KR102599268B1 - Apparatus and method for road lane recognition - Google Patents

Abstract

The present invention provides an input unit; And when a lane division command is input through the input unit, the travel distance traveled from one edge lane of the road to the other edge lane of the road in the driving direction of the vehicle is calculated, and the total road width of the road is calculated based on the travel distance. and a driving lane classification device that includes a control unit that calculates the road width for each lane based on the total road width.

Description

Driving lane classification device and method {APPARATUS AND METHOD FOR ROAD LANE RECOGNITION}

The present invention relates to an apparatus and method for distinguishing driving lanes, and more specifically, to an apparatus and method for distinguishing driving lanes that are applied to a navigation device to distinguish the driving lanes of a vehicle in operation.

The navigation system generally applied to vehicles refers to a device that guides the driver on the route from the starting point to the destination. The driver drives to the destination while looking at the map displayed on the navigation system terminal or listening to a voice message. . This navigation system combines location information from navigation satellites and spatial data from an electronic map to display the vehicle's location on the road marked on the map.

However, existing navigation systems cannot tell the location of the lane in which the vehicle is traveling. In other words, the existing navigation system only provides left-turn or right-turn guidance for the driving route, but cannot provide guidance based on the location of the lane in which the vehicle is traveling. For example, if the driver needs to turn left, but the vehicle is currently driving in a lane other than the first lane, guidance for changing lanes is not provided. Therefore, the driver has the inconvenience of having to change lanes after determining the surrounding location of the navigation system, the actual road location, and the lane currently being driven.

To solve this inconvenience, methods such as embedding RFID sensors in the road and using cameras to recognize lanes have been proposed.

However, lane recognition using RFID has limitations in terms of installation and maintenance because RFID sensors must be installed on all roads. In addition, since RFID uses communication, there is a problem that the recognition rate decreases depending on the surrounding weather conditions and the speed of the vehicle. In the case of lane recognition using cameras, development began mainly for lane departure warning, so only lane recognition is possible and it is impossible to know which lane the vehicle is driving in. Additionally, there is a problem in that lane recognition becomes impossible when it snows or there is a lot of fog. Additionally, navigation systems generally applied to vehicles have a problem in that lane distinction is impossible due to limitations in input signals such as GPS.

The background technology of the present invention is disclosed in Republic of Korea Patent Publication No. 10-2295577 (registered on August 24, 2021).

The present invention was made to improve the problems described above, and the object of the present invention according to one aspect is to provide a driving lane dividing device that can distinguish driving lanes by applying it to a navigation device that can distinguish driving lanes of a vehicle, and It provides a method.

According to one aspect of the present invention, the present invention includes an input unit; And when a lane division command is input through the input unit, the travel distance traveled from one edge lane of the road to the other edge lane of the road in the driving direction of the vehicle is calculated, and the total road width of the road is calculated based on the travel distance. and provides a driving lane classification device including a control unit that calculates the road width for each lane based on the total road width.

In the present invention, the control unit receives the lane division command when the wheel angle of the vehicle is 90° in the edge lane on one side of the road, and then measures the distance when the wheel angle in the edge lane on the side becomes less than 90°. The distance measurement may be terminated when the vehicle moves to the edge lane on the other side of the road and the wheel angle reaches 90°.

In the present invention, when the distance measurement is terminated, the control unit calculates a first movement distance traveled by the vehicle from the start of the distance measurement to the end of the distance measurement, and calculates the vertical distance of the road based on the first movement distance. A second movement distance in the lateral direction may be calculated, the total road width may be calculated based on the second movement distance and the vehicle width, and the total road width may be divided by the number of lanes to calculate the road width for each lane. there is.

In the present invention, the control unit calculates the first moving distance based on the wheel rotation speed and wheel circumference from the start of the distance measurement to the end of the distance measurement, and calculates the first moving distance and the wheel angle at the time of the distance measurement. Based on this, the second movement distance can be calculated.

