image acquisition unit for acquiring a front image; GPS module for receiving GPS data; a map storage unit storing precise map information; and using the front image to recognize the stop line, measure the distance from the vehicle to the stop line on the front image, estimate the distance from the vehicle to the stop line on the precision map based on the precise map information and GPS data, and the stop line on the front image and a controller configured to determine the location of the vehicle based on a result of comparing the measured distance to and the estimated distance to the stop line on the precision map.

The controller may determine the stop line on the precision map having the smallest estimated distance from the measured distance as the same stop line as the stop line on the front image, and determine the location of the vehicle based on the determination result.

The controller may convert a view of the front image and recognize a stop line in the image in which the view is converted.

The controller may recognize the stop line based on the color pattern of the front image.

When there is an intersection within the preset determination range, the control unit acquires information on the intersection from the map storage unit, and based on the location information of the stop line on the precision map included in the information of the intersection, the stop line on the precision map that is the same as the stop line on the front image can be estimated

The controller may control the image acquisition unit to acquire a front image when an intersection exists within a preset determination range.

The control unit recognizes the rotation guide line using the front image, calculates the curvature of the rotation guide line on the front image, estimates the curvature of the rotation guide line on the precision map based on the precise map information and GPS data, and induces the rotation on the front image The position of the vehicle may be re-determined based on the result of comparing the curvature of the line and the curvature of the rotation guide line on the precision map.

The controller may recognize the rotation guide line based on the color pattern of the front image.

The control unit calculates the distance between the rotation guide line on the front image and the vehicle, estimates the distance between the rotation guide line on the precision map and the vehicle based on the precise map information and GPS data, and the curvature and distance of the rotation guide line on the front image and the precision map The position of the vehicle may be re-determined based on a result of comparing the curvature and distance of the rotation guide line.

A vehicle according to another aspect includes an image acquisition unit for acquiring a front image; GPS module for generating GPS data; a map storage unit storing precise map information; and recognizing the rotation guide line using the front image, calculating the curvature of the rotation guide line on the front image, estimating the curvature of the rotation guide line on the precision map based on the precise map information and GPS data, and The control unit may include a controller configured to determine the position of the vehicle based on a result of comparing the curvature and the curvature of the rotation guide line on the precision map.

The controller may convert a view of the front image and recognize a rotation guide line from the view-converted image.

The controller may recognize the rotation guide line based on the color pattern of the front image.

The control unit calculates the distance between the rotation guide line on the front image and the vehicle, estimates the distance between the rotation guide line on the precision map and the vehicle based on the precise map information and GPS data, and the curvature and distance of the rotation guide line on the front image and the precision map The position of the vehicle may be determined based on a result of comparing the curvature and distance of the rotation guide line.

The controller may control the image acquisition unit to acquire a front image when an intersection exists within a preset determination range.

A vehicle control method according to another aspect comprises the steps of receiving GPS data; estimating the location of the vehicle based on the GPS data; acquiring a front image; Recognizing a stop line using the front image; measuring a distance from the vehicle to a stop line on the front image; estimating a distance from the vehicle to a stop line on the precise map based on the precise map information and GPS data; and determining the location of the vehicle based on a result of comparing the measured distance to the stop line on the front image with the estimated distance to the stop line on the precision map.

The determining of the location of the vehicle may include determining a stop line on the precision map having the estimated distance having the smallest difference from the measured distance as the same stop line as the stop line on the front image, and determining the location of the vehicle based on the determination result.

The step of recognizing the stop line may include recognizing the stop line based on the color pattern of the front image.

The control method of the vehicle further includes, before acquiring the front image, acquiring information of the intersection from the map storage unit when there is an intersection within a preset determination range, estimating the distance to the stop line on the precision map The step of estimating the distance from the vehicle to the stop line on the precision map based on the GPS data and the location information of the stop line on the precision map included in the information of the intersection, and determining the location of the vehicle is the same precision as the stop line on the front image It may include estimating a stop line on the map.

