KR20120078877A - Navigation for vehicel and land departure warning method of navigation for vehicel - Google Patents

Abstract

PURPOSE: An electronic device and a method for alarming a veering of the electronic device are provided to prevent the distractedness of a driver by alarming an unnecessary veering so that a safe driving is possible. CONSTITUTION: An electronic device comprises a communication unit(110) and a control unit(170). The communication unit receives images related to a driving of a vehicle. The control unit decides the existence of the veering of the vehicle based on the images and controls an output of an alarm for warning a veering of a vehicle according to whether the vehicle enters into a specific area or not when the vehicle is veered.

Description

NAVIGATION FOR VEHICEL AND LAND DEPARTURE WARNING METHOD OF NAVIGATION FOR VEHICEL}

The present invention relates to an electronic device and a lane departure warning method for the electronic device.

With the opening of the Internet network and the revision of laws relating to location data, the industry based on location based services (LBS) is being activated. Representative devices using such a location-based service may include a vehicle navigation device that provides a route guidance service for locating a current location of a vehicle or guiding a moving route to a destination.

In addition, there is an increasing number of cases where objective data are needed to determine the error rate according to the responsibility for accidents that occur during the stopping or driving of a vehicle. Accordingly, a vehicle black box capable of providing objective data is used.

The lane departure warning is to warn the driver of lane departure to protect the driver from lane departure accidents caused by the driver's carelessness, drowsy driving, and the like. However, unnecessarily outputting the lane departure warning sound may distract the driver's attention, which may interfere with safe driving and may increase the driver's stress.

The present invention relates to an electronic device supporting a driver's safe driving and a lane departure warning method of the electronic device.

As an aspect of the present invention for realizing the above object, the electronic device according to the present invention, the communication unit for receiving an image related to the driving of the vehicle; And a controller configured to determine whether the vehicle departs from the lane based on the image, and to control the output of a lane departure warning warning the lane departure of the vehicle according to whether the vehicle enters a specific region when the lane departs.

As another aspect of the present invention for realizing the above object, the present invention provides an electronic device comprising: at least one camera for acquiring an image related to driving of a vehicle; And a controller configured to determine whether the vehicle departs from the lane based on the image, and to control the output of a lane departure warning warning the lane departure of the vehicle according to whether the vehicle enters a specific region when the lane departs.

As an aspect of the present invention for realizing the above object, the system according to the present invention, the vehicle black box for obtaining an image related to the driving of the vehicle; And determining a lane departure of the vehicle based on the image, and, when the lane is separated, the vehicle navigation to control the output of a lane departure warning warning the lane departure of the vehicle according to whether the vehicle enters a specific area.

According to an aspect of the present invention for realizing the above object, a lane departure warning method of an electronic device includes: obtaining an image related to driving of a vehicle; Determining whether the vehicle leaves the lane based on the image; And controlling an output of a lane departure warning warning a lane departure of the vehicle based on whether the vehicle enters a specific area.

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

According to the present invention, the navigation system can effectively monitor lane departure of the vehicle by using an image acquired through the vehicle black box. In addition, by activating / deactivating the lane departure warning function or the lane detection function according to at least one preset condition, the lane departure warning is output to the driver only when the lane departure warning is required. Accordingly, there is an effect of preventing the driver's attention from being distracted due to a wrong or unnecessary lane departure warning, thereby enabling the driver to drive safely.

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

The above objects, features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings. It is to be understood, however, that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and similarities. Like reference numerals designate like elements throughout the specification. In addition, when it is determined that the detailed description of the known function or configuration related to the present invention may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. In addition, numerals (e.g., days, days, etc.) used in the description of the present invention are merely an identifier for distinguishing one component from another component

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

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

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

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

Referring to FIG. 1, the system 10 may include a first electronic device 100 that informs drivers and passengers of various types of data related to driving and maintenance of a vehicle, and a second electronic device that records data related to driving of the vehicle. 200 may be included.

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

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

The navigation housing 191 forms the exterior of the vehicle navigation apparatus 100. The vehicle navigation apparatus 100 may be exposed to an environment of various conditions such as being exposed to high or low temperatures due to seasonal factors or being subjected to direct / indirect external shock. The navigation housing 191 may have a purpose to protect various electronic components inside the vehicle navigation apparatus 100 from changes in the external environment and to enhance the appearance of the vehicle navigation apparatus 100. In order to achieve the above object, the navigation housing 191 may be processed by injection molding a material such as ABS, PC or strength-enhanced engineering plastic.