In the present invention, the control unit may calculate the total road width by calculating the sum of the second travel distance and the vehicle width.

In the present invention, the control unit calculates the road width for each lane by dividing the total road width by the number of lanes, and the number of lanes can be input through the input unit or obtained from an electronic map stored in a storage unit.

In the present invention, after calculating the road width for each lane, when the vehicle moves in the other edge lane, the control unit determines the vehicle based on at least one of the wheel circumference of the vehicle, the wheel rotation speed when moving, and the wheel angle. The driving distance can be calculated, and the lane in which the vehicle is traveling can be recognized based on the driving distance and the road width for each lane.

In the present invention, the control unit calculates a first traveling distance traveled by the vehicle based on the wheel circumference of the vehicle and the number of wheel rotations during movement, and moves in the transverse direction based on the first traveling distance and wheel angle. The second driving distance is calculated, and the lane in which the vehicle is traveling can be recognized by dividing the second driving distance by the road width for each lane.

A driving lane classification device according to the present invention includes a position measuring unit that measures the position of the vehicle; and a storage unit storing information on at least one road for which the road width for each lane is calculated in response to the lane classification command, wherein the control unit determines that the current location measured through the position measuring unit is stored in the storage unit. In this case, the road width for each lane of the road in question is obtained from the storage unit, and when the vehicle moves from the edge lane on one side or the edge lane on the other side, the wheel circumference of the vehicle, the number of wheel rotations and the wheel angle when moving. The driving distance of the vehicle may be calculated based on at least one of the following, and the lane in which the vehicle is traveling may be recognized based on the driving distance and the road width for each lane.

According to another aspect of the present invention, when a lane division command is input, the control unit calculates the distance traveled from one edge lane of the road to the other edge lane of the road in the driving direction of the vehicle; The control unit calculating the total road width of the road based on the travel distance; The control unit calculating a road width for each lane based on the total road width; And when the vehicle moves in the other edge lane, the control unit calculates the driving distance of the vehicle using at least one of the wheel circumference of the vehicle, the wheel rotation speed when moving, and the wheel angle, and the driving distance and the Provided is a driving lane classification method including the step of recognizing the lane in which the vehicle is traveling based on the road width for each lane.

In the present invention, the step of calculating the moving distance includes the control unit receiving the lane division command in a state where the wheel angle of the vehicle is 90° in the edge lane on one side of the road, and then determining the wheel angle in the edge lane on one side of the road. starting to measure the distance when it becomes less than 90°, and ending the distance measurement when the wheel angle becomes 90° after the vehicle moves to the other edge lane; The control unit calculating a first moving distance based on the wheel rotation speed and wheel circumference of the vehicle from the start of the distance measurement to the end of the distance measurement; And the control unit may include calculating the second movement distance using the first movement distance and the wheel angle when measuring the distance.

In the present invention, in the step of calculating the total road width of the road, the control unit may calculate the total road width by adding the second travel distance and the vehicle width.

In the present invention, in the step of calculating the road width for each lane, the control unit calculates the road width for each lane by dividing the total road width by the number of lanes, and the number of lanes is input through an input unit or stored in a storage unit. It can be obtained from a saved electronic map.

In the present invention, in the step of recognizing the lane in which the vehicle is traveling, the control unit calculates a first mileage traveled by the vehicle based on the wheel circumference of the vehicle and the number of wheel rotations during movement, and 1 A second travel distance in the lateral direction is calculated based on the travel distance and the wheel angle, and the lane in which the vehicle is traveling can be recognized by dividing the second travel distance by the road width for each lane.

The driving lane classification device and method according to an embodiment of the present invention enables recognition of the lane in which the own vehicle is traveling without a separate module for identifying the driving lane of the own vehicle.

The driving lane classification device and method according to an embodiment of the present invention can be applied to a navigation device that can distinguish driving lanes for vehicles in operation.