The control method of the vehicle may further include, before acquiring the front image, controlling the image acquisition unit to acquire the front image when there is an intersection within a preset determination range.

A vehicle control method includes: recognizing a rotation guide line using a front image; calculating the curvature of the rotation guide line on the front image, and estimating the curvature of the rotation guide line on the precision map based on the precise map information and GPS data; and re-determining the position of the vehicle based on a result of comparing the curvature of the rotation guide line on the front image with the curvature of the rotation guide line on the precision map.

According to the above-described problem solving means, it is possible to accurately grasp the position of the host vehicle in the intersection.

1 is an external view of a vehicle according to an exemplary embodiment.
2 is a control block diagram of a vehicle according to an exemplary embodiment.
3 is an operation flowchart of a method for controlling a vehicle according to an embodiment of obtaining intersection information.
4 is an exemplary diagram of a precision map including information on one or more stop lines and intersections.
5 is an operation flowchart of a method for controlling a vehicle according to an exemplary embodiment of estimating a location of a host vehicle based on stop line information.
6 is an exemplary view of a front image of a vehicle on which a stop line is displayed.
7 is a flowchart illustrating an operation of a method for controlling a vehicle according to an embodiment of determining a location of a vehicle based on rotation guide line information.
8 is an exemplary view of a front image including a rotation guide line.
9 is a conceptual diagram illustrating information on a rotation guide line on a precision map.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the present invention pertains or content that overlaps between the embodiments is omitted. The term 'part, module, member, block' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as a single component, It is also possible for one 'part, module, member, block' to include a plurality of components.

Throughout the specification, when a part is "connected" with another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Throughout the specification, when a member is said to be located "on" another member, this includes not only a case in which a member is in contact with another member but also a case in which another member exists between the two members.

Terms such as first, second, etc. are used to distinguish one component from another, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. have.

Hereinafter, embodiments will be described with reference to the accompanying drawings.

1 is an external view of a vehicle according to an exemplary embodiment.

Referring to FIG. 1 , a vehicle 100 according to an exemplary embodiment may include a camera 121 that acquires a front image.

A plurality of cameras 121 may be provided in the vehicle 100 as necessary. In FIG. 1 , it is illustrated that one camera 120 is provided on the top of the front windshield glass, but the location and number of the cameras 121 are not limited thereto.

The camera 121 obtains an image of the object and provides data on the front image to various components in the vehicle, such as a navigation device.

The image data of the camera 121 may be provided to a controller that controls components in the vehicle 100 .

A point starting to appear in the front image acquired by the camera 121 may not necessarily coincide with a point at which the camera 121 is located. In this case, the initial distance between the camera 121 and the start point of the front image may be previously stored in the vehicle 100 , and the vehicle 100 may store the initial distance from the stored initial distance and the start point of the front image to any one point of the front image. A distance from the camera 121 to any one point may be estimated based on the distance information.

2 is a control block diagram of a vehicle according to an exemplary embodiment.

Referring to FIG. 2 , a vehicle 100 according to an embodiment includes a GPS module 110 , an image acquisition unit 120 , a map storage unit 130 , and a control unit 140 .

The GPS module 110 receives the GPS data transmitted by the GPS satellite and transmits the GPS data to the controller 140 . The controller 140 may estimate the location of the vehicle 100 based on the received GPS data. Hereinafter, the processor 141 of the controller 140 is described as estimating the location of the vehicle 100 based on the GPS data, but the GPS module 110 includes a separate processor to directly determine the location of the vehicle 100 . It is also possible to estimate and transmit information on the estimated position to the control unit 140 , but the example is not limited thereto.

When the GPS module 110 transmits the GPS information to the controller 140, the processor 141 of the controller 140 transmits time information contained in the GPS data transmitted by the GPS satellite and the GPS module 110 receives the GPS data. The distance between the satellite and the vehicle 100 may be calculated by comparing the time, and the current location of the vehicle 100 may be determined based on the calculated distance. In this case, the processor 141 may represent the current position of the vehicle 100 as position coordinates (eg, Universal Transverse Mercator Grid (UTM) coordinates) on an absolute coordinate system.