The display unit 145 is a part that visually displays various data. The various data displayed on the display unit 145 may be map data in which route data and the like are combined, various broadcast screens including DMB broadcasting, or images stored in a memory. The display unit 145 may be divided into several physically or logically. The physically divided display unit 145 refers to a case in which two or more display units 145 are adjacent to each other. The logically divided display unit 145 refers to a case in which a plurality of independent screens are physically displayed on one display unit 145. For example, when the DMB broadcast is received and displayed, the route data is displayed on a part of the display unit 145 or the DMB broadcast and the map screen are displayed on a part of the display unit 145 and another area, respectively. Can be. In accordance with the tendency for various functions to converge on the vehicle navigation apparatus 100, the display 145 is logically divided to display various data. Furthermore, in order to display various data, the display unit 145 is gradually becoming larger.

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

The navigation operation key 193 may be provided for executing various functions of the vehicle navigation apparatus 100 or for allowing a user to directly input necessary data. The convenience of use can be improved by mapping a frequently used specific function to the navigation operation key 193.

The navigation microphone 195 may be provided to receive a sound including voice and sound. For example, the specific function of the vehicle navigation apparatus 100 may be executed based on the voice signal received by the navigation microphone 195. In addition, the current state of the vehicle, such as the occurrence of an accident, may be detected based on the acoustic signal received by the navigation microphone 195.

The vehicle black box 200 may exchange data with the vehicle navigation apparatus 100 to store data necessary for an accident handling process of the vehicle. For example, when an accident occurs while driving a vehicle, the image obtained and stored in the vehicle black box 200 may be analyzed and used to determine the extent of the accident and the degree of error. In addition, the vehicle black box 200 connected to the vehicle navigation apparatus 100 may utilize various data stored in the vehicle navigation apparatus 100. For example, the image obtained by the vehicle black box 200 may be mapped to map data stored in the vehicle navigation apparatus 100 to increase the utility of the vehicle black box 200.

The vehicle black box 200 may acquire data of the vehicle while driving and stopping. That is, not only can the image be taken while the vehicle is running, but also the image can be taken even when the vehicle is stopped. The image quality of the image acquired through the vehicle black box 200 may be constant or change. For example, before and after the occurrence of an accident, the image quality of the image is increased, and in general, the image quality can be saved by minimizing the required storage space by storing the image quality.

The vehicle black box 200 may include a black box camera 222, a black box microphone 224, and an attachment part 281.

The black box camera 222 may photograph the outside or the interior of the vehicle. In addition, the black box camera 222 may be provided in singular or plural. When there are a plurality of black box cameras 222, one may be integrated with the vehicle black box 200 and the other may transmit an image photographed while being attached to each part of the vehicle to the vehicle black box 200. . In the case where the black box camera 222 is singular, the black box camera 222 may be installed to photograph the front of the vehicle. The image photographed by the black box camera 222 may be stored in the vehicle black box 200 or the vehicle navigation apparatus 100.

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

The attachment part 281 may fix the vehicle black box 200 to the vehicle. The attachment part 281 may be a suction plate which may attach the vehicle black box 200 to the windshield of the vehicle, or may be a fixing device that may be coupled to a room mirror of the vehicle.

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

Referring to FIG. 2, the vehicle navigation apparatus 100 and the vehicle black box 200 constituting the navigation system 10 may be wirelessly connected to each other. That is, the vehicle navigation apparatus 100 and the vehicle black box 200 are separate devices, and there may be no physical connection device therebetween. The vehicle navigation apparatus 100 and the vehicle black box 200 may be a communication scheme such as Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra WideBand (UWB), ZigBee, and the like. Can be communicated using.

3 is a structural diagram of a vehicle navigation system according to embodiments of the present invention.

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

Hereinafter, the components will be described in order.

The first communication unit 110 enables communication between the vehicle navigation system 100 and the communication system or between a network in which the vehicle navigation system 100 and the vehicle navigation system 100 are located or between the vehicle navigation system 100 and another electronic device. It may include more than one module. For example, the first communication unit 100 may include a first location data module 111, a first wireless internet module 113, a broadcast transmission / reception module 115, a first local area communication module 117, and a first wired communication. Module 119 and the like.

The first position data module 111 is a module for checking or obtaining position data of the vehicle navigation apparatus 100. As a method of obtaining location data by the first location data module 111, a method of obtaining location data through a global navigation satellite system (GNSS) may be used. GNSS refers to a navigation system that can calculate the position of the receiving terminal using the radio signal received from the satellite (20 of FIG. 5). Specific examples of GNSS include Global Positioning System (GPS), Galileo, Global Orbiting Navigational Satellite System (GLONASS), COMPASS, Indian Regional Navigational Satellite System (IRNS), and Quasi-Zenith Satellite System (QZSS), depending on the operating entity. Can be. The location data module 111 of the vehicle navigation apparatus 100 according to embodiments of the present invention may receive location data by receiving a GNSS signal serving in an area where the vehicle navigation apparatus 100 is used. The first position data module 111 continuously calculates a current position of the vehicle navigation apparatus 100 in real time, and calculates speed information using the same.