The driving lane classification device and method according to an embodiment of the present invention can be used not only on complex roads such as highways, branch roads, merge roads, and intersections, but also on new roads, painted roads, and roads under construction.

1 is a block diagram schematically showing a driving lane classification device according to an embodiment of the present invention.
Figure 2 is an exemplary diagram for explaining a road in the driving direction according to an embodiment of the present invention.
Figure 3 is an example diagram for explaining a method of calculating the road width for each lane according to an embodiment of the present invention.
Figure 4 is a flowchart illustrating a method for dividing driving lanes according to an embodiment of the present invention.
5A and 5B are flowcharts illustrating a method for dividing driving lanes according to another embodiment of the present invention.

Below, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to “include” a certain element, this means that it may further include other elements rather than excluding other elements, unless specifically stated to the contrary.

Implementations described herein may be implemented, for example, as a method or process, device, software program, data stream, or signal. Although discussed only in the context of a single form of implementation (eg, only as a method), implementations of the features discussed may also be implemented in other forms (eg, devices or programs). The device may be implemented with appropriate hardware, software, firmware, etc. The method may be implemented in a device such as a processor, which generally refers to a processing device that includes a computer, microprocessor, integrated circuit, or programmable logic device. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

Figure 1 is a block diagram schematically showing a driving lane classification device according to an embodiment of the present invention, Figure 2 is an exemplary diagram for explaining a road in the driving direction according to an embodiment of the present invention, and Figure 3 is the present invention. This is an example diagram to explain a method of calculating the road width for each lane according to an embodiment of the invention.

Referring to FIG. 1, the driving lane classification device 100 according to an embodiment of the present invention includes an input unit 110, an output unit 120, a storage unit 130, a position measurement unit 140, and a control unit ( 150).

The input unit 110 is configured to receive user commands such as lane classification commands, and uses a key pad, dome switch, touch pad (static/electrostatic), jog wheel, jog switch, etc. It can be included.

The output unit 120 is configured to output various information related to the operation of the driving lane classification device 100 and may include a display unit (not shown) and an audio output unit (not shown).

The display unit and the audio output unit output guidance information in the form of visual information or audio information. For example, the display unit outputs the spatial information of the electronic map in the form of a map and also displays the driving route on the map, and the sound output unit outputs voices related to guidance such as going straight, turning left, and turning right. The display unit may also operate as an input unit 110 to receive information from the user.

The storage unit 130 may store map data (e.g., precision map data, HD Map, etc.) and information about the road width for each lane of each road. That is, the storage unit 130 may store map data including geographic coordinates indicating latitude and longitude in degrees/minutes/seconds. Additionally, the storage unit 130 may store link information based on map data and traffic information history for each link received through a real-time traffic information receiver (not shown). In addition, the storage unit 130 is for storing spatial data (GIS data: Geographic Information System data) about the road and topographical features around the road, and the electronic map includes information about the lanes of the road, buildings around the road, street trees, etc. Precise electronic maps with detailed spatial data can be used. Additionally, the storage unit 130 may store information about at least one road for which the road width for each lane has been calculated in response to a lane classification command.

This storage unit 130 is configured to store data related to the operation of the driving lane classification device 100. Here, the storage unit 130 may use a known storage medium, for example, one or more of known storage media such as ROM, PROM, EPROM, EEPROM, RAM, etc.

The position measurement unit 140 receives a GPS signal to measure the current location of the vehicle 10. At this time, the location measurement unit 140 may be a Global Positioning System (GPS). Accordingly, the location measurement unit 140 can derive location information of the vehicle 10 by calculating the distance between the GPS satellite and the GPS receiver as coordinate values. At this time, the location measurement unit 140 may determine whether the location information of the vehicle 10 is a road (link) and exclude cases where it is not a road.