The image acquisition unit 120 may acquire an image around the vehicle 100 , for example, a front image of the vehicle 100 . The front image represents an image viewed in the longitudinal direction from the front of the vehicle 100 to the outside of the vehicle 100 .

The image acquisition unit 120 may be implemented as the camera 121 , and may be implemented as the camera 121 described above with reference to FIG. 1 .

Data on the front image acquired by the image acquisition unit 120 may be transmitted to the control unit 140 .

The map storage unit 130 stores precise map information. The precise map information may be previously stored in the map storage unit 130 at an initial stage, or may be received and stored from the outside through a separate communication terminal or communication module in the vehicle 100 .

The precise map information may include intersection information, and the intersection information may include information on the location of a stop line around the intersection, the existence and location of a turn guide line (eg, a left turn lane, etc.) within the intersection. The information on the position of the rotation guide line may include position information on a plurality of points constituting the rotation guide line.

The precise map information may be transmitted to the control unit 140 , and the control unit 140 induces an intersection existing in front of the vehicle 100 from the vehicle 100 based on the precise map information, a stop line around the intersection, or a rotation within the intersection. good can be judged.

The map storage unit 130 may include a non-volatile memory such as a ROM (Read Only Memory) or flash memory for long-term storage of data, and is integrated with the memory 142 of the control unit 140 to be described later to form one module. It is also possible to be implemented as a , but it will be described as implemented as a separate module for convenience of description.

The controller 140 includes a processor 141 in charge of overall control of the vehicle 100 and a memory 142 for storing data, and may be implemented as a separate module, but may include a navigation device and an acoustic device. , and an air conditioner may be implemented by being coupled to a head unit that controls various components of the vehicle 100 .

The memory 142 may store programs and data for controlling components included in the vehicle 100 , and temporarily store control data issued while controlling components included in the vehicle 100 .

In addition, the memory 142 stores a program and data for performing an operation of the processor 141 to be described later, such as estimating the location of the vehicle 100 based on the GPS data of the GPS module 110 , and the processor 141 . ) can temporarily store data issued during operation.

The memory 142 includes a non-volatile memory such as a read only memory and a flash memory for storing data for a long period of time, and a static random access memory (S-RAM) and D for temporarily storing data. -Volatile memory such as RAM (Dynamic Random Access Memory) may be included.

The processor 141 includes a microprocessor, a DSP, and the like, and may be provided as one or more chips.

Hereinafter, a control operation process performed by the processor 141 of the vehicle 100 according to an exemplary embodiment will be described in detail with reference to FIGS. 3 to 9 .

3 is an operation flowchart of a vehicle control method according to an embodiment of obtaining intersection information, and FIG. 4 is an exemplary diagram of a precision map including information on one or more stop lines and intersections.

Referring to FIG. 3 , the processor 141 first acquires GPS data from the GPS module 110 and estimates the location of the own vehicle (vehicle 100 ) based on the GPS data ( 1111 ).

A method of estimating the location of the host vehicle based on GPS data is well known, and detailed description thereof will be omitted.

Next, the processor 141 determines whether an intersection exists within a preset determination range based on the location of the own vehicle estimated based on the precise map information of the map storage unit 130 ( 1113 ).

When an intersection exists within a preset determination range (“Yes” of 1113 ), the processor 141 acquires information on stop lines and rotation guide lines around the intersection included in the precise map information from the map storage unit 130 . do (1114).

Specifically, referring to FIG. 4 , the processor 141 estimates the location of the own vehicle 100 based on the GPS data, and if an intersection in exists within a preset determination range R from the location of the own vehicle 100 , (ie, when the vehicle 100 enters the intersection in), location information of the stop lines l1 and l2 around the intersection in, the presence or absence of the rotation guide line l3 in the intersection in, and the rotation The position information of the guide line 13 is obtained from the precise map information. Existing within the preset determination range R may exist within a preset distance h from the host vehicle 100 .