The first wireless internet module 113 is an apparatus that accesses the wireless Internet and acquires or transmits data. The wireless Internet accessible through the wireless internet module 113 may be a wireless LAN (WLAN), a wireless broadband (WBRO), a world interoperability for microwave access (Wimax), a high speed downlink packet access (HSDPA), or the like.

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

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

The first wired communication module 119 serves to provide an interface with another electronic device connected to the vehicle navigation apparatus 100. For example, the first wired communication module 119 may be a USB module capable of communicating through a USB port.

The first input unit 120 is a module for generating input data for controlling the operation of the vehicle navigation apparatus 100. The first input unit 120 may generate input data by converting a physical input from the outside into a specific electrical signal. The first input unit 120 may include a first user input module 121, a first microphone 123, and the like.

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

The first microphone 123 is a device that receives a user's voice and sound generated in and out of the vehicle. The first microphone 123 may be implemented as a navigation microphone 195 provided outside the housing (191 of FIG. 1) of the vehicle navigation apparatus 100.

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

The first motion sensing module 131 may detect a motion in a three-dimensional space of the vehicle navigation apparatus 100. The first motion sensing module 131 may include a three-axis geomagnetic sensor and a three-axis acceleration sensor. The motion data obtained through the first motion sensing module 131 may be combined with the position data obtained through the position data module 111 to calculate a more accurate trajectory of the vehicle to which the vehicle navigation apparatus 100 is attached.

The light sensing module 133 is a device for measuring the ambient illuminance of the vehicle navigation apparatus 100. The brightness of the display unit 145 may be changed to correspond to the ambient brightness by using the illumination data acquired through the light sensing module 133.

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

The display module 141 is a device that outputs data that can be visually recognized by the vehicle navigation apparatus 100. The display module 141 may be implemented as a display unit 145 of FIG. 1 provided on the front surface of the housing (191 of FIG. 1) of the vehicle navigation apparatus 100. Meanwhile, as described above, when the display module 141 is a touch screen, the display module 141 may serve as the output unit 140 and the first input unit 120 at the same time.

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

The first storage unit 150 may store a program for the operation of the vehicle navigation apparatus 100, and may temporarily store data (path data and image data) input / output in relation to the vehicle navigation apparatus 100. In addition, the first storage unit 150 may store map data used for the route guidance service. The first storage unit 150 may be embedded in or detachable from the vehicle navigation apparatus 100, and may be a flash memory type, a hard disk type, or a multimedia card micro type. micro type), card type memory (e.g. SD or XD memory), random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only Memory, a PROM (Programmable Read Only Memory), a magnetic memory, a magnetic disk, an optical disk may include at least one type of storage medium. The vehicle navigation apparatus 100 may operate in association with a web storage that performs a storage function of the first storage unit 150 on the Internet.

The first power supply unit 160 receives external power and internal power to supply power required for the operation of each component of the vehicle navigation apparatus 100 or another device connected to the vehicle navigation apparatus 100.

The first controller 170 typically controls the overall operation of the vehicle navigation apparatus 100. In addition, the first controller 170 may output a control signal for controlling another device connected to the vehicle navigation apparatus 100.

4 is a structural diagram of a vehicle black box according to embodiments of the present invention.

Referring to FIG. 4, the vehicle black box 200 may include a second communication unit 210, a second input unit 220, a second sensing unit 230, a second storage unit 250, a second power supply unit 260, The second control unit 270 may be included. The components shown in FIG. 4 are not essential, and an electronic device having more or fewer components may be implemented.

Hereinafter, the components will be described in order.

The second communication unit 210 may communicate between the vehicle black box 200 and the communication system or between the vehicle black box 200 and the network in which the vehicle black box 200 is located or the vehicle black box 200 and other electronic devices (for example, It may include one or more modules that enable communication with the vehicle navigation (100). For example, the second communication unit 210 may include a second location data module 211, a second wireless internet module 213, a second short range communication module 217, a second wired communication module 219, and the like. Can be. The second location data module 211, the second wireless internet module 213, the second short range communication module 217, and the second wired communication module 219 are respectively a first location data module 111 and a first wireless internet. Since the module 113, the first local area communication module 117, and the first wired communication module 119 perform similar operations, detailed descriptions thereof will be omitted below.

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

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

The second microphone 223 converts an audio signal received from the outside into a specific electric signal to generate audio data. For example, the second microphone may acquire audio data related to driving of the vehicle. The second microphone 223 may correspond to the microphone 224 of the vehicle black box 200 shown in FIG. 1.