When a lane classification command is input through the input unit 110, the control unit 150 calculates the distance traveled from the lane on one edge of the road to the lane on the other edge of the road in the driving direction of the vehicle 10, and calculates the distance traveled in the driving direction of the vehicle 10. Based on this, the total road width of the road can be calculated, and the road width for each lane can be calculated based on the total road width. Here, the lane from one edge lane on one side of the road to the other edge lane in the driving direction refers to, for example, in the case of a six-lane road as shown in FIG. 2, three lanes (1, 1) in the driving direction of the vehicle 10. 2, 3), and the direction opposite to the driving direction of the vehicle 10 may be three lanes 4, 5, and 6. The total road width of the road may mean the total road width for the three lanes (1, 2, and 3) that are the road in the driving direction of the vehicle 10.

In the above, the edge lane on one side of the road may mean the rightmost lane or the leftmost lane. If the edge lane on one side is the rightmost lane, the other edge lane means the leftmost lane of the road, and one side edge lane may mean the rightmost lane. If the edge lane is the leftmost lane, the other edge lane means the rightmost lane of the road. Hereinafter, for convenience of explanation, it will be explained as an example that one edge lane refers to the rightmost lane and the other edge lane refers to the leftmost lane of the road.

A method by which the control unit 150 calculates the road width for each lane will be described with reference to FIG. 3.

As shown in a in FIG. 3, the control unit 150 inputs the input unit 110 in a state in which the wheel angle of the vehicle 10 is 90° (straight driving state) in the rightmost lane of the road in the driving direction of the vehicle 10. You can receive a lane classification command through . That is, the user (driver) may input a lane division command when the wheel angle of the vehicle 10 is 90° to distinguish lanes on a driving road. Then, when the vehicle 10 starts moving to the leftmost lane with a wheel angle of less than 90° in the rightmost lane as shown in b, the control unit 150 can start measuring the distance to calculate the road width for each lane. . After starting the distance measurement, the vehicle 10 moves to the leftmost lane of the road as shown in c, and when the wheel angle becomes 90° (straight driving state) as shown in d, the control unit 150 calculates the road width for each lane. The distance measurement for . The control unit 150 may measure the wheel angle through a steering angle detection sensor (not shown) installed on a steering gear (not shown) or a steering wheel shaft (not shown) that controls the rotation of the wheels of the vehicle 10. The steering angle detection sensor is installed at one or multiple positions of the steering device to rotate the wheel when the driver operates the steering wheel shaft (not shown), and can measure the wheel angle in a contact or non-contact manner. Additionally, the control unit 150 may measure the wheel angle according to the movement of the steering gear. The control unit 150 may use various conventional methods for measuring the wheel angle. In addition, various known or unknown wheel angle measurement methods may be applied.

When the distance measurement is completed as described above, the control unit 150 may calculate the first movement distance D that the vehicle 10 has moved from the start of the distance measurement to the end of the distance measurement. At this time, the control unit 150 may calculate the first movement distance (D) based on the circumference length of the vehicle wheel and the number of wheel rotations during movement. For example, the control unit 150 may calculate the first movement distance (D) using Equation 1 below.

[Equation 1]

Here, LC may mean the circumference length of the wheel, and NR may mean the number of rotations of the wheel.

When the first movement distance (D) is calculated, the control unit 150 can calculate the second movement distance (B) in the lateral direction, which is the vertical direction of the road, based on the first movement distance (D). Here, the second moving distance B may mean the moving distance of the vehicle 10 in the lateral direction as shown in FIG. 3. The control unit 150 may calculate the second movement distance (B) using the first movement distance (D) and the wheel angle when measuring the distance. For example, the control unit 150 can calculate the second movement distance (B) using Equation 2 below.

[Equation 2]

B = D * cos(wheel angle)

When the second moving distance B is calculated, the control unit 150 can calculate the total road width based on the second moving distance B and the vehicle width. In order to calculate the total road width, as shown in FIG. 3, the remaining distances A and C, excluding the second travel distance (B), must be known. Accordingly, the control unit 150 may refer to half of the vehicle width (i.e., vehicle width/2) as A and B. Accordingly, the control unit 150 can calculate the total road width by calculating the sum of the second travel distance (B), A, and C.

