KR102496819B1 - Method, apparatus and system for guiding route - Google Patents

Abstract

The present invention relates to a route guidance method, apparatus, and system, wherein a controller determines whether an exit point exists on a driving route to a destination, and if it is determined that an exit point exists on the driving route, the controller Determining whether there is a queue for exiting vehicles in the exit lane where the exit point is located; if it is determined that there is a queue for exiting vehicles, calculating, by the controller, a queue distance of the exiting vehicle queue; determining a guidance point for guiding a lane change based on the distance; and, when the host vehicle arrives at the determined guiding point, providing the driver with lane change guidance for advancing to an exit point through the guidance unit, by the control unit. It is characterized by including.

Description

Route guidance method, device and system {METHOD, APPARATUS AND SYSTEM FOR GUIDING ROUTE}

The present invention relates to a route guidance method, device, and system, and more particularly, to a route guidance method, device, and system for guiding an exit to an exit point existing on a travel route.

A route search device is installed in a vehicle to inform an exact distance and required time from a current location to a destination, and to guide a route to the destination. A navigation device, which is a representative example of a route search device, uses information received from a Global Positioning System (GPS) satellite to display the current location and direction of the vehicle on the screen. Driving information including a road to be traveled and an estimated required time is displayed and provided to the user.

A navigation device searches a route to a destination by using a current location of a vehicle and map information stored inside or received from a server. Recently, precise map information is being provided to route search devices to improve route search accuracy and driving stability, and precision map information includes information such as the height of the road, lane width, and location and size of facilities such as traffic lights. It is performing a function to improve the stability of the autonomous driving system.

Meanwhile, one or more exit points, for example, interchanges and junctions of highways, may exist on a driving route to a destination. In the case of roads with heavy traffic, a queue of vehicles for entry to the exit point is frequently formed, and in the case of a time when traffic is concentrated, such as rush hour, the length of the vehicle queue formed at the exit point increases rapidly. do. Accordingly, if a lane change is not made in advance to the exit lane where the exit point is located, it is difficult to change lanes to the exit lane close to the exit point, resulting in a problem of not being able to advance to the exit point on the driving route.

The background art of the present invention is disclosed in Republic of Korea Patent Publication No. 10-2013-0010718 (published on January 29, 2013).

The present invention has been devised to solve the above-described problems, and an object according to an aspect of the present invention is to improve driver's driving convenience by enabling a vehicle to smoothly advance to an exit point existing on a driving route. It is to provide route guidance methods, devices and systems.

A route guidance method according to an aspect of the present invention includes determining, by a controller, whether an exit point exists on a driving route to a destination, and when it is determined that the exit point exists on the driving route, the controller determining whether there is a queue for exiting vehicles in the exit lane where the exit point is located; calculating, by the control unit, a queue distance of the exiting vehicle queue when it is determined that the queue for exiting vehicles exists; (a) determining a guidance point for guiding a lane change based on the calculated queue distance; and when the host vehicle arrives at the determined guiding point, the control unit provides guidance for a lane change for exit to the exit point. and providing the information to the driver through the information unit.

In the step of determining whether there is a queue for the exiting vehicle, the control unit may set the exiting vehicle to the exiting lane if the real-time travel speed at the exit point, received from the traffic control server, is less than a preset reference speed. It is characterized in that it is determined that a queue exists.

In the step of determining whether there is a queue for exiting vehicles, the control unit may, if the statistical travel speed at the exit point determined from the travel speed history information of the exit lane is less than a preset reference speed, the exit vehicle queue. It is characterized in that it is determined that the advancing vehicle queue exists in the lane.

In the present invention, in the step of determining whether a queue for outgoing vehicles exists, the control unit detects surrounding vehicles located in the outgoing lane to calculate the current traveling speed of the outgoing lane, and the calculated current traveling speed is determined in advance. If the speed is less than the set reference speed, it is characterized in that it is determined that the exit vehicle queue exists in the exit lane.