The camera 225 generates image data by converting an image signal received from the outside into a specific electric signal. For example, the camera 225 may acquire image data of the inside and outside of the vehicle related to the driving of the vehicle. The camera 225 may correspond to the camera 222 of the vehicle black box 200 shown in FIG. 1.

The second sensing unit 230 detects a current state of the vehicle black box 200 and generates a sensing signal for controlling the operation of the vehicle black box 200. The second sensing unit 230 may include a second motion sensing module 231, and the second motion sensing module 231 performs an operation similar to the aforementioned first motion sensing module 131 of FIG. 3. do.

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

The second power supply unit 260 receives external power and internal power to supply power necessary for the operation of each component of the vehicle black box 200 or another device connected to the vehicle black box 200.

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

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

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

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

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

The navigation system 10 may connect to the network 30 indirectly through another device 63 having a communication function. For example, when no device capable of connecting to the network 30 is provided in the navigation system 10, it means that the device can communicate with another device 63 having a communication function using short-range communication.

Embodiments disclosed in this document may be implemented in the navigation system 10 described with reference to FIGS. 1 to 5. Below, a line drawn at regular intervals along the driving direction is used as a lane marking line to distinguish lanes on a road.

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

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

Referring to FIG. 6, the first controller 170 of the vehicle navigation apparatus 100 connects to the vehicle black box 200 through the first communication unit 110 (S101). In addition, the vehicle black box 200 receives an image related to the driving of the vehicle (S102). The vehicle black box 200 acquires an image related to driving of the vehicle on which the navigation system 10 is mounted in real time using at least one camera 225, and transmits the image to the vehicle navigation apparatus 100. Meanwhile, in the embodiments of the present invention, the vehicle navigation apparatus 100 and the vehicle black box 200 are separately provided and described in the case of communicating with each other through wired / wireless communication as an example, but the present invention is not limited thereto. According to the present invention, the vehicle navigation apparatus 100 and the vehicle black box 200 may be integrally implemented. In addition, the embodiments of the present invention have been described taking the case of receiving a driving image of the vehicle from the vehicle black box 200 as an example, but the present invention is not limited thereto. In the present invention, an image related to driving of the vehicle may be directly received from at least one external camera (not shown). In addition, when the vehicle navigation apparatus 100 includes a camera, a driving image of the vehicle may be acquired by using an internal camera.

The first control unit 170 of the vehicle navigation apparatus 100 obtains lane information on a lane in which the vehicle is currently driving through analysis of an image received from the vehicle black box 200 (S103). The lane information includes information related to at least one lane display line for distinguishing a lane in which the vehicle is driving, and may include color information of the lane display line and a display type (eg, a straight line, a curve, a solid line, a dotted line, etc.). Can be.

In operation S103, the first controller 170 may recognize the lane display line displayed on the road from the driving image of the vehicle using various filtering algorithms. For example, the first controller 170 may extract a lane display line for dividing a lane from an image by using an edge filter. In the case of using the edge filter, the first controller 170 searches for a part forming a boundary in the image by using brightness values of each pixel included in the image. Then, the lane display line is recognized based on the retrieved boundary portion. Meanwhile, a method of recognizing a lane display line using an edge filter is an example of a method of recognizing a lane display line, and the navigation system 10 disclosed in this document uses various filtering algorithms in addition to the method using an edge filter. It is possible to extract the lane display line included in the. When the lane display line is extracted, the first controller 170 may acquire a display form of the lane display lines such as a straight line, a curve, a solid line, and a dotted line based on the extracted outline of the lane display line. In addition, the first controller 170 may acquire color information of the lane display line through color recognition of the extracted lane display line.

When the plurality of lane display lines are extracted from the image, the first controller 170 may recognize at least one lane display line corresponding to the lane in which the vehicle is driving among the plurality of lane display lines. Here, the first controller 170 may use the display position in the image of each lane display line extracted from the image to select a lane display line corresponding to the lane in which the vehicle is driving among the lane display lines included in the image. For example, when a plurality of lane display lines are detected from the image, the first controller 170 sets a reference line that vertically crosses the image, and corresponds to a lane in which the vehicle is driving based on a distance between the reference line and each lane display line. The lane display line can be selected. That is, the lane display line close to the reference line may be selected as the lane display line associated with the lane in which the vehicle is driving. In addition, the first controller 170 may distinguish the left display line and the right display line of the lane in which the vehicle is driving based on which direction the reference line is located.