Once the total road width is calculated, the control unit 150 can calculate the road width for each lane by dividing the total road width by the number of lanes. That is, the control unit 150 can calculate the road width (lane width) for each lane using Equation 3 below.

[Equation 3]

Here, the number of lanes can be input from the user (driver) through the input unit 110 or automatically obtained from the electronic map stored in the storage unit 130. When obtaining the number of lanes from an electronic map, the control unit 150 checks the road on which the vehicle 10 is currently located based on the position measured by the position measurement unit 140 and stores the electronic map stored in the storage unit 130. The number of lanes on the road can be obtained from .

The control unit 150 may store the road width for each lane of the relevant road in the storage unit 130.

After calculating the road width for each lane, when the vehicle 10 moves from the leftmost lane to the right lane, the control unit 150 determines the vehicle 10 based on the road width for each lane (lane width) and the driving distance of the vehicle 10. ) can recognize (differentiate) the lane in which it is driving.

That is, after calculating the road width for each lane, when the vehicle 10 moves in the leftmost lane as shown in e in FIG. 3, the control unit 150 calculates the wheel circumference of the vehicle 10, the wheel rotation speed and wheel angle during movement. The driving distance of the vehicle 10 can be calculated using at least one of the following. At this time, the control unit 150 may calculate the first driving distance (F) moved by the vehicle 10 based on the wheel circumference of the vehicle 10 and the wheel rotation speed during movement. That is, the control unit 150 can calculate the first travel distance (F) by multiplying the wheel circumference length of the vehicle 10 and the number of wheel rotations during movement. Then, the control unit 150 may calculate the second traveling distance (E) in the lateral direction based on the first traveling distance (F) and the wheel angle. At this time, the control unit 150 may calculate the second travel distance (E) by multiplying the cosine value (cos (wheel angle)) of the wheel angle and the first travel distance (F). Then, the control unit 150 divides the second driving distance E by the road width (lane width) for each lane to distinguish (recognize) the lane in which the vehicle 10 is traveling.

According to another embodiment of the present invention, when the current location measured through the position measurement unit 140 is a road stored in the storage unit 130, the control unit 150 selects the road for each lane of the road from the storage unit 130. The width is obtained, and when the vehicle 10 moves from the rightmost lane or the leftmost lane, at least one of the wheel circumference of the vehicle 10, the wheel rotation speed during movement, and the wheel angle is used to determine the width of the vehicle 10. The driving distance can be calculated, and the lane in which the vehicle 10 is traveling can be recognized based on the driving distance and the road width for each lane.

When the driving lane classification device 100 configured as described above is used, the road width for each lane can be calculated based on the actual distance traveled by the vehicle 10 without using GPS, which has low accuracy.

Meanwhile, the driving lane classification device 100 configured as described above may be formed integrally with the navigation device, or may be provided separately from the navigation device.

As described above, in the embodiment of the present invention, in order to calculate the road width for each lane, the case of moving from the rightmost lane of the road to the leftmost lane in the driving direction of the vehicle has been described. However, in the driving direction of the vehicle, the It is natural that the road width for each lane can be calculated even when moving from the leftmost lane to the rightmost lane.

Figure 4 is a flowchart illustrating a method for dividing driving lanes according to an embodiment of the present invention.

Referring to FIG. 4, in the rightmost lane of the road in the driving direction of the vehicle 10, a lane classification command is input while the wheel angle of the vehicle 10 is 90° (straight driving state) (S402), and the rightmost lane When the wheel angle of the vehicle 10 is less than 90°, the control unit 150 starts measuring the distance (S404).

After starting the distance measurement, the vehicle 10 moves to the leftmost lane of the road in the driving direction (S406), and when the wheel angle of the vehicle 10 reaches 90°, the control unit 150 ends the distance measurement (S408) ).