The obtained position information of the stop lines l1 and l2 and the information on the rotation guide line l3 are used for estimating the position of the host vehicle 100 later.

Hereinafter, a process in which the processor 141 of the vehicle 100 according to an embodiment estimates the position of the own vehicle 100 based on the stop line information will be described with reference to FIGS. 5 and 6 .

5 is an operation flowchart of a vehicle control method according to an embodiment of estimating the position of the own vehicle based on stop line information, and FIG. 6 is an exemplary diagram of a front image of the vehicle on which a stop line is displayed.

When the vehicle 100 enters the intersection, the processor 141 controls the image acquisition unit 120 to acquire a front image for recognizing a stop line, and acquires a front image through the image acquisition unit 120 ( 1211 ) . A stop line l1 may appear in the acquired front image as shown in FIG. 6A .

Next, the processor 141 converts the view of the front image to generate a top view image looking at the ground in front of the vehicle 100 from above ( 1212 ). As shown in (b) of FIG. 6 , a horizontal stop line l1 may appear in the top view image.

Next, the processor 141 performs stop line recognition ( 1213 ). Specifically, referring to (c) of FIG. 6 , the processor 141 analyzes the horizontal color pattern of the top view image, and when the dark area, the bright area, and the dark area are consecutively arranged in the horizontal direction in the top view image, It can be recognized as the presence of the stop line l1 in the bright area. In this case, the processor 141 may recognize the stop line based on a pair of color patterns p1 and p2 of an area p1 having a dark top and a bright bottom and a region p2 having a bright top and a dark bottom.

Further, the processor 141 compares the thickness of the bright area with the previously stored stop line thickness information, and when both thicknesses are similar (when the error is less than or equal to a reference value), the processor 141 may recognize the bright area as a stop line.

Then, the processor 141 calculates the distance d1 from the own vehicle 100 to the stop line l1 based on the front image, and separately one or more stop lines and the vehicle 100 on the precision map based on intersection information and GPS data. ) to estimate the distance between them (1214).

Specifically, the processor 141 uses location information and GPS data for one or more stop lines around the intersection to determine a stop line separated from the vehicle 100 by a distance equal to the distance d1 on the front image on the precision map. Thus, the distance between one or more stop lines on the precision map and the location of the vehicle 100 is estimated, respectively.

Then, the processor 141 determines a stop line on the precision map having the smallest estimated distance from the distance d1 to the stop line l1 on the front image as the same stop line as the stop line l1 on the front image (1215). ).

Then, the processor 141 corrects the position of the own vehicle 100 estimated on the precision map using information about the distance d1 to the stop line l1 on the front image, and determines the position of the own vehicle 100 ( 1216).

On the other hand, the processor 141 of the vehicle 100 according to an embodiment determines the position of the own vehicle 100 based on the information of the rotation guide line in addition to determining the position of the own vehicle 100 based on the above-described stop line information. It is also possible to Hereinafter, the process of determining the position of the own vehicle 100 based on the information of the rotation guide line is described as being performed after the process of determining the position of the own vehicle 100 based on the stop line information, but the position is determined based on the stop line information It is also possible to be performed individually regardless of the process.

7 is an operation flowchart of a control method of a vehicle according to an embodiment for determining the position of a vehicle based on rotation guide line information, FIG. 8 is an exemplary view of a front image including a rotation guide line, and FIG. It is a conceptual diagram showing the information of the rotation guide line on the map.

Referring to FIG. 7 , when the processor 141 enters the intersection, it is determined whether information on the rotation guide line exists in the intersection information ( 1311 ). If the rotation guide line does not exist (“No” of 1311), the vehicle positioning process is performed based on the above-described stop line information, and when the rotation guide line exists (“Yes” of 1311), the front image is obtained The image acquisition unit 120 is controlled, and a front image is acquired from the image acquisition unit 120 ( 1312 ). In the acquired front image, a rotation guide line 13 may appear as shown in FIG. 8A .