FIG. 7 illustrates an example of selecting a lane display line associated with a lane on which a vehicle is driving from an image. Referring to FIG. 7, the first controller 170 receives an image 7 related to driving of the vehicle from the vehicle black box 200 (S201). In addition, lane display lines 7a, 7b, 7c, and 7d are detected from the image 7 by using a filtering algorithm (S202). The first controller 170 may select the lane display lines 7b and 7c related to the lane in which the vehicle is driving, based on the position in the image 7 of each of the detected lane display lines 7a, 7b, 7c, and 7d. . To this end, the first controller 170 sets a reference line 7e that traverses the image 7 vertically. The lane display line 7a closest to the reference line 7e among the lane display lines 7a and 7b positioned on the left side of the reference line 7e is recognized as the left lane display line of the lane in which the vehicle is traveling. Also, among the lane display lines 7c and 7d positioned on the right side of the reference line 7e, the lane display line 7c closest to the reference line 7e is recognized as the right lane display line of the lane on which the vehicle is traveling. Meanwhile, the method of selecting a lane display line associated with a lane on which a vehicle is driving based on a distance or a relative position between the reference line and each lane display line is an example of a method of selecting a lane display line associated with a lane on which a vehicle is driven. It is not limited to this. The navigation system 10 disclosed in the present disclosure may select a lane display line related to a lane in which a vehicle is driven by using various methods, in addition to selecting a lane display line by using a relative position of a reference line and each lane display line.

Referring back to FIG. 6, the first controller 170 determines whether the vehicle leaves the lane based on the lane information obtained in step S103 (S104). Here, the first controller 170 may determine whether the vehicle leaves the lane based on the position in the image of the lane display line of the lane in which the vehicle is driving. For example, the first controller 170 acquires a change in the position of the image of the lane display line corresponding to the lane in which the vehicle is traveling, based on the lane information obtained from the image. Based on this, it may be determined whether the vehicle enters another lane across the lane display line.

When the lane departure of the vehicle is confirmed, the first controller 170 determines whether the lane departure warning is in an activated state (S105), and outputs an output warning of lane departure when the vehicle is in the activated state (S106). For example, the first controller 170 may output a message warning the departure of the lane of the vehicle through the display module 141. Also, for example, the first controller 170 may output an audio signal such as a warning sound or a voice guidance warning of lane departure of the vehicle through the audio output module 143.

In operation S105, the first controller 170 may control the output of the lane departure warning based on at least one preset condition.

For example, the first controller 170 may control the output of the lane departure warning using location data acquired through the first location data module 111 of the vehicle navigation apparatus 100. In this case, the first controller 170 compares the map data stored in the first storage unit 150 with the location data acquired through the first location data module 111, and leaves the lane when the vehicle enters a specific area. The output of the alarm can be deactivated or activated. First, the first control unit 170 may deactivate the output of the lane departure warning in an area in which the lane departure detection function may malfunction due to a line separating a zone such as a crosswalk area, a parking area, and a speeding jaw installation area. have. In addition, the first control unit 170 may activate the lane departure warning output in an area where a lane departure warning function is absolutely necessary such as a highway and an automobile road. 8 illustrates an example of deactivating a lane departure warning output based on a current position of a vehicle. Referring to FIG. 8, when a lane marking line is obtained using a simple filtering algorithm in the crosswalk area 8, the lines 8a indicating that the crosswalk area is also recognized as a lane marking line. Accordingly, the lane departure detection function of the first control unit 170 causes a malfunction in the crosswalk area 8. Therefore, the first controller 170 compares the map data stored in the first storage unit 150 with the position data acquired through the first position data module 111, and when the vehicle is predicted to enter the crosswalk area. , Disables the output of lane departure warnings. Meanwhile, the specific area related to whether the lane departure warning is output may be set based on a control input received through the user input module 121. That is, when the user selects a specific area or a specific type of facility from the map data, the output of the lane departure warning may be controlled for the selected area or the area where the selected facility is located.

For example, the first controller 170 may control the lane departure warning output based on the moving path of the vehicle. When a destination is set through the user input module 121, the first controller 170 obtains a moving path from the current location of the vehicle to the destination by using map data stored in the first storage 140. The current position of the vehicle may be obtained based on the position data obtained through the first position data module 111. The first controller 170 may predict a case in which the vehicle leaves the lane due to normal vehicle operation such as a left / right turn and a U-turn, based on the movement path of the vehicle. If the lane departure is predicted due to normal vehicle driving, the output of the vehicle departure warning may be deactivated. In addition, if it is predicted that the vehicle enters an area in which the lane departure detection function may malfunction, such as a crosswalk area, a parking area, a speeding jaw installation area, and the like, based on the moving path of the vehicle, the first controller 170 The output of the departure alarm can be deactivated.