When the distance measurement is completed, the control unit 150 calculates the first movement distance D moved by the vehicle 10 from the start of the distance measurement to the end of the distance measurement (S410). At this time, the control unit 150 may calculate the first movement distance based on the circumference length of the vehicle wheel and the number of wheel rotations during movement.

When step S410 is performed, the control unit 150 calculates a second movement distance in the lateral direction, which is the vertical direction of the road, based on the first movement distance (S412). At this time, the control unit 150 may calculate the second movement distance using the first movement distance D and the wheel angle when measuring the distance.

When step S412 is performed, the control unit 150 calculates the total road width based on the second travel distance and the vehicle width (S414), and divides the total road width by the number of lanes to calculate the road width for each lane (S416). At this time, the control unit 150 can receive the number of lanes from the user (driver) through the input unit 110 or automatically obtain it from the electronic map stored in the storage unit 130.

After performing step S416, when the vehicle 10 moves in the leftmost lane (S418), the control unit 150 controls the vehicle 10 based on the road width (lane width) for each lane and the driving distance of the vehicle 10. The driving lane is distinguished (S420). That is, after calculating the road width for each lane, when the vehicle 10 moves in the leftmost lane, the control unit 150 uses at least one of the wheel circumference of the vehicle 10, the wheel rotation speed during movement, and the wheel angle. The driving distance of the vehicle 10 can be calculated. At this time, the control unit 150 may calculate the first travel distance (F) moved by the vehicle 10 based on the wheel circumference of the vehicle 10 and the wheel rotation speed during movement. That is, the control unit 150 can calculate the first driving distance by multiplying the wheel circumference length of the vehicle 10 and the wheel rotation speed during movement. Then, the control unit 150 may calculate the second traveling distance E in the lateral direction based on the first traveling distance and the wheel angle. At this time, the control unit 150 may calculate the second travel distance by multiplying the cosine value of the wheel angle (cos (wheel angle)) by the first travel distance (F). Then, the control unit 150 divides the second driving distance by the road width (lane width) for each lane to distinguish (recognize) the lane in which the vehicle 10 is traveling.

As described above, when the user (driver) drives the vehicle 10 from the rightmost lane to the leftmost lane, the control unit 150 can use the information to calculate the total lane width, and the road width for each lane. Based on (lane width) information, vehicle mileage, and wheel angle (wAngle), it is possible to distinguish which lane the currently driving vehicle 10 is located in.

5A and 5B are flowcharts illustrating a method for dividing driving lanes according to another embodiment of the present invention.

Referring to FIGS. 5A and 5B, the control unit 150 measures the current position of the vehicle 10 through the position measurement unit 140 (S502), and stores the road width for each lane for the current location in the storage unit 130. Determine whether it is stored in (S504). That is, since the storage unit 130 stores the road width for each lane of roads on which the vehicle 10 performed lane classification, the control unit 150 stores information on the road width for each lane because the current road is a previously visited road. You can determine whether it is saved.

As a result of the determination in step S504, if the road width for each lane for the current location is stored in the storage unit 130, the control unit 150 obtains the road width for each lane of the relevant road from the storage unit 130 (S506).

Then, the control unit 150 determines whether the vehicle 10 is located in the rightmost lane or the leftmost lane (S508). At this time, the control unit 150 can determine whether the vehicle 10 is located in the rightmost lane or the leftmost lane using the position measured by the position measurement unit 140.

As a result of the determination in step S508, if the vehicle 10 is located in the leftmost lane or the rightmost lane, the control unit 150 determines whether the vehicle 10 moves to another lane (S510).

As a result of the determination in step S510, when the vehicle 10 moves, the control unit 150 classifies the lane in which the vehicle 10 is traveling based on the road width (lane width) for each lane and the driving distance of the vehicle 10. (S512).

As a result of the determination in step S508, if the vehicle 10 is not located in the leftmost lane or the rightmost lane, the control unit 150 outputs an instruction to move to the leftmost lane or the rightmost lane through the output unit 120 ( Steps S514) and S508 are performed.