In the present invention, in the step of calculating the queue distance, the control unit calculates the queue distance using a method of summing distances of one or more links located on the outgoing road.

In the step of determining the guidance point, the control unit sums the set distance and the queue distance according to the time at which the driver recognizes the lane change guidance, which is located in the direction of the own vehicle based on the exit point. A point corresponding to a first distance is determined as the guide point.

In the step of determining the guiding point of the present invention, the control unit sums the margin distance determined based on the current driving lane of the host vehicle and the first distance located in the direction of the host vehicle based on the exit point. A point corresponding to a second distance is determined as the guide point.

In the step of determining the guiding point, the control unit determines the extra distance based on the traveling speed of each lane through which the vehicle travels to change the lane from the current driving lane to the outgoing lane. to be characterized

In the step of determining the guiding point, the control unit determines the extra distance as a larger value as the distance between the current driving lane and the forwarding lane of the host vehicle increases.

In the route guidance device according to an aspect of the present invention, when it is determined that an exit point exists on a driving route to a destination and it is determined that there is a queue for an advancing vehicle in an exit lane where the exit point is located, the advancing vehicle A queuing distance of the queue is calculated, a guiding point for guiding a lane change is determined based on the calculated queuing distance, and when the own vehicle arrives at the determined guiding point, lane change guidance for exit to the exit point is determined. It is characterized in that it includes a control unit which controls to provide a driver, and a guidance unit which provides the lane change guidance to the driver under the control of the control unit.

In a route guidance system according to an aspect of the present invention, when it is determined that an exit point exists on a driving route to a destination, and it is determined that a queue for an advancing vehicle exists in an exit lane where the exit point is located, the advancing vehicle A server that calculates a queue distance of a queue and determines a guidance point for guiding a lane change based on the calculated queue distance, and when the own vehicle reaches the guidance point transmitted from the server, the server It is characterized in that it includes a user terminal providing a lane change guidance for leaving to the driver.

According to one aspect of the present invention, the present invention calculates the length of the exit vehicle queue formed at the exit point, determines the point at which the lane change is to be guided, and guides the lane change so that the host vehicle can smoothly advance to the target exit point. It is possible to reduce the time required to reach the destination by flexibly determining the guidance point by reflecting traffic information and guiding the lane change, and reducing the risk of driving unreasonably intervening in the queue of vehicles formed at the exit point. By reducing it, traffic accidents can be prevented.

1 is a block diagram illustrating a route guidance device according to an embodiment of the present invention.
2 is a flowchart illustrating a path guidance method according to an embodiment of the present invention.
3 is an exemplary diagram for explaining an exit point, an exit lane, and an exit vehicle queue in a route guidance method according to an embodiment of the present invention.
4 is an exemplary diagram for explaining a process of determining a guidance point in a route guidance method according to an embodiment of the present invention.
5 is a block diagram illustrating a route guidance system according to an embodiment of the present invention.

Hereinafter, an embodiment of a path guidance method, apparatus, and system according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, definitions of these terms will have to be made based on the content throughout this specification.

1 is a block diagram illustrating a route guidance device according to an embodiment of the present invention.

Referring to FIG. 1 , a route guidance device according to an embodiment of the present invention may include a surrounding object detection unit 100 , a control unit 200 and a guidance unit 300 .

The surrounding object detection unit 100 may detect surrounding objects of the own vehicle. The surrounding object detection unit 100 may detect surrounding objects of the own vehicle by using a method of obtaining an image of the surroundings of the own vehicle through a camera sensor mounted in the own vehicle. , At least one camera among a front camera, a rear camera, a left room camera, and a right room camera for acquiring images of the left room and the right room may be employed.