For example, when obtaining lane information, the first controller 170 may obtain pattern and color information of the lane display line and control the lane departure warning output based on the pattern information and color information. In operation S103, when the area of the lane display line is extracted from the image, the first controller 180 may acquire a pattern of the lane display line using an outline of the corresponding area. In addition, color information of the lane display line may be obtained through color recognition of the corresponding area. The first controller 170 determines a region in which the lane departure detection function may malfunction, such as a pedestrian crossing area, a parking area, a speeding jaw installation area, and the like by using the pattern or color information of the lane display line. The output of the alarm can be deactivated.

In addition, for example, the first controller 170 calculates a moving speed of the vehicle using the position data acquired through the first position data module 111 of the vehicle navigation apparatus 100, and based on the calculated moving speed. It is possible to determine whether to output the lane departure warning. That is, the first control unit 170 may deactivate the output of the lane departure warning while the vehicle is traveling at a predetermined speed or less.

Also, for example, the first controller 170 may determine whether to output the lane departure warning based on the state information of the direction indicator light of the vehicle. In this case, the first controller 170 determines that the vehicle is in a normal case when the direction indicator light of the vehicle is turned on and ignores the driver without notifying the driver even if a lane departure occurs. FIG. 9 illustrates an example of deactivating an output of a lane departure warning based on state information of a turn signal. Referring to FIG. 9, when the driver wants to drive in the second lane 9b while driving in the first lane 9a, the driver blinks the left turn signal. When the movement to the second lane 9b is completed, the left turn indicator is turned off. As such, when the vehicle changes the lane driving in the normal manner, the first controller 170 determines that the vehicle is a normal case even when crossing the lane 9c of the driving lane, and does not output the lane departure warning.

Also, for example, the first controller 170 may activate or deactivate an output of the lane departure warning when entering a specific area set by a user. In this case, the first controller 170 sets at least one area based on a control input input from the user through the first user input module 121 and maps whether the corresponding lane departure warning output is output for each area. To store in the first storage unit 150. If it is determined that the vehicle has entered a preset area based on the position data acquired through the first location data module 111, the output of the lane departure warning is output based on whether the lane departure warning is mapped to the corresponding area. It can be deactivated or activated.

According to the first embodiment of the present invention described above, the navigation system 10 monitors the lane departure of the vehicle by using an image obtained through the vehicle black box 200. In addition, by activating / deactivating the output of the lane departure warning according to at least one preset condition, the lane departure warning information is output to the driver only when the lane departure warning is required. Accordingly, there is an effect of preventing the driver's attention from being distracted due to an incorrect or unnecessary lane departure warning, thereby enabling the driver to drive safely.

Meanwhile, in the above-described first embodiment of the present invention, a case of guiding whether the vehicle leaves the lane using the image received from the vehicle black box in the vehicle navigation has been described as an example, but the present invention is not limited thereto. In the present invention, it is also possible for the vehicle black box to directly detect whether the vehicle leaves the lane, and if the lane departure is detected, the lane departure warning may be transmitted to the vehicle navigation. In this case, the vehicle black box may determine whether to activate the output of the lane departure warning based on at least one criterion as disclosed in the above-described first embodiment of the present invention. Then, it is determined whether to transmit the lane departure warning to the vehicle navigation based on whether the output of the lane departure warning is activated.

Meanwhile, in the above-described first embodiment of the present invention, a case in which the lane departure alarm output is directly activated or deactivated based on a preset criterion has been described as an example. However, the present invention deactivates or activates the lane detection function itself based on the preset criterion. It is also possible to determine whether the lane departure warning output.

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

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

Referring to FIG. 10, the first controller 170 of the vehicle navigation apparatus 100 connects to the vehicle black box 200 through the first communication unit 110 (S301). In addition, an image related to driving of the vehicle is received from the vehicle black box 200 (S302). The vehicle black box 200 obtains an image related to driving of the vehicle in real time through the at least one camera module 221 and transmits the image to the vehicle navigation apparatus 100 in real time.

When the lane detection function is activated (S303), the first controller 170 analyzes the image received from the vehicle black box 200 to provide lane information on at least one lane associated with the lane in which the vehicle is driving. Acquire (S304). Here, since the method of obtaining lane information is performed in the same manner as the lane information obtaining method disclosed in the first embodiment of the present invention described above, a detailed description thereof will be omitted.

The first control unit 170 obtaining the lane information determines whether the vehicle leaves the lane (S305). In addition, if it is determined that the lane departure, the output warns the lane departure (S306). Here, the method for determining whether the lane is separated is performed in the same manner as the lane departure determining method disclosed in the above-described first embodiment of the present invention, so a detailed description thereof will be omitted below.