If, as a result of the determination in step S504, the road width by lane for the current location is not stored in the storage unit 130, the control unit 150 stores information about the road width by lane of the relevant road in the storage unit 130. It is output through the output unit 120 that it is not stored (S516).

Then, in the rightmost lane of the road in the driving direction of the vehicle 10, a lane division command is input when the wheel angle of the vehicle 10 is 90° (straight driving state) (S518), and the vehicle 10 in the rightmost lane When the wheel angle of is less than 90°, the control unit 150 starts measuring the distance (S520).

After starting the distance measurement, the vehicle 10 moves to the leftmost lane of the road in the driving direction (S522), and when the wheel angle of the vehicle 10 reaches 90°, the control unit 150 ends the distance measurement (S524) ).

When the distance measurement is completed, the control unit 150 calculates the first movement distance D moved by the vehicle 10 from the start of the distance measurement to the end of the distance measurement (S526). At this time, the control unit 150 may calculate the first movement distance based on the circumference length of the wheels of the vehicle 10 and the number of wheel rotations during movement.

When step S526 is performed, the control unit 150 calculates a second movement distance in the lateral direction, which is the vertical direction of the road, based on the first movement distance (S528). At this time, the control unit 150 may calculate the second movement distance using the first movement distance D and the wheel angle when measuring the distance.

When step S528 is performed, the control unit 150 calculates the total road width based on the second travel distance and the vehicle width (S530), and divides the total road width by the number of lanes to calculate the road width for each lane (S532). At this time, the control unit 150 can receive the number of lanes from the user (driver) through the input unit 110 or automatically obtain it from the electronic map stored in the storage unit 130.

After performing step S534, when the vehicle 10 moves in the leftmost lane (S418), the control unit 150 determines the vehicle 10 based on the road width (lane width) for each lane and the driving distance of the vehicle 10. The driving lane is distinguished (S536).

As described above, the driving lane classification device and method according to an embodiment of the present invention enables recognition of the lane in which the own vehicle is traveling without a separate module for identifying the driving lane of the own vehicle.

The driving lane classification device and method according to an embodiment of the present invention can be applied to a navigation device that can distinguish driving lanes for vehicles in operation.

The driving lane classification device and method according to an embodiment of the present invention can be used not only on complex roads such as highways, branch roads, merge roads, and intersections, but also on new roads, painted roads, and roads under construction.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims are also possible. falls within the scope of rights.

100: Driving lane separator
110: input unit
120: output unit
130: storage unit
140: Position measurement unit
150: control unit

Claims (14)