In addition, the surrounding object detection unit 100 may detect objects around the own vehicle by using a method of transmitting a pulse signal to the surroundings of the own vehicle through an ultrasonic sensor mounted in the vehicle and receiving a reflected signal from the surrounding object. there is. In this case, the surrounding object detection unit 100 may detect surrounding objects of the own vehicle through various types of sensors such as a radar sensor or lidar sensor as well as an ultrasonic sensor.

The surrounding objects detected by the surrounding object detection unit 100 may be used in a process in which the controller 200 determines whether or not there is an exiting vehicle queue, as will be described later.

When it is determined that there is an exit point on the driving route to the destination, the control unit 200 calculates a queue distance of the exit vehicle queue when it is determined that there is a queue for the exit vehicle in the exit lane where the exit point is located, A guidance unit 300 to be described later to determine a guidance point for guiding a lane change based on the calculated queue distance, and to provide a lane change guidance for advancing to an exit point to a driver when the host vehicle reaches the guidance point can control.

More specifically, first, the control unit 200 may search for a driving route to the destination input by the user (for this purpose, an input unit (not shown) for receiving input of the destination from the user may be provided), and the searched driving It can determine whether there is an exit point on the route. Here, the exit point refers to an exit route such as an interchange or junction existing on a road such as a highway, an expressway in a city center, an arterial road, or a circular road.

When it is determined that there is an exit point on the driving route, the controller 200 may determine whether a queue for an exiting vehicle exists in an exit lane where the exit point is located. As will be described later, the control unit 200 is configured based on the real-time travel speed received from the traffic control server of the outgoing lane, the statistical travel speed determined from the travel speed history information, or the surrounding vehicles in the outgoing lane detected from the surrounding object detection unit 100. Based on the calculated current travel speed, it may be determined whether or not there is an exiting vehicle queue.

When it is determined that there is a queue for vehicles entering the exit lane, the controller 200 may calculate a queue distance of the queue for vehicles entering the vehicle. As will be described later, the control unit 200 may calculate the queue distance using a method of summing distances of one or more links located on the outbound lane.

The controller 200 may determine a guiding point for guiding a lane change based on the calculated queue distance. As will be described later, the control unit 200 determines a guidance point based on at least one of a queue distance, a set distance according to the time at which the driver recognizes lane change guidance, and a margin distance determined based on the current driving lane of the host vehicle. can

When the own vehicle arrives at the guidance point, the controller 200 may provide the driver with lane change guidance for advancing to the exit point through the guidance unit 300 .

The guide unit 300 may provide a lane change guide to the driver under the control of the control unit 200 . The information unit 300 may include a sound output device (eg, speaker) for providing lane change guidance to the driver through voice output, and a display device (eg, speaker) for providing lane change guidance to the driver through screen output. : LCD) may be included.

Hereinafter, the operation of the route guidance device according to the present embodiment will be described in detail with reference to FIGS. 2 to 6 .

2 is a flowchart for explaining a route guidance method according to an embodiment of the present invention, and FIG. 3 is an example for explaining an exit point, an exit lane, and an exit vehicle queue in the route guidance method according to an embodiment of the present invention. 4 is an exemplary view for explaining a process of determining a guidance point in a route guidance method according to an embodiment of the present invention.

Referring to FIG. 2, the route guidance method according to an embodiment of the present invention is described. First, the controller 200 searches for a driving route to a destination input from a user (S100).

Subsequently, the controller 200 determines whether an exit point exists on the driving route to the destination (S200).

Subsequently, when it is determined that there is an exit point on the driving route to the destination, the controller 200 determines whether there is a queue for vehicles entering the exit lane where the exit point is located (S300). Figure 3 shows examples of exit points, exit lanes and exit vehicle queues.

In step S300, the controller 200 may determine that a queue for vehicles entering the exit lane exists if the real-time travel speed at the exit point received from the traffic control server is less than a preset reference speed (first reference speed). .