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

For example, the first controller 170 may control the lane detection function by using the location data acquired through the first location data module 111 of the vehicle navigation apparatus 100. In this case, the first controller 170 compares the map data stored in the first storage unit 150 with the location data acquired through the first location data module 111 to detect a lane when the vehicle enters a specific area. The function can be deactivated or activated. The first control unit 170 may deactivate the lane detection function in an area in which the lane detection function may malfunction due to a line separating areas such as a pedestrian crossing area, a parking area, and an anti-speed jaw installation area. In addition, the first controller 170 may activate the lane detection function in an area where a lane detection function is absolutely required such as a highway. Meanwhile, the specific area related to whether the lane detection function is activated may be set by the user through the first user input module 121.

In addition, for example, the first controller 170 may determine whether to activate the lane detection function based on the moving path of the vehicle. The first controller 170 obtains a movement route from the current position of the vehicle to the destination by using map data stored in the first storage 140. In addition, based on the obtained movement route, the vehicle predicts a case of leaving the lane by normal vehicle operation such as a left / right turn and a U-turn, and in this case, the lane detection function is not performed. In addition, if the first controller 170 is predicted to enter an area in which the lane departure detection function may malfunction, such as a crosswalk area, a parking area, and a speeding jaw installation area, based on the moving path of the vehicle, The detection function can be deactivated.

In addition, for example, the first controller 170 calculates a moving speed of the vehicle using the position data acquired through the first position data module 111 of the vehicle navigation apparatus 100, and based on the calculated moving speed. It may also determine whether to activate the lane detection function. That is, the first controller 170 can deactivate the lane detection function while the vehicle is driving at a speed lower than the preset speed.

In addition, for example, the first controller 170 may determine whether to activate the lane detection function based on the state information of the direction indicator light of the vehicle. In this case, when the direction indicator light of the vehicle is in an ON state, the first controller 170 may deactivate the lane detection function.

Also, for example, the first controller 170 may activate or deactivate the lane detection function when entering a specific area set by a user. In this case, the first controller 170 sets at least one area based on a control input input from the user through the first user input module 121, and maps a corresponding lane detection state to each area to generate a first signal. 1 is stored in the storage unit 150. If it is determined that the vehicle enters the preset area based on the position data acquired through the first location data module 111, the lane detection function may be deactivated or activated based on the lane detection state mapped to the corresponding area. Can be.

According to the second embodiment of the present invention described above, the navigation system 10 monitors the lane departure of the vehicle by using an image acquired through the vehicle black box 200. Also, by activating / deactivating the lane detection function according to at least one preset condition, the lane detection function is activated only when the lane departure warning is required to determine whether the lane is separated. Accordingly, there is an effect of preventing the driver's attention from being distracted due to an incorrect or unnecessary lane departure warning, thereby enabling the driver to drive safely.

Meanwhile, in the above-described second embodiment of the present invention, a case of guiding whether the vehicle leaves the lane using the image received from the vehicle black box in the vehicle navigation has been described as an example, but the present invention is not limited thereto. In the present invention, it is also possible for the vehicle black box to directly detect whether the vehicle leaves the lane, and if the lane departure is detected, the lane departure warning may be transmitted to the vehicle navigation. In this case, the vehicle black box may determine whether to activate the lane detection function based on at least one criterion as described in the above-described second embodiment of the present invention. Only when the lane detection function is activated, the lane departure warning is transmitted to the vehicle navigation.

Embodiments of the present invention include a computer readable medium containing program instructions for performing various computer-implemented operations. This medium records a program for executing the lane departure warning method of vehicle navigation described above. The medium may include program instructions, data files, data structures, etc., alone or in combination. Examples of such media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CDs and DVDs, and ROMs. Hardware devices configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine code, such as produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

It is apparent to those skilled in the art that the present invention is not limited to the described embodiments, and that various modifications and changes can be made without departing from the spirit and scope of the present invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

Claims (31)