input unit; and
When a lane classification command is input through the input unit, the travel distance traveled from one edge lane of the road to the other edge lane of the road in the driving direction of the vehicle is calculated, and the total road width of the road is calculated based on the travel distance; , including a control unit that calculates the road width for each lane based on the total road width,
The control unit,
A driving lane classification device that obtains the number of lanes from an electronic map stored in a storage unit and calculates the road width for each lane by dividing the total road width by the number of lanes.
According to paragraph 1,
The control unit,
After receiving the lane division command while the vehicle's wheel angle is 90° in the edge lane on one side of the road, distance measurement begins when the wheel angle in the edge lane on one side of the road becomes less than 90°, and the vehicle moves on the road. A driving lane classification device characterized in that the distance measurement is terminated when the wheel angle reaches 90° after moving to the other edge lane.
According to paragraph 2,
The control unit,
When the distance measurement is completed, the first movement distance traveled by the vehicle from the start of the distance measurement to the end of the distance measurement is calculated, and a second distance in the lateral direction, which is the vertical direction of the road, is calculated based on the first movement distance. A driving lane classification device that calculates the travel distance, calculates the total road width based on the second travel distance and vehicle width, and calculates the road width for each lane by dividing the total road width by the number of lanes.
According to paragraph 3,
The control unit,
Calculate the first moving distance based on the wheel rotation speed and wheel circumference from the start of the distance measurement to the end of the distance measurement,
A driving lane classification device characterized in that the second movement distance is calculated based on the first movement distance and the wheel angle at the time of measuring the distance.
According to paragraph 3,
The control unit,
A driving lane classification device characterized in that the total road width is calculated by adding the second travel distance and the vehicle width.
According to paragraph 1,
The control unit,
A driving lane classification device, characterized in that the number of lanes is input through the input unit.
According to paragraph 1,
The control unit,
After calculating the road width for each lane, when the vehicle moves in the other edge lane, the driving distance of the vehicle is calculated based on at least one of the wheel circumference of the vehicle, the number of wheel rotations when moving, and the wheel angle, and A driving lane classification device characterized in that it recognizes the lane in which the vehicle is traveling based on the driving distance and the road width for each lane.
In clause 7,
The control unit,
Calculate a first travel distance traveled by the vehicle based on the wheel circumference of the vehicle and the number of wheel rotations during movement, and calculate a second travel distance in the lateral direction based on the first travel distance and wheel angle. , A driving lane classification device characterized in that the second driving distance is divided by the road width for each lane to recognize the lane in which the vehicle is driving.
According to paragraph 1,
a position measuring unit that measures the position of the vehicle; and
Further comprising a storage unit storing information on at least one road for which the road width for each lane has been calculated in response to the lane division command,
The control unit,
When the current location measured through the position measuring unit is a road stored in the storage unit, the road width for each lane of the road is obtained from the storage unit, and the vehicle moves from the edge lane on one side or the edge lane on the other side. , calculate the driving distance of the vehicle based on at least one of the wheel circumference of the vehicle, the number of wheel rotations when moving, and the wheel angle, and determine the lane in which the vehicle is traveling based on the driving distance and the road width for each lane. A driving lane classification device characterized by recognition.
When a lane division command is input, the control unit calculates the distance traveled from the edge lane on one side of the road to the edge lane on the other side of the road in the driving direction of the vehicle;
The control unit calculating the total road width of the road based on the travel distance;
The control unit calculating a road width for each lane based on the total road width; and
When the vehicle moves in the other edge lane, the control unit calculates the driving distance of the vehicle using at least one of the wheel circumference of the vehicle, the number of wheel rotations when moving, and the wheel angle, and calculates the driving distance of the vehicle and the vehicle. Recognizing the lane in which the vehicle is traveling based on the selected road width,
In the step of calculating the road width for each lane,
The control unit obtains the number of lanes from the electronic map stored in the storage unit, and calculates the road width for each lane by dividing the total road width by the number of lanes.
According to clause 10,
The step of calculating the moving distance is,
The control unit receives the lane division command when the wheel angle of the vehicle is 90° in the edge lane on one side of the road, and then starts measuring the distance when the wheel angle in the edge lane on the side becomes less than 90°, Ending the distance measurement when the wheel angle becomes 90° after the vehicle moves to the other edge lane;
The control unit calculating a first moving distance based on the wheel rotation speed and wheel circumference of the vehicle from the start of the distance measurement to the end of the distance measurement; and
A driving lane classification method, wherein the control unit calculates a second movement distance using the first movement distance and the wheel angle when measuring the distance.
According to clause 11,
In the step of calculating the total road width of the road,
The control unit calculates the total road width by adding the second travel distance and the vehicle width.
According to clause 10,
In the step of calculating the road width for each lane,
A driving lane classification method, wherein the control unit receives the number of lanes through an input unit.
According to clause 10,
In the step of recognizing the lane in which the vehicle is driving,
The control unit calculates a first travel distance traveled by the vehicle based on the wheel circumference of the vehicle and the number of wheel rotations during movement, and performs a second travel in the lateral direction based on the first travel distance and wheel angle. A driving lane classification method comprising calculating the distance and dividing the second driving distance by the road width for each lane to recognize the lane in which the vehicle is traveling.