Specifically, the traffic control server refers to an external server that collects and provides real-time traffic information through road traffic infrastructure installed on the road. Accordingly, if the real-time traffic speed at the exit point, received from the traffic control server, is less than the reference speed (first reference speed), the controller 200 determines that the real-time traffic speed is low due to the vehicle queue at the exit point, and determines that the real-time traffic speed is low. It can be determined that there is a queue for entering vehicles. The reference speed (first reference speed) may be designed in various ways according to a designer's intention and set in advance in the control unit 200 .

In addition, in step S300, the controller 200 determines that if the statistical travel speed at the exit point, determined from the travel speed history information of the exit lane, is less than a preset reference speed (second reference speed), an advancing vehicle queue exists in the exit lane. may be judged to be

The travel speed history information of the outbound lane refers to information indicating a time-series traffic history of the outbound lane, including the location, travel speed, travel time, travel distance, and the like of a vehicle traveling in the outbound lane. Specifically, the travel speed history information refers to history information in which the travel speed of the outgoing lane is classified according to each link of the outgoing lane, each day of the week, and each unit time. The control unit 200 may be provided with travel speed history information from the above-described traffic control server, or may utilize the accumulated travel speed history information obtained while the host vehicle drives on a corresponding road section where an exit lane exists in the past.

Accordingly, the control unit 200 may determine the statistical travel speed by extracting the travel speed in the link corresponding to the exit point at the current time point from the travel speed history information. If the determined statistical travel speed is less than the reference speed (second reference speed), it can be estimated that there is a queue for vehicles at the exit point, and thus the controller 200 can determine that a queue for vehicles entering the exit lane exists. The reference speed (second reference speed) may be designed in various ways according to a designer's intention and set in advance in the control unit 200 .

In addition, in step S300, the control unit 200 detects nearby vehicles located on the exit lane through the surrounding object detection unit 100 to calculate the current travel speed of the exit lane, and the calculated current travel speed is a preset reference speed (the first speed). 3 reference speed), it may be determined that there is a queue of vehicles entering the exit lane.

Specifically, the surrounding object detector 100 may obtain an image of a surrounding vehicle located on an outbound road through a camera sensor, and the control unit 200 receives the image of the surrounding vehicle from the surrounding object detector 100 and moves at a speed thereof. By analyzing , the current travel speed of the exit lane can be calculated. In addition, the surrounding object detection unit 100 may detect surrounding vehicles located on an outbound road through an ultrasonic sensor, and the control unit 200 may use the detected relative speed between the specific surrounding vehicle and the own vehicle to determine the moving speed of a specific surrounding vehicle. The current travel speed of the exit lane may be calculated by calculating .

Accordingly, if the current travel speed of the exit lane is less than the reference speed (third reference speed), the control unit 200 determines that the current travel speed is low due to the vehicle queue at the exit point, and determines that a queue of advancing vehicles exists in the exit lane. can judge The reference speed (third reference speed) may be designed in various ways according to a designer's intention and set in advance in the control unit 200 .

All of the first to third reference speeds may be preset in the control unit 200 as the same value, or may be selected as different values and preset in the control unit 200 according to a designer's intention.

Meanwhile, the controller 200 may determine whether there is a queue for vehicles entering the exit lane by considering all of the real-time travel speed, the statistical travel speed, and the current travel speed, for example, the real-time travel speed, the statistical travel speed, and the current travel speed. Embodied as an embodiment that promotes smooth entry to the exit point by comparing the speed with the minimum value among the speeds with the reference speed to determine the existence of the exit vehicle queue (ie, by more precisely determining the existence of the exit vehicle queue) It could be.

When it is determined that the exit vehicle queue exists in step S300, the controller 200 calculates the queue distance of the exit vehicle queue (S400).

In step S400, the control unit 200 may calculate the queue distance using a method of summing up the distances of one or more links located on the exit lane. That is, the control unit 200 may calculate the queue distance by summing the distances of each link in which the queue for exiting vehicles exists, and each link in which the queue exists includes the above-described real-time traffic information, statistical history information, and the surrounding object detection unit ( 100) may be obtained through analysis of the surrounding objects detected.