Communication unit for receiving an image related to the driving of the vehicle; And
The controller determines whether the vehicle is out of lane based on the image, and controls an output of a lane departure warning warning the lane departure of the vehicle according to whether the vehicle enters a specific area when the lane is separated.
. The method of claim 1,
And the specific area is a pedestrian crossing area, a parking area, an anti-speed jaw installation area, a highway or an automobile road. The method of claim 1,
Further comprises a user input module,
The controller is configured to set the specific area based on a control input received through the user input module. The method of claim 1,
Further comprises a user input module,
The controller is configured to set whether to activate an output of the lane departure warning when the vehicle enters the specific area, based on a control input received through the user input module. The method of claim 1,
Audio output module; And
Further comprising a display module,
The controller may output an audio signal corresponding to the lane departure warning through the audio output module, or display a guide message corresponding to the lane departure warning through the display module. The method of claim 1,
A location data module for obtaining location data of the vehicle;
The controller determines whether the vehicle enters a specific region based on the position data. The method of claim 1,
And the controller is configured to acquire a pattern and color of a lane display line displayed on a road based on the image, and determine whether to enter a specific area of the vehicle based on the pattern and color of the lane display line. The method of claim 1,
A location data module for obtaining location data of the vehicle;
The control unit obtains a movement route to a destination based on the position data of the vehicle, and if it is determined that the vehicle has left the lane by normal driving based on the movement route, deactivates the output of the lane departure warning. Electronic equipment. The method of claim 1,
A location data module for obtaining location data of the vehicle;
The controller is configured to calculate a moving speed of the vehicle based on the position data of the vehicle, and control whether to output the lane departure warning based on the moving speed of the vehicle. The method of claim 1,
The image is received from the vehicle black box. At least one camera for acquiring an image related to driving of the vehicle; And
The controller determines whether the vehicle is out of lane based on the image, and controls an output of a lane departure warning warning the lane departure of the vehicle according to whether the vehicle enters a specific area when the lane is separated.
. The method of claim 11,
And the specific area is a pedestrian crossing area, a parking area, an anti-speed jaw installation area, a highway or an automobile road. The method of claim 11,
Further comprises a user input module,
The controller is configured to set the specific area based on a control input received through the user input module. The method of claim 11,
Further comprises a user input module,
The controller is configured to set whether to activate an output of the lane departure warning when the vehicle enters the specific area, based on a control input received through the user input module. The method of claim 11,
A location data module for obtaining location data of the vehicle;
The controller determines whether the vehicle enters a specific region based on the position data. The method of claim 11,
And the controller is configured to acquire a pattern and color of a lane display line displayed on a road based on the image, and determine whether to enter a specific area of the vehicle based on the pattern and color of the lane display line. The method of claim 11,
A location data module for obtaining location data of the vehicle;
The control unit obtains a movement route to a destination based on the position data of the vehicle, and if it is determined that the vehicle has left the lane by normal driving based on the movement route, deactivates the output of the lane departure warning. Electronic equipment. The method of claim 11,
A location data module for obtaining location data of the vehicle;
The controller is configured to calculate a moving speed of the vehicle based on the position data of the vehicle, and control whether to output the lane departure warning based on the moving speed of the vehicle. The method of claim 11,
The electronic device is a vehicle black box. 20. The method of claim 19,
Further comprising a communication unit for connecting with the vehicle navigation,
The controller is configured to transmit the lane departure warning to the vehicle navigation device, and to control whether to output the lane departure warning to control the output of the lane departure warning. The method of claim 11,
The electronic device is a vehicle navigation, characterized in that the vehicle. The method of claim 21,
Audio output module; And
Further comprising a display module,
The control unit may output an audio signal corresponding to the lane departure warning through the audio output module, or display a message corresponding to the lane departure warning through the display module. A vehicle black box for acquiring an image related to driving of the vehicle; And
The vehicle navigation system determines whether the vehicle leaves the lane based on the image, and controls the output of the lane departure warning warning the lane departure of the vehicle according to whether the vehicle enters a specific area when the vehicle leaves the lane.
System comprising. Obtaining an image related to driving of the vehicle;
Determining whether the vehicle leaves the lane based on the image; And
Controlling an output of a lane departure warning warning a lane departure of the vehicle based on whether the vehicle enters a specific area;
Lane departure alarm method of the electronic device comprising a. 25. The method of claim 24,
The controlling step,
Outputting an alarm sound corresponding to the lane departure warning; or
Displaying a message corresponding to the lane departure warning;
Lane departure alarm method of the electronic device comprising a. 25. The method of claim 24,
The controlling step,
Obtaining location data of the vehicle; And
Determining whether the vehicle enters a specific region based on the position data;
Lane departure alarm method of the electronic device comprising a. 25. The method of claim 24,
Acquiring a pattern and color of at least one lane marking line displayed on the road from the image;
Further comprising:
The controlling step,
Determining whether the vehicle enters a specific region based on the pattern and color of the at least one lane display line;
Lane departure alarm method of the electronic device comprising a. 25. The method of claim 24,
The controlling step,
Obtaining a movement route to a destination based on the position data of the vehicle; And
Deactivating the output of the lane departure warning when it is determined that the vehicle has left the lane by the normal driving based on the movement path;
Lane departure alarm method of the electronic device comprising a. 25. The method of claim 24,
The controlling step,
Calculating a moving speed of the vehicle based on the position data of the vehicle; And
Controlling the output of the lane departure warning based on the moving speed of the vehicle
Lane departure alarm method of an electronic device comprising a. 25. The method of claim 24,
The obtaining step,
Obtaining the image from a vehicle black box; or
Acquiring the image by using at least one camera
Lane departure alarm method of the electronic device comprising a. A computer readable medium having recorded thereon a program for causing the computer to execute the method of claim 24.

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