Next, the processor 141 converts the view of the front image to generate a top view image looking at the ground in front of the vehicle 100 from above ( 1313 ). As shown in (b) of FIG. 8 , a rotation guide line 13 having a curvature may appear in the top view image.

Subsequently, the processor 141 performs rotation guide line recognition ( 1314 ). Specifically, referring to (b) of FIG. 8 , the processor 141 analyzes the color pattern of the top view image, and sequentially lists dark areas, bright areas, and dark areas in the top view image, and the bright areas are preset. When the curvature is equal to or greater than the reference curvature value, it can be recognized as the presence of the rotation guide line 13 in the bright area.

And, further, the processor 141 compares the thickness of the bright area with the previously stored rotation guide line thickness information, and when both thicknesses are similar (when the error is less than or equal to the reference value), the bright area is recognized as the rotation guide line l3. can

Next, the processor 141 determines a vertical distance d2 from the own vehicle 100 to the rotation guide line l3 based on the front image and a point Pt closest to the rotation guide line l3 from the own vehicle 100. ), and separately based on the intersection information and GPS data, the distance between various points (P1-P4 in Fig. 9) of the rotation guide line l3 on the precision map and the vehicle 100 and each point (Fig. Estimate the curvature at P1-P4) (1315).

Specifically, referring to FIG. 9 , the processor 141 is configured to be configured between various points P1-P4 of the rotation guide line included in the intersection information and the vehicle 100 based on the location of the vehicle 100 estimated based on GPS data. The distance may be calculated, respectively, and the curve may be estimated by connecting each point P1-P4, and the curvature at each point P1-P4 may be estimated.

In addition, the processor 141 provides the curvature information of a point Pt closest to the rotation guide line l3 on the front image from the host 100 and several points of the rotation guide line l3 on the precision map (in FIG. 9 ). By comparing the curvature information of P1-P4), it can be determined that the point (any one of P1-P4) on the precision map having the smallest curvature difference value is the same as any one point (Pt) described above, or the front image Any one point (any one of P1-P4) of the rotation guide line l3 on the precision map having the smallest distance between the vertical distance d2 to the rotation guide line l3 on the image is any point described above. It can be judged to be the same as (Pt).

Then, the processor 141 may estimate or determine at which point the vehicle 100 is located on the precise map based on the determination result ( 1316 ).

At least one component may be added or deleted according to the performance of the components of the vehicle 100 illustrated in FIGS. 1 and 2 . In addition, it will be readily understood by those of ordinary skill in the art that the mutual positions of the components may be changed corresponding to the performance or structure of the system.

Meanwhile, some components illustrated in FIG. 2 may be software and/or hardware components such as Field Programmable Gate Array (FPGA) and Application Specific Integrated Circuit (ASIC).

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

100: vehicle
110: GPS module
120: image acquisition unit
121: camera
130: map storage unit
140: control unit
141: processor
142: memory

Claims (20)