Next, the control unit 200 determines a guidance point for guiding a lane change based on the queue distance calculated in step S400 (S500). Referring to FIG. 4, step S500 will be described in detail.

In step S500, the control unit 200 sets a point corresponding to the first distance obtained by adding the set distance and queue distance according to the time at which the driver recognizes lane change guidance, located in the direction of the host vehicle based on the exit point, as the guidance point. can decide

Specifically, when the controller 200 provides lane change guidance to the driver through the guidance unit 300, a predetermined amount of time is required for the lane change guidance itself, and accordingly, a predetermined time is required for the driver to recognize the lane change guidance. Since it takes time for the driver to recognize the lane change guidance, the set distance is set in advance, the first distance is calculated by adding the set distance to the queue distance, and the second distance is located in the direction of the own vehicle based on the exit point. A point corresponding to 1 distance may be determined as a guide point.

Meanwhile, in step S500, the control unit 200 selects a point corresponding to a second distance obtained by adding the first distance and the spare distance determined based on the current driving lane of the host vehicle, located in the direction of the host vehicle based on the exit point. It can also be determined as a guide point.

In this case, the control unit 200 may determine a spare distance based on the traveling speed of each lane through which the host vehicle passes to change the lane from the current driving lane to the forward lane.

As an example, if the current driving lane is a 2-lane and the exit lane is a 4-lane, it is necessary to go through the 3-lane in order to change to the exit lane, and at this time, if it is determined that the traffic speed in the 3-lane is less than the standard value (3-lane The travel speed of can be obtained through analysis of the above-described real-time traffic information, statistical history information, and surrounding objects detected by the surrounding object detection unit 100) Lane change guidance for a smoother lane change to the exit lane Since it is necessary to advance the viewpoint, the control unit 200 may determine the extra distance based on the passing speed of the diesel lane, and the value may be determined in various ways, such as a method determined according to the difference between the passing speed of the diesel lane and a reference value. there is. If it is determined that the passing speed of the diesel lane is greater than or equal to the reference value, it is determined that the traffic conditions of the diesel lane are smooth and the extra distance may be determined as a value of 0.

In addition, the control unit 200 may determine the extra distance as a larger value as the distance between the current driving lane and the forwarding lane of the host vehicle increases.

As an example, in the first case where the current driving lane is 1 lane and the outgoing lane is 4 lanes, and in the second case where the current driving lane is 3 lanes and the outgoing lane is 4 lanes, it takes time to change the lane to the outgoing lane. Since the first case is longer than the first case, the control unit 200 determines the guide point by determining the margin distance as a larger value as the distance between the current driving lane and the forward lane increases, so that the own vehicle can move more smoothly. can enable entry into

In summary, the control unit 200 may determine a point corresponding to the first distance or the second distance, located in the direction of the own vehicle based on the exit point, as a guide point, and the first distance is calculated as "queue distance + set distance". and the second distance may be calculated as "queue distance + set distance + spare distance".

When the own vehicle arrives at the guidance point calculated in step S500, the control unit 200 provides the driver with lane change guidance for entering the exit point through the guidance unit 300 (S600). In step S600, the controller 200 may provide the driver with voice guidance or display guidance, "Please change lanes to the 4th lane, which is the exit lane, in order to advance to the exit point" through the guidance unit 300.

Meanwhile, the present embodiment may be implemented as a route guidance system performed based on wired/wireless communication between the server 10 and the user terminal 20 as shown in FIG. 5 . That is, when the server 10 determines that there is an exit point on the driving route to the destination, and when it is determined that there is a queue for exiting vehicles in the exit lane where the exit point is located, the queue distance of the exiting vehicle queue is calculated. and performs a function of determining a guidance point for guiding a lane change based on the calculated queue distance, and when the user terminal 20 reaches the guidance point where the vehicle is transmitted from the server 10, it proceeds to an exit point. It may be implemented as an embodiment that performs a function of providing a lane change guide for the driver to enter. The user terminal 20 is typically a navigation terminal mounted in a vehicle to guide a route, as well as a mobile terminal such as a smartphone possessed by a user, a tablet, a laptop computer, a personal digital assistant (PDA), a portable multimedia player (PMP), and the like. and all telematics terminals capable of receiving guidance points from the server 10 and providing lane change guidance to the driver.

In addition, the wireless communication network mediating communication between the server 10 and the user terminal 20 may include communication networks such as WIFI, NFC (Near Field Communication), LTE, and WIBRO, but is not limited thereto, and any wireless network communication All standards may be included. The server 10 and the user terminal 20 may each include a network interface (not shown) for mutual wireless communication.

In this way, the present embodiment calculates the length of the queue of exiting vehicles formed at the exit point, determines a point to guide the lane change, and guides the lane change so that the host vehicle can smoothly advance to the target exit point. , It is possible to reduce the time required to reach the destination by flexibly determining the guidance point by reflecting traffic information and guiding the lane change, and reducing the risk of driving by unreasonably intervening in the queue of vehicles formed at the exit point to prevent traffic accidents. can be prevented in advance.

Although the present invention has been described with reference to the embodiments shown in the drawings, it should be noted that this is only exemplary and various modifications and equivalent other embodiments are possible from those skilled in the art to which the technology pertains. will understand Therefore, the true technical protection scope of the present invention should be defined by the claims below.

100: surrounding object detection unit
200: control unit
300: information unit
10: server
20: user terminal

Claims (19)