an image acquisition unit for acquiring a front image;
GPS module for receiving GPS data;
a map storage unit storing precise map information; and
Any one of a stop line and a rotation guide line is recognized using the front image, and when the stop line is recognized, the distance from the vehicle to the stop line on the front image is measured, and the vehicle is driven from the vehicle based on the precise map information and the GPS data. A control unit for estimating a distance to a stop line on the precision map and determining the location of the vehicle based on a result of comparing the measured distance to the stop line on the front image with the estimated distance to the stop line on the precision map,
When the rotation guide line is recognized, the control unit calculates a curvature of the rotation guide line on the front image, estimates the curvature of the rotation guide line on the precision map based on the precise map information and the GPS data, and induces rotation on the front image A vehicle for re-determining the position of the vehicle based on a result of comparing the curvature of the line and the curvature of the rotation guide line on the precision map. The method of claim 1,
The controller determines the stop line on the precision map having the smallest estimated distance from the measured distance as the same stop line as the stop line on the front image, and determines the location of the vehicle based on the determination result. The method of claim 1,
The control unit converts a view of the front image, and recognizes the stop line in the view-converted image. The method of claim 1,
The control unit recognizes the stop line based on the color pattern of the front image. The method of claim 1,
When an intersection exists within a preset determination range, the control unit acquires information on the intersection from the map storage unit, and based on the location information of the stop line on the precision map included in the information on the intersection, the stop line on the front image and A vehicle estimating a stop line on the same precision map. The method of claim 1,
The control unit controls the image acquisition unit to acquire the front image when an intersection exists within a preset determination range. delete The method of claim 1,
The control unit recognizes the rotation guide line based on the color pattern of the front image. The method of claim 1,
The control unit calculates a distance between the rotation guide line on the front image and the vehicle, estimates the distance between the rotation guide line on the precision map and the vehicle based on the precise map information and the GPS data, and induces rotation on the front image A vehicle for re-determining the position of the vehicle based on a result of comparing the curvature and distance of the line with the curvature and distance of the rotation guide line on the precision map. an image acquisition unit for acquiring a front image;
GPS module for generating GPS data;
a map storage unit storing precise map information; and
Recognizing a rotation guide line using the front image, calculating the curvature of the rotation guide line on the front image, estimating the curvature of the rotation guide line on the precision map based on the precise map information and the GPS data, and the front image Calculate the distance between the rotation guide line on the image and the vehicle, estimate the distance between the rotation guide line on the precision map and the vehicle based on the precision map information and the GPS data, and the curvature and distance of the rotation guide line on the front image and the precision A vehicle comprising: a controller configured to determine a location of the vehicle based on a result of comparing the curvature and distance of the rotation guide line on the map. 11. The method of claim 10,
The control unit converts a view of the front image and recognizes the rotation guide line from the view-converted image. 11. The method of claim 10,
The control unit recognizes the rotation guide line based on the color pattern of the front image. delete 11. The method of claim 10,
The control unit controls the image acquisition unit to acquire the front image when an intersection exists within a preset determination range. receiving GPS data;
estimating the location of the vehicle based on the GPS data;
acquiring a front image;
recognizing a stop line and a rotation guide line using the front image;
measuring a distance from the vehicle to a stop line on the front image when a stop line is recognized in the front image;
estimating a distance from the vehicle to a stop line on the precise map based on the precise map information and the GPS data; and
determining the location of the vehicle based on a result of comparing the measured distance to the stop line on the front image and the estimated distance to the stop line on the precision map;
calculating the curvature of the rotation guide line on the front image when the rotation guide line is recognized in the front image, and estimating the curvature of the rotation guide line on the precision map based on the precise map information and the GPS data; and
and re-determining the position of the vehicle based on a result of comparing the curvature of the rotation guide line on the front image with the curvature of the rotation guide line on the precision map. 16. The method of claim 15,
In the determining of the location of the vehicle, a stop line on the precision map having the estimated distance having the smallest difference value from the measured distance is determined as the same stop line as the stop line on the front image, and the location of the vehicle is determined based on the determination result a vehicle control method. 16. The method of claim 15,
The step of recognizing the stop line is a control method of a vehicle for recognizing the stop line based on the color pattern of the front image. 16. The method of claim 15,
Before acquiring the front image,
Further comprising the step of obtaining information of the intersection from a map storage unit when there is an intersection within a preset determination range,
The step of estimating the distance to the stop line on the precision map includes estimating the distance from the vehicle to the stop line on the precision map based on the GPS data and the location information of the stop line on the precision map included in the information of the intersection,
The determining of the location of the vehicle includes estimating a stop line on the precision map that is the same as the stop line on the front image. 16. The method of claim 15,
Before acquiring the front image,
The control method of a vehicle further comprising the step of controlling an image acquisition unit to acquire the front image when there is an intersection within a preset determination range.
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