determining, by a controller, whether an exit point exists on a driving route to a destination;
if it is determined that the exit point exists on the driving route, determining, by the controller, whether there is a queue for vehicles entering the exit lane where the exit point is located;
calculating, by the controller, a queue distance of the exiting vehicle queue when it is determined that the exit vehicle queue exists;
determining, by the control unit, a guide point for guiding a lane change based on the calculated queue distance; and
providing, by the control unit, a lane change guidance for advancing to the exit point to the driver through the guidance unit when the own vehicle arrives at the determined guidance point;
including,
In the step of determining the guiding point, the control unit determines the guiding point in consideration of the queue distance and a set distance according to the time at which the driver recognizes the lane change guidance;
In the step of determining the guide point, the control unit,
A first distance is calculated by adding a set distance according to a time when the driver recognizes the lane change guidance located in the direction of the own vehicle based on the exit point and the queue distance, and a first distance is calculated based on the exit point. determining a point corresponding to a second distance obtained by adding the first distance and a margin distance determined based on the current driving lane of the host vehicle, located in the vehicle direction, as the guidance point;
In the step of determining the guide point, the control unit,
Determining the margin distance based on the travel speed of a diesel lane for changing the lane from the current driving lane of the host vehicle to the forward lane, determining the margin distance according to a difference between the travel speed of the diesel lane and a reference value A route guidance method characterized in that
According to claim 1,
In the step of determining whether a queue for exiting vehicles exists, the control unit may, if the real-time travel speed at the exit point, received from the traffic control server, is less than a preset reference speed, the queue for exiting vehicles exists in the exit lane. A route guidance method characterized in that it is determined that
According to claim 1,
In the step of determining whether there is an exit vehicle queue, the control unit may set the exit lane to the exit lane if the statistical travel speed at the exit point, determined from travel speed history information of the exit lane, is less than a preset reference speed. A route guidance method characterized in that it is determined that a queue for exiting vehicles exists.
According to claim 1,
In the step of determining whether there is a queue for outgoing vehicles, the control unit detects surrounding vehicles located in the outgoing lane and calculates a current traveling speed of the outgoing lane, and the calculated current traveling speed is a preset reference speed. and determining that the queue for the advancing vehicle exists in the advancing lane if the value is less than or equal to.
According to claim 1,
In the step of calculating the queue distance, the control unit calculates the queue distance using a method of summing distances of one or more links located on the outgoing lane.
delete delete delete According to claim 1,
In the step of determining the guiding point, the control unit determines the additional distance as a larger value as the distance between the current driving lane and the forwarding lane of the host vehicle increases.
When it is determined that there is an exit point on the driving route to the destination, and it is determined that there is a queue for exiting vehicles in the exit lane where the exit point is located, a queue distance of the exiting vehicle queue is calculated, and the calculated a control unit that determines a guidance point for guiding a lane change based on a queue distance, and controls to provide a lane change guidance for entering the exit point to a driver when the own vehicle reaches the determined guidance point; and
a guide unit providing the driver with the lane change guide under the control of the controller;
including,
The control unit determines the guidance point in consideration of the queue distance and a set distance according to the time at which the driver recognizes the lane change guidance,
The control unit calculates a first distance by summing the set distance and the queue distance according to the time at which the driver recognizes the lane change guidance, which is located in the direction of the own vehicle based on the exit point, and calculates the first distance, Determine a point corresponding to a second distance obtained by adding the first distance and a margin distance determined based on the current driving lane of the host vehicle, located in the direction of the host vehicle as a reference, as the guidance point;
The control unit determines the extra distance based on the travel speed of the transit lane for changing the lane from the current driving lane of the host vehicle to the forward lane, and determines the extra distance according to the difference between the travel speed of the transit lane and a reference value. Route guidance device, characterized in that for determining the distance.
According to claim 10,
Wherein the control unit determines that the exit vehicle queue exists in the exit lane when the real-time travel speed at the exit point, received from the traffic control server, is less than a preset reference speed.
According to claim 10,
The control unit determines that the exit vehicle queue exists in the exit lane when the statistical travel speed at the exit point, determined from travel speed history information of the exit lane, is less than a preset reference speed. guide device.
According to claim 10,
Further comprising: a surrounding object detection unit for detecting surrounding objects of the own vehicle;
The control unit detects surrounding vehicles located on the outgoing lane through the surrounding object detection unit to calculate a current traveling speed of the outgoing lane, and if the calculated current traveling speed is less than a preset reference speed, the vehicle leaves the outgoing lane. A route guidance device characterized in that it is determined that a vehicle queue exists.
According to claim 10,
The control unit calculates the queue distance using a method of summing distances of one or more links located on the outgoing lane.
delete delete delete According to claim 10,
The control unit determines the additional distance as a larger value as the distance between the current driving lane and the forwarding lane of the host vehicle increases.
When it is determined that there is an exit point on the driving route to the destination and it is determined that there is a queue for exiting vehicles in the exit lane where the exit point is located, a queue distance of the exiting vehicle queue is calculated, and the calculated a server that determines a guiding point for guiding a lane change based on the queue distance; and
a user terminal providing a driver with lane change guidance for advancing to the exit point when the own vehicle arrives at the guidance point transmitted from the server;
including,
The server determines the guidance point in consideration of the queue distance and a set distance according to a time when the driver recognizes the lane change guidance,
The server calculates a first distance by summing the queue distance and the set distance according to the time at which the driver recognizes the lane change guidance, which is located in the direction of the own vehicle based on the exit point, and calculates the first distance, Determine a point corresponding to a second distance obtained by adding the first distance and a margin distance determined based on the current driving lane of the host vehicle, located in the direction of the host vehicle as a reference, as the guidance point;
The server determines the extra distance based on the travel speed of the diesel lane for changing the lane from the current driving lane of the host vehicle to the forward lane, and determines the extra distance according to the difference between the traveling speed of the diesel lane and a reference value. A route guidance system characterized in that it determines the distance